CN108344454B - UWB-based intelligent substation inspection positioning system - Google Patents
UWB-based intelligent substation inspection positioning system Download PDFInfo
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- CN108344454B CN108344454B CN201810362975.7A CN201810362975A CN108344454B CN 108344454 B CN108344454 B CN 108344454B CN 201810362975 A CN201810362975 A CN 201810362975A CN 108344454 B CN108344454 B CN 108344454B
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- 238000007689 inspection Methods 0.000 title claims abstract description 88
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- 238000004891 communication Methods 0.000 claims abstract description 86
- 238000001514 detection method Methods 0.000 claims abstract description 36
- 238000012544 monitoring process Methods 0.000 claims abstract description 16
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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
Abstract
The invention discloses an intelligent substation inspection positioning system based on UWB, which comprises an inspection track mechanism, two sliding mechanisms, a sliding driving mechanism, a power supply mechanism, a detection platform mechanism, a charging mechanism, a remote monitoring mechanism and various UWB labels. The inspection positioning system utilizes the UWB communication unit to wirelessly communicate with at least three UWB tags in the inspection area, so that the communication distance is calculated, and the real-time position of the UWB communication unit is calculated by utilizing the position of the UWB tag, so that the determination of the inspection position is realized, the accurate positioning can be realized indoors, the requirement on environment is low, and the adaptability in use is strong.
Description
Technical Field
The invention relates to a patrol positioning system, in particular to an intelligent patrol positioning system of a transformer substation based on UWB.
Background
In the operation and maintenance process of the transformer substation, equipment is required to be periodically patrolled and checked, equipment faults or hidden dangers are timely found and processed, and accident abnormal conditions are processed, so that safe and normal operation of the equipment is ensured. Because of the complexity and danger of power field operation, power field operation management has historically been an extremely important link in power safety production, and misoperation and potential safety hazards often occur.
Although the safety operation regulations of the power system are always highly valued, human accidents still occur. Through management measures and technical measures accumulated and summarized by long-term experience, the method plays an important role in reducing the occurrence of malignant accidents and ensuring the safety of power grids, equipment and personnel. The management measures comprise operation standard, two-ticket system, post responsibility system and the like. The technical measures include error prevention technology, video technology, intelligent inspection system, comprehensive automation system and the like.
The comprehensive intelligent monitoring of the factors influencing the operation of the transformer substation is realized by utilizing the wide information acquisition capacity, fusion and processing capacity of the sensor network, and the equipment is automatically identified, positioned, tracked, monitored and triggered in real time to trigger corresponding events, so that the real-time management and control of the equipment are realized. Through intelligent diagnosis and auxiliary decision making, the intelligent inspection, operation safety management and dispatching command interaction of the transformer substation are transmitted to remote operation and maintenance personnel, trusted, efficient and available information support is provided for the remote operation and maintenance personnel, and the on-site operation and maintenance management level of the transformer substation is greatly improved.
Currently, many related positioning technologies, such as infrared, radio frequency identification, wi Fi, zigbee, visual positioning, etc., have achieved good results. However, although the indoor positioning technology can obtain a better positioning effect under certain environmental conditions, the indoor positioning technology has the respective defects of low positioning precision or severe positioning environment requirements, and cannot meet the requirements of people on high positioning sensing system precision and good environmental adaptability.
The Ultra-Wide Band (UWB) technology is a wireless technology based on narrow pulses, and has the advantages of high transmission rate, low power consumption, strong penetrating power and the like; related researches are currently carried out in the countries such as the United states, china, japan, canada and the like, and the application prospect is very broad. Therefore, the intelligent substation inspection positioning system based on UWB can realize the inspection requirements of high precision and strong environment adaptability.
Disclosure of Invention
The invention aims to: the intelligent substation inspection positioning system based on the UWB can realize the inspection requirements of high precision and strong environment adaptability.
The technical scheme is as follows: the intelligent substation inspection positioning system based on UWB comprises an inspection track mechanism, two sliding mechanisms, a sliding driving mechanism, a power supply mechanism, a detection platform mechanism, a charging mechanism, a remote monitoring mechanism and various UWB labels;
the inspection track mechanism is arranged along the inspection route, and is of a closed-loop track structure;
the two sliding mechanisms are both arranged on the inspection track mechanism, the detection platform mechanism is simultaneously arranged above the two sliding mechanisms, and the power supply mechanism is arranged below the two sliding mechanisms in a hanging manner;
The charging mechanisms are arranged on a closed-loop track structure formed by the inspection track mechanisms at intervals, and charge control is performed after the power supply mechanism moves to a position;
the detection platform mechanism comprises a platform bottom plate, a control box, a temperature sensor and a humidity sensor; the control box is fixedly arranged on the platform bottom plate; the temperature sensor and the humidity sensor are arranged at the top of the control box; a microprocessor and a UWB communication unit are arranged in the control box; the top of the control box is also provided with a UWB antenna; the microprocessor is electrically connected with the humidity sensor, the temperature sensor and the UWB communication unit; the UWB antenna is electrically connected with a radio frequency end of the UWB communication unit; a UWB communication unit wirelessly communicates with each UWB tag;
the sliding driving mechanism is arranged on one of the sliding mechanisms and is used for driving the sliding mechanism to move along a closed-loop track structure formed by the inspection track mechanism according to a control command of a microprocessor on the detection platform mechanism;
the remote monitoring mechanism is respectively in remote wireless communication with the detection platform mechanism and the charging mechanism;
the power supply mechanism is used for supplying power to the detection platform mechanism and the sliding driving mechanism respectively.
Further, the inspection track mechanism comprises an L-shaped stay bar, an inspection track and a supporting bottom plate; the inspection tracks are arranged along the inspection route, and the inspection tracks are connected end to form a closed-loop track structure; the lower end of the vertical rod of the L-shaped stay bar is fixedly arranged on the supporting bottom plate, and the end part of the horizontal rod of the L-shaped stay bar is fixedly arranged on the side edge of the inspection track and is positioned outside the ring of the closed-loop track structure; the L-shaped supporting rods are arranged at intervals, and the height of the inspection track at each position is consistent.
Further, the sliding mechanism comprises a square sliding sleeve, an upper supporting rotating shaft and a lower hanging rotating shaft; two wheel shafts are arranged in the square sliding sleeve in an up-down parallel manner, and a supporting roller is rotatably arranged on the upper wheel shaft and the lower wheel shaft; track grooves are formed in the upper side surface and the lower side surface of the inspection track; the upper and lower support rollers are respectively embedded in the upper and lower track grooves; the right side surface of the square sliding sleeve is provided with a bar-shaped notch for the horizontal rod of the L-shaped stay bar to pass through; the upper support rotating shaft is vertically and fixedly arranged on the upper side surface of the square sliding sleeve, the lower suspension rotating shaft is vertically and fixedly arranged on the lower side surface of the square sliding sleeve, and the upper support rotating shaft and the lower suspension rotating shaft are positioned on the same axis; two upper supporting rotating shafts at the tops of the two sliding mechanisms are rotatably arranged on the lower side surface of the platform bottom plate; the power supply mechanism is arranged on the lower ends of the two lower suspension rotating shafts.
Further, the power supply mechanism comprises a fixed plate and a storage battery; the fixing plate is a C-shaped plate formed by an upper side plate, a vertical side plate and a lower side plate, and the storage battery is embedded and installed on the C-shaped plate; two lower suspension rotating shafts at the bottoms of the two sliding mechanisms are rotatably arranged on the upper side surface of the upper side plate; the storage battery respectively supplies power for the temperature sensor, the humidity sensor, the microprocessor and the UWB communication unit.
Further, the sliding driving mechanism comprises a protective shell fixed on the left side surface of the square sliding sleeve and a gear driving mechanism positioned in the protective shell; the gear driving mechanism comprises a driving motor, a speed reducer, a gear shaft, a driving gear, two tension springs and two square mounting seats; two horizontal support plates are horizontally arranged on the left side surface of the square sliding sleeve; a strip-shaped limiting hole is formed in the corresponding position of each of the two horizontal support plates, and the length direction of the strip-shaped limiting hole is perpendicular to the left side face of the square sliding sleeve; a strip-shaped limit groove is formed in the side edge of the square mounting seat; the two square mounting seats are respectively and slidably mounted on the upper strip-shaped limiting hole and the lower strip-shaped limiting hole, and the strip-shaped limiting grooves are buckled on the edges of the strip-shaped limiting holes; two ends of the gear shaft are rotatably arranged on the two square mounting seats; the driving gear is fixedly arranged on the gear shaft; a bar-shaped gear hole is formed in the left side surface of the square sliding sleeve and positioned at the driving gear; a driving rack is arranged on the left side edge of the inspection track; the driving gear passes through the bar-shaped gear hole and then is meshed with the driving rack; a motor mounting plate is arranged on the square mounting seat at the lower side; the driving motor and the speed reducer are both arranged on the motor mounting plate; an output shaft of the driving motor drives the speed reducer to rotate, and an output shaft of the speed reducer drives the gear shaft to rotate; a motor driving circuit is arranged in the control box; the microprocessor controls the start and stop of the driving motor through the motor driving circuit; a bump is arranged on the square mounting seat at the upper side and the lower side of the speed reducer; one ends of the two tension springs are respectively fixed on the two convex blocks, and the other ends of the two tension springs are respectively fixed on the left side surface of the square sliding sleeve; the storage battery supplies power for the motor driving circuit and the driving motor; the driving motor is a stepping motor with a brake.
Further, the charging mechanism comprises a square mechanism shell, a locking structure, a circuit board and two conductive structures, wherein the locking structure, the circuit board and the two conductive structures are arranged in the square mechanism shell; the square mechanism shell is fixedly arranged on a vertical rod of the L-shaped stay bar; an upper electrode column and a lower electrode column are vertically arranged on the outer side of the vertical side plate of the fixed plate; the two electrode columns are respectively and electrically connected with the positive electrode and the negative electrode of the storage battery; a motor turn-off switch is arranged between the upper electrode column and the lower electrode column; two strip-shaped sliding grooves are arranged in parallel on the left side surface of the square mechanism shell; a guide chute is arranged on the left side surface of the square mechanism shell and positioned between the two strip-shaped chutes; an RFID card reader is arranged outside the vertical side plate of the fixed plate; the side surface of the square mechanism shell is also provided with an entering RFID tag and an exiting RFID tag; the locking mechanism comprises an electric telescopic rod, two fixed rods and a limiting seat; the two fixing rods are fixedly arranged in the square mechanism shell in parallel; the limiting seat is fixedly arranged at the end parts of the two fixing rods, and a telescopic limiting hole is formed in the limiting seat; the electric telescopic rod is positioned between the two fixed rods, and the telescopic end part of the electric telescopic rod penetrates through the telescopic limiting hole and then stretches into the guide chute; the circuit board is provided with a charging controller, a charging G communication module, an electronic switch, a charging circuit and a voltage acquisition circuit; the charging controller is electrically connected with the charging G communication module, the electric telescopic rod, the electronic switch and the voltage acquisition circuit respectively; the charging controller controls the power supply on-off of the charging circuit through the electronic switch; the conductive structure comprises two -shaped brackets, two pressure springs and a conductive strip; the edges of the two strip-shaped sliding grooves are respectively provided with a conducting strip window communicated with the inside of the square mechanism shell; the two -shaped brackets are fixedly arranged in the square mechanism shell, one ends of the two pressure springs are respectively arranged on transverse rods of the two -shaped brackets, and the other ends of the two pressure springs are fixedly arranged on the conducting strips; the two conductive structures are respectively arranged close to the two strip-shaped sliding grooves, both ends of the two conductive strips are tilted, and the middle parts of the two conductive strips protrude into the strip-shaped sliding grooves from the conductive strip window and are parallel to the groove edges of the strip-shaped sliding grooves; the input end of the voltage acquisition circuit is electrically connected with the two conducting strips respectively; the output end of the charging circuit is electrically connected with the two conductive strips respectively; the RFID card reader and the motor turn-off switch are electrically connected with the microprocessor; when the power supply mechanism passes through the charging mechanism, the two electrode posts extend into the two strip-shaped sliding grooves respectively and move along the strip-shaped sliding grooves, the motor turn-off switch moves along the guide sliding grooves, the two conductive strips are respectively and elastically pressed on the two electrode posts, the telescopic end parts of the electric telescopic rods extend out and then are contacted with the motor turn-off switch, and the RFID reader reads the RFID tag and the RFID tag which is separated from the RFID tag; the charging G communication module is in wireless communication with the remote monitoring mechanism; the storage battery supplies power for the RFID card reader.
Further, the motor turn-off switch comprises a switch mounting seat, a rear supporting plate, a stop bar, a supporting pressure spring, a pressing column, a rebound pressure spring, a fixed contact and a spring piece; the switch mounting seat is fixedly arranged on the outer side surface of the vertical side plate of the fixed plate, and a mounting cavity is arranged in the switch mounting seat; the rear supporting plate is fixedly arranged on the switch mounting seat, and the edge of the hinged end of the stop bar is hinged on the switch mounting seat through a hinge shaft; the stop bar is opposite to the rear supporting plate, and the supporting pressure spring is elastically supported and installed between the stop bar and the rear supporting plate; a guide support is arranged in the mounting cavity, and a guide sliding hole is formed in the guide support; one end of the spring piece is fixedly arranged on the inner wall of the mounting cavity, and the other end of the spring piece is provided with a moving contact; the fixed contact is fixedly arranged on the inner wall of the mounting cavity and is opposite to the movable contact; the rebound pressure spring is elastically supported and installed between the inner wall of the installation cavity and the spring piece, and the elastic support enables the moving contact to be far away from the fixed contact; the fixed contact is grounded, and the movable contact is electrically connected with the microprocessor; the pressing column is slidably arranged on the guide sliding hole, one end of the pressing column penetrates through the cavity wall of the mounting cavity to be pressed on the end face of the hinged end of the stop bar, and the other end of the pressing column is pressed on the spring piece to push the movable contact to contact the fixed contact; a limiting convex ring for preventing the pressing column from separating from the guide sliding hole is arranged on the pressing column; when the power supply mechanism passes through the charging mechanism, the stop bar and the rear supporting plate simultaneously extend into the guide chute, and the stop bar is used for contacting with the telescopic end part of the electric telescopic rod.
Further, the remote monitoring mechanism comprises a server, a display screen, a memory and a base station G communication module; the server is electrically connected with the display screen, the memory and the base station G communication module respectively; the charging G communication module is in wireless communication with the base station G communication module; the detection platform mechanism also comprises a terminal G communication module connected with the microprocessor; the storage battery supplies power for the terminal G communication module; the terminal G communication module is in wireless communication with the base station G communication module.
Further, an arc-shaped concave is arranged on each of the two conductive strips; when the telescopic end part of the electric telescopic rod stretches out and contacts with the motor shutoff switch, the two electrode posts slide into the two arc-shaped recesses respectively.
Further, the detection platform mechanism further comprises a rotary cradle head and a camera; the rotary cradle head is arranged at the top of the control box; the camera is arranged on the rotary cradle head; the rotary cradle head and the camera are electrically connected with the microprocessor.
Compared with the prior art, the invention has the beneficial effects that: the UWB communication unit is utilized to wirelessly communicate with at least three UWB tags in the inspection area, so that the communication distance is measured and calculated, and the real-time position of the UWB communication unit is calculated by utilizing the position of the UWB tag, so that the inspection position is determined, accurate positioning can be realized indoors, the environment requirement is low, and the adaptability in use is strong; the inspection track mechanism is arranged into a closed-loop track structure along the inspection route, so that the sliding drive mechanism can be conveniently driven to circularly and periodically move, the long-term periodic inspection of the detection platform mechanism is met, the unmanned intervention type inspection task is realized, the personnel safety problem is avoided, and the safety and the reliability are realized; the charging mechanism is utilized to carry out charging control after the power supply mechanism moves to be in place, so that the power supply mechanism is ensured to always maintain enough inspection electric quantity, normal operation of inspection without human intervention is further ensured, midway stopping is prevented, and long-term uninterrupted intelligent periodic inspection is realized; the power supply mechanism is hung below the two sliding mechanisms to achieve the effect of stabilizing the plumb bob, and stability of the detection platform mechanism arranged above in the inspection moving process is guaranteed.
Drawings
FIG. 1 is a schematic view of a mechanical part structure of the present invention;
FIG. 2 is a schematic view of another view of the mechanical part of the present invention;
FIG. 3 is a schematic diagram of a mechanical part of a motor turn-off switch according to the present invention;
fig. 4 is a schematic diagram of a circuit portion connection relationship according to the present invention.
Detailed Description
The technical scheme of the present invention will be described in detail with reference to the accompanying drawings, but the scope of the present invention is not limited to the embodiments.
Examples:
as shown in fig. 1-4, the intelligent substation inspection positioning system based on UWB disclosed by the invention comprises: the system comprises a patrol track mechanism, two sliding mechanisms, a sliding driving mechanism, a power supply mechanism, a detection platform mechanism, a charging mechanism, a remote monitoring mechanism and various UWB labels;
the inspection track mechanism is arranged along the inspection route, and is of a closed-loop track structure;
the UWB labels are distributed and arranged along the closed-loop track structure and are used for being communicated and positioned with the UWB communication unit;
the two sliding mechanisms are both arranged on the inspection track mechanism, the detection platform mechanism is simultaneously arranged above the two sliding mechanisms, and the power supply mechanism is arranged below the two sliding mechanisms in a hanging manner;
the charging mechanisms are arranged on a closed-loop track structure formed by the inspection track mechanisms at intervals, and charge control is performed after the power supply mechanism moves to a position;
The detection platform mechanism comprises a platform bottom plate 19, a control box 20, a temperature sensor 21 and a humidity sensor 22; the control box 20 is fixedly arranged on the platform bottom plate 19; a temperature sensor 21 and a humidity sensor 22 are installed at the top of the control box 20; a microprocessor, an alarm and a UWB communication unit are arranged in the control box 20; a UWB antenna 23 is also arranged at the top of the control box 20; the microprocessor is electrically connected with the humidity sensor 22, the temperature sensor 21, the alarm and the UWB communication unit; the UWB antenna 23 is electrically connected with the radio frequency end of the UWB communication unit; a UWB communication unit wirelessly communicates with each UWB tag;
the sliding driving mechanism is arranged on one of the sliding mechanisms and is used for driving the sliding mechanism to move along a closed-loop track structure formed by the inspection track mechanism according to a control command of a microprocessor on the detection platform mechanism;
the remote monitoring mechanism is respectively in remote wireless communication with the detection platform mechanism and the charging mechanism;
the power supply mechanism is used for supplying power to the detection platform mechanism and the sliding driving mechanism respectively.
The UWB communication unit is utilized to wirelessly communicate with at least three UWB tags in the inspection area, so that the communication distance is measured and calculated, and the real-time position of the UWB communication unit is calculated by utilizing the position of the UWB tag, so that the inspection position is determined, accurate positioning can be realized indoors, the environment requirement is low, and the adaptability in use is strong; the inspection track mechanism is arranged into a closed-loop track structure along the inspection route, so that the sliding drive mechanism can be conveniently driven to circularly and periodically move, the long-term periodic inspection of the detection platform mechanism is met, the unmanned intervention type inspection task is realized, the personnel safety problem is avoided, and the safety and the reliability are realized; the charging mechanism is utilized to carry out charging control after the power supply mechanism moves to be in place, so that the power supply mechanism is ensured to always maintain enough inspection electric quantity, normal operation of inspection without human intervention is further ensured, midway stopping is prevented, and long-term uninterrupted intelligent periodic inspection is realized; the power supply mechanism is hung below the two sliding mechanisms to achieve the effect of stabilizing the plumb bob, and stability of the detection platform mechanism arranged above in the inspection moving process is guaranteed.
As shown in fig. 1 and 2, the inspection track mechanism comprises an L-shaped stay bar 1, an inspection track 2 and a supporting bottom plate 3; the inspection track 2 is arranged along the inspection route, and the inspection track 2 is connected end to form a closed-loop track structure; the lower end of a vertical rod of the L-shaped stay bar 1 is fixedly arranged on the supporting bottom plate 3, and the end part of a horizontal rod of the L-shaped stay bar 1 is fixedly arranged on the side edge of the inspection track 2 and is positioned outside a ring of the closed-loop track structure; the L-shaped supporting rods 1 are arranged at intervals, and the height of the inspection track 2 at each position is consistent. The inspection track 2 is connected end to form a closed-loop track structure, so that the sliding driving mechanism is convenient to drive the sliding mechanism to circularly and periodically move, and long-term periodic inspection of the detection platform mechanism is met; the L-shaped stay bar 1 is arranged on the side edge of the inspection track 2, so that the sliding mechanism is not blocked, and meanwhile, the power supply mechanism suspended below is not blocked, and the periodic circular movement of the sliding mechanism is ensured.
As shown in fig. 1 and 2, the sliding mechanism comprises a square sliding sleeve 4, an upper supporting rotating shaft 18 and a lower suspending rotating shaft 26; two wheel shafts 5 are arranged in the square sliding sleeve 4 in parallel up and down, and a supporting roller 6 is rotatably arranged on the upper wheel shaft 5 and the lower wheel shaft 5; track grooves are formed in the upper side surface and the lower side surface of the inspection track 2; the upper and lower support rollers 6 are respectively embedded in the upper and lower track grooves; the right side surface of the square sliding sleeve 4 is provided with a bar-shaped notch for the horizontal rod of the L-shaped stay bar 1 to pass through; the upper support rotating shaft 18 is vertically and fixedly arranged on the upper side surface of the square sliding sleeve 4, the lower suspension rotating shaft 26 is vertically and fixedly arranged on the lower side surface of the square sliding sleeve 4, and the upper support rotating shaft 18 and the lower suspension rotating shaft 26 are positioned on the same axis; two upper supporting rotating shafts 18 at the tops of the two sliding mechanisms are rotatably arranged on the lower side surface of a platform bottom plate 19; the power supply mechanism is mounted on the lower ends of the two lower suspension shafts 26. The upper and lower single roller clamping effect is realized by utilizing the upper and lower supporting rollers 6, compared with a front and rear double roller (namely, an upper and lower four roller structure), the upper and lower single roller clamping effect is realized by utilizing the upper and lower supporting rollers, the front and rear double roller is not separated from the track after the turning of the inspection track 2, and the lower side surface of the platform bottom plate 19 is rotatably mounted by utilizing the two upper supporting rotating shafts 18 at the tops of the two sliding mechanisms, so that the front and rear stable support is realized, the upper and lower single roller clamping effect can be realized, the turning of the inspection track 2 can not generate the derailment problem, and meanwhile, the platform bottom plate 19 above the upper single roller clamping effect can still keep the horizontal characteristic.
As shown in fig. 1 and 2, the power supply mechanism includes a fixed plate 27 and a battery 28; the fixing plate 27 is a C-shaped plate formed by an upper side plate, a vertical side plate and a lower side plate, and the storage battery 28 is embedded and installed on the C-shaped plate; two lower suspension rotating shafts 26 at the bottoms of the two sliding mechanisms are rotatably arranged on the upper side surface of the upper side plate; the battery 28 supplies power to the temperature sensor 21, the humidity sensor 22, the microprocessor and the UWB communication unit, respectively. The two lower suspension rotating shafts 26 at the bottoms of the two sliding mechanisms are rotatably arranged on the upper side surface of the upper side plate, so that the suspension type installation of the power supply mechanism is realized, and the suspension stabilizing balance weight of the power supply mechanism is not influenced when the two sliding mechanisms rotate horizontally respectively, so that the upper detection platform mechanism keeps stability; in addition, the upper supporting rotating shaft 18 and the lower suspending rotating shaft 26 are positioned on the same axis, so that the lower power supply mechanism and the upper detection platform mechanism can be kept relatively still all the time, and the possibility of shaking is reduced; the upper side plate of the fixed plate 27 and the platform floor 19 form a hinged connection between the two glide mechanisms so that the two glide mechanisms move in synchronism.
As shown in fig. 1 and 2, the sliding driving mechanism comprises a protective shell 8 fixed on the left side surface of the square sliding sleeve 4 and a gear driving mechanism positioned in the protective shell 8; the gear driving mechanism comprises a driving motor 16, a speed reducer 17, a gear shaft 11, a driving gear 12, two tension springs 15 and two square mounting seats 10; two horizontal support plates 9 are horizontally arranged on the left side surface of the square sliding sleeve 4; a strip-shaped limiting hole is formed in the corresponding position of each of the two horizontal support plates 9, and the length direction of the strip-shaped limiting hole is perpendicular to the left side surface of the square sliding sleeve 4; a strip-shaped limit groove is arranged on the side edge of the square mounting seat 10; the two square mounting seats 10 are respectively and slidably arranged on the upper and lower bar-shaped limiting holes, and the bar-shaped limiting grooves are buckled on the edges of the bar-shaped limiting holes; two ends of the gear shaft 11 are rotatably arranged on the two square mounting seats 10; the driving gear 12 is fixedly arranged on the gear shaft 11; a bar-shaped gear hole is arranged on the left side surface of the square sliding sleeve 4 and positioned at the driving gear 12; a driving rack 7 is arranged on the left side edge of the inspection track 2; the driving gear 12 passes through the bar-shaped gear hole and then is meshed with the driving rack 7; a motor mounting plate 13 is arranged on the square mounting seat 10 at the lower side; the driving motor 16 and the speed reducer 17 are both arranged on the motor mounting plate 13; an output shaft of the driving motor 16 drives the speed reducer 17 to rotate, and an output shaft of the speed reducer 17 drives the gear shaft 11 to rotate; a motor driving circuit is arranged in the control box 20; the microprocessor controls the start and stop of the driving motor 16 through a motor driving circuit; a bump 14 is arranged on the square mounting seat 10 at the upper side and the lower side of the speed reducer 17; one ends of two tension springs 15 are respectively fixed on the two convex blocks 14, and the other ends are respectively fixed on the left side surface of the square sliding sleeve 4; the battery 28 supplies power to the motor drive circuit and the drive motor 16; the drive motor 16 is a stepper motor with a brake to stop the movement of the slide immediately after the microprocessor control has stopped. The elastic gear pressing mechanism is formed by the two tension springs 15, the two square mounting seats 10 and the two bar-shaped limiting holes, the driving gear 12 can be tightly meshed with the driving rack 7 even at the turning of the inspection track 2, sliding teeth at the turning are prevented, meanwhile, the sliding teeth can be jumped when the sliding mechanism is blocked, and the driving motor 16 is prevented from being blocked and burnt.
As shown in fig. 1 and 2, the charging mechanism includes a square mechanism housing 33, and a locking structure, a circuit board 37, and two conductive structures disposed within the square mechanism housing 33; the square mechanism shell 33 is fixedly arranged on the vertical rod of the L-shaped stay bar 1; an upper electrode column 29 and a lower electrode column 29 are vertically arranged outside the vertical side plate of the fixed plate 27; the two electrode posts 29 are respectively electrically connected with the positive electrode and the negative electrode of the storage battery 28; a motor turn-off switch is arranged between the upper electrode column 29 and the lower electrode column 29; two strip-shaped sliding grooves 53 are arranged in parallel on the left side surface of the square mechanism shell 33; a guide chute 54 is arranged on the left side surface of the square mechanism housing 33 and between the two bar-shaped chute 53; an RFID card reader 30 is arranged outside the vertical side plate of the fixed plate 27; an entrance RFID tag 51 and an exit RFID tag 31 are also arranged on the side surface of the square mechanism housing 33; the locking mechanism comprises an electric telescopic rod 38, two fixed rods 39 and a limiting seat 40; two fixing rods 39 are fixedly installed in parallel in the square mechanism shell 33; the limiting seat 40 is fixedly arranged on the end parts of the two fixing rods 39, and a telescopic limiting hole is formed in the limiting seat 40; the electric telescopic rod 38 is positioned between the two fixed rods 39, and the telescopic end 52 of the electric telescopic rod 38 penetrates through the telescopic limiting hole and then stretches into the guide chute 54; a charging controller, a charging 4G communication module, an electronic switch, a charging circuit and a voltage acquisition circuit are arranged on the circuit board 37; the charging controller is electrically connected with the charging 4G communication module, the electric telescopic rod 38, the electronic switch and the voltage acquisition circuit respectively; the charging controller controls the power supply on-off of the charging circuit through the electronic switch; the conductive structure comprises two -shaped brackets 34, two pressure springs 36 and a conductive strip 35; the edges of the two strip-shaped sliding grooves 53 are respectively provided with a conducting strip window communicated with the inside of the square mechanism shell 33; the two -shaped brackets 34 are fixedly arranged in the square mechanism shell 33, one ends of the two pressure springs 36 are respectively arranged on transverse rods of the two -shaped brackets 34, and the other ends of the two pressure springs 36 are fixedly arranged on the conducting strips 35; the two conductive structures are respectively arranged close to the two strip-shaped sliding grooves 53, the two ends of the two conductive strips 35 are tilted, and the middle parts of the two conductive structures protrude into the strip-shaped sliding grooves 53 from the conductive strip window and are parallel to the groove edges of the strip-shaped sliding grooves 53; the input end of the voltage acquisition circuit is electrically connected with the two conductive strips 35 respectively; the output end of the charging circuit is electrically connected with the two conductive strips 35 respectively; the RFID card reader 30 and the motor turn-off switch are electrically connected with the microprocessor; when the power supply mechanism passes through the charging mechanism, the two electrode posts 29 respectively extend into the two strip-shaped sliding grooves 53 and move along the strip-shaped sliding grooves 53, the motor cut-off switch moves along the guide sliding grooves 54, the two conductive strips 35 respectively elastically press the two electrode posts 29, the telescopic end parts 52 of the electric telescopic rods 38 extend out and then contact with the motor cut-off switch, and the RFID card reader 30 reads the RFID tag 51 and leaves the RFID tag 31; the charging 4G communication module is in wireless communication with the remote monitoring mechanism; the battery 28 powers the RFID reader 30. The RFID card reader 30 is matched with the RFID tag 51 to read the approaching information of the charging mechanism, the microprocessor is used for realizing instant deceleration of the driving motor 16, a voltage acquisition circuit is convenient to contact with two electrode posts 29 through two conducting bars 35 to acquire the voltage of the storage battery 28, if the charging controller detects that the voltage is lower than the set normal working voltage, the telescopic end 52 of the electric telescopic rod 38 is immediately controlled to stretch out, the motor turn-off switch is contacted to block to send a parking signal, the microprocessor is used for immediately controlling the driving motor 16 to park and brake, the charging controller is used for controlling the electronic switch to realize the power supply of the charging circuit, the storage battery 28 is charged, the charging is intermittently disconnected to detect the voltage until the voltage of the storage battery 28 is sufficient, the charging controller is used for communicating with the remote monitoring mechanism through the charging 4G communication module to send charging completion information, meanwhile, the telescopic end 52 of the electric telescopic rod 38 is controlled to retract, the remote monitoring mechanism is in wireless communication with the microprocessor again, the driving motor 16 is restarted to work slowly and rotate, when the RFID card reader 30 reads the RFID tag 31, the driving motor 16 is controlled by the microprocessor to accelerate to the normal inspection speed, the voltage detection and the automatic charging of the storage battery 28 is completed, the voltage detection and the autonomous system is not required to run for a long term; the locking mechanism is formed by the electric telescopic rod 38, the two fixing rods 39 and the limiting seat 40, so that the electric telescopic rod 38 can effectively trigger a motor switch-off switch and can bear certain collision impact; the two -shaped brackets 34, the two pressure springs 36 and the conductive strip 35 form a conductive structure, so that conductive connection can be realized after the two electrode posts 29 enter the strip-shaped sliding groove 53, voltage detection and charging connection are facilitated, and good conductive contact performance is realized under the action of the pressure springs 36.
As shown in fig. 3, the motor off switch includes a switch mount, a rear stay 41, a stopper 32, a support compression spring 42, a pressing post 45, a rebound compression spring 47, a fixed contact 49, and a spring piece 48; the switch mounting seat is fixedly arranged on the outer side surface of the vertical side plate of the fixed plate 27, and a mounting cavity is arranged in the switch mounting seat; the rear supporting plate 41 is fixedly arranged on the switch mounting seat, and the edge of the hinged end of the stop bar 32 is hinged on the switch mounting seat through a hinge shaft 43; the stop strip 32 is opposite to the rear supporting plate 41, and a supporting pressure spring 42 is elastically supported and installed between the stop strip 32 and the rear supporting plate 41; a guide support 44 is arranged in the mounting cavity, and a guide sliding hole is formed in the guide support 44; one end of the spring piece 48 is fixedly arranged on the inner wall of the mounting cavity, and the other end is provided with a movable contact 50; the fixed contact 49 is fixedly arranged on the inner wall of the mounting cavity and is opposite to the movable contact 50; the rebound pressure spring 47 is elastically supported and installed between the inner wall of the installation cavity and the spring piece 48, and the elastic support enables the moving contact 50 to be far away from the fixed contact 49; the fixed contact 49 is grounded, and the movable contact 50 is electrically connected with the microprocessor; the pressing column 45 is slidably mounted on the guide sliding hole, one end of the pressing column 45 penetrates through the cavity wall of the mounting cavity to press on the end face of the hinged end of the stop strip 32, and the other end of the pressing column is pressed on the spring piece 48 to push the moving contact 50 to contact the fixed contact 49; a limit convex ring 46 for preventing the pressing column 45 from being separated from the guide sliding hole is arranged on the pressing column 45; when the power supply mechanism passes through the charging mechanism, the stop bar 32 and the rear supporting plate 41 simultaneously extend into the guide chute 54, and the stop bar 32 is used for contacting with the telescopic end 52 of the electric telescopic rod 38. The rear supporting plate 41 is used for supporting the stop bar 32 after collision and swing, and collision buffering is realized under the action of the supporting pressure spring 42, so that collision contact is realized, and the power supply mechanism can be prevented from moving continuously; after the stop bar 32 collides and tilts, the pressing column 45 protrudes outwards under the action of the rebound pressure spring 47 and the spring piece 48, meanwhile, the movable contact 50 and the disconnection fixed contact 49 are connected, the microprocessor collects a pulling-up signal, the telescopic end 52 of the electric telescopic rod 38 contacts and collides with the stop bar 32, the driving motor 16 is immediately controlled to stop, and meanwhile, the brake is controlled to carry out band-type brake; when the stop bar 32 is not collided, the pressing column 45 is forced to press the rebound pressure spring 47 and the spring piece 48 under the strong action of the supporting pressure spring 42, so that the moving contact 50 is in contact with the fixed contact 49 to conduct electricity, the microprocessor acquires a low-level signal, and the telescopic end 52 of the electric telescopic rod 38 is not in contact with the stop bar 32 to collide, and the driving motor 16 runs normally.
As shown in fig. 4, the remote monitoring mechanism includes a server, a display screen, a memory and a base station 4G communication module; the server is electrically connected with the display screen, the memory and the base station 4G communication module respectively; the charging 4G communication module is in wireless communication with the base station 4G communication module; the detection platform mechanism also comprises a terminal 4G communication module connected with the microprocessor; the battery 28 supplies power to the terminal 4G communication module; the terminal 4G communication module communicates wirelessly with the base station 4G communication module.
As shown in fig. 2, an arc-shaped recess 55 is provided on each of the two conductive strips 35; when the telescopic end 52 of the electric telescopic rod 38 is extended and then is contacted with the motor-off switch, the two electrode posts 29 slide into the two arc-shaped recesses 55 respectively. After the driving motor 16 is stopped and the brake is braked, the telescopic end 52 of the electric telescopic rod 38 is contacted with the stop strip 32 to block, and the electrode columns 29 slide into the two arc-shaped recesses 55 respectively to achieve good electric conductivity.
As shown in fig. 1 and 2, the detection platform mechanism further includes a rotary pan-tilt 24 and a camera 25; the rotary head 24 is mounted on top of the control box 20; the camera 25 is mounted on the rotary holder 24; the rotary holder 24 and the camera 25 are electrically connected with the microprocessor.
The invention discloses a UWB-based substation intelligent patrol positioning system, which comprises the following steps of:
the microprocessor and the charging controller are both of a conventional minimum system structure composed of a singlechip and peripheral circuits thereof, the singlechip is provided with multiple paths of I/O ports for defining input and output of signals, and an A/D acquisition port is also arranged at the same time.
The temperature sensor 21 and the humidity sensor 22 adopt existing conventional sensors, can output analog signals or digital signals, if the analog signals are output, the microprocessor needs to be connected with the temperature sensor and the humidity sensor by using an A/D acquisition port, and when the field temperature and the field humidity exceed the set range, the microprocessor controls the alarm to carry out field alarm, and the inspection personnel carry out field manual inspection.
The camera 25 adopts a conventional non-high-definition camera, so that the communication data volume is ensured, an I/O port of the microprocessor is defined as a video signal port for receiving and processing the camera signals, the microprocessor performs buffer storage and then communicates with the base station 4G communication module through the terminal 4G communication module to realize the forwarding of the video signals, and the server receives the video signals in real time and drives the display screen to display, and meanwhile, the video signals are stored in the memory for backup; the microprocessor can also control the rotation of the rotary holder 24 according to a control command remotely sent by the server, so as to realize shooting angle adjustment of the camera 25.
The UWB communication unit and the UWB label are all made of the existing equipment, the UWB communication unit is communicated with the microprocessor to obtain signal receiving and transmitting time, so that the distance between the UWB communication unit and the UWB label is calculated, when the UWB communication unit and the UWB label are positioned, at least three UWB labels with different positions in a positioning space are ensured to participate in positioning, the three-dimensional position of each UWB label is known, the coordinate position of the UWB communication unit can be calculated by combining the communication distance edges, the adopted positioning algorithm is a conventional positioning algorithm, and the microprocessor is communicated with the base station 4G communication module through the terminal 4G communication module to realize the forwarding of the positioning position after the positioning position is obtained, and the server receives the positioning position in real time and drives the display screen to display position information.
The RFID reader 30, the entering RFID tag 51 and the leaving RFID tag 31 are all conventional readers and electronic tags in the prior art, and can read and recognize at a close distance.
The terminal 4G communication module, the base station 4G communication module and the charging 4G communication module all adopt conventional 4G communication modules in the prior art, and the transmission communication of 4G data signals is realized.
The charging circuit adopts a conventional storage battery charging circuit in the prior art, the electronic switch is realized by adopting a triode or a MOS tube, and the power supply on-off can be realized according to the control signal of the charging controller.
The voltage acquisition circuit can be a resistor voltage division circuit so as to meet the A/D acquisition requirement of the singlechip, realize the rapid acquisition of the voltage of the storage battery 28 and judge whether the storage battery needs to be charged or not.
The electric telescopic rod adopts the conventional electric rod, is driven by a motor and is provided with a motor driving circuit, and the microprocessor can realize the telescopic control of the electric telescopic rod only by sending a motor control signal.
As described above, although the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limiting the invention itself. Various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (6)
1. UWB-based intelligent substation inspection positioning system is characterized in that: the intelligent detection system comprises a patrol track mechanism, two sliding mechanisms, a sliding driving mechanism, a power supply mechanism, a detection platform mechanism, a charging mechanism, a remote monitoring mechanism and various UWB labels;
the inspection track mechanism is arranged along the inspection route, and is of a closed-loop track structure;
the two sliding mechanisms are both arranged on the inspection track mechanism, the detection platform mechanism is simultaneously arranged above the two sliding mechanisms, and the power supply mechanism is arranged below the two sliding mechanisms in a hanging manner;
The charging mechanisms are arranged on a closed-loop track structure formed by the inspection track mechanisms at intervals, and charge control is performed after the power supply mechanism moves to a position;
the detection platform mechanism comprises a platform bottom plate (19), a control box (20), a temperature sensor (21) and a humidity sensor (22); the control box (20) is fixedly arranged on the platform bottom plate (19); a temperature sensor (21) and a humidity sensor (22) are arranged at the top of the control box (20); a microprocessor and a UWB communication unit are arranged in the control box (20); the top of the control box (20) is also provided with a UWB antenna (23); the microprocessor is electrically connected with the humidity sensor (22), the temperature sensor (21) and the UWB communication unit; the UWB antenna (23) is electrically connected with a radio frequency end of the UWB communication unit; a UWB communication unit wirelessly communicates with each UWB tag;
the sliding driving mechanism is arranged on one of the sliding mechanisms and is used for driving the sliding mechanism to move along a closed-loop track structure formed by the inspection track mechanism according to a control command of a microprocessor on the detection platform mechanism;
the remote monitoring mechanism is respectively in remote wireless communication with the detection platform mechanism and the charging mechanism;
the power supply mechanism is used for supplying power to the detection platform mechanism and the sliding driving mechanism respectively;
the inspection track mechanism comprises an L-shaped stay bar (1), an inspection track (2) and a supporting bottom plate (3); the inspection tracks (2) are arranged along an inspection route, and the inspection tracks (2) are connected end to form a closed-loop track structure; the lower end of a vertical rod of the L-shaped stay bar (1) is fixedly arranged on the supporting bottom plate (3), and the end part of a horizontal rod of the L-shaped stay bar (1) is fixedly arranged on the side edge of the inspection track (2) and is positioned outside a ring of the closed-loop track structure; the L-shaped supporting rods (1) are arranged at intervals, and the heights of the inspection tracks (2) at all positions are consistent;
The sliding mechanism comprises a square sliding sleeve (4), an upper supporting rotating shaft (18) and a lower suspending rotating shaft (26); two wheel shafts (5) are arranged in the square sliding sleeve (4) in parallel up and down, and a supporting roller (6) is rotatably arranged on the upper wheel shaft (5) and the lower wheel shaft (5); track grooves are formed in the upper side surface and the lower side surface of the inspection track (2); the upper supporting roller (6) and the lower supporting roller (6) are respectively embedded in the upper rail groove and the lower rail groove; the right side surface of the square sliding sleeve (4) is provided with a bar-shaped notch for the horizontal rod of the L-shaped stay bar (1) to pass through; the upper support rotating shaft (18) is vertically and fixedly arranged on the upper side surface of the square sliding sleeve (4), the lower suspension rotating shaft (26) is vertically and fixedly arranged on the lower side surface of the square sliding sleeve (4), and the upper support rotating shaft (18) and the lower suspension rotating shaft (26) are positioned on the same axis; two upper supporting rotating shafts (18) at the tops of the two sliding mechanisms are rotatably arranged on the lower side surface of a platform bottom plate (19); the power supply mechanism is arranged at the lower ends of the two lower suspension rotating shafts (26);
the power supply mechanism comprises a fixed plate (27) and a storage battery (28); the fixing plate (27) is a C-shaped plate formed by an upper side plate, a vertical side plate and a lower side plate, and the storage battery (28) is embedded and arranged on the C-shaped plate; two lower suspension rotating shafts (26) at the bottoms of the two sliding mechanisms are rotatably arranged on the upper side surface of the upper side plate; the storage battery (28) respectively supplies power to the temperature sensor (21), the humidity sensor (22), the microprocessor and the UWB communication unit;
The sliding driving mechanism comprises a protective shell (8) fixed on the left side surface of the square sliding sleeve (4) and a gear driving mechanism positioned in the protective shell (8); the gear driving mechanism comprises a driving motor (16), a speed reducer (17), a gear shaft (11), a driving gear (12), two tension springs (15) and two square mounting seats (10); two horizontal support plates (9) are horizontally arranged on the left side surface of the square sliding sleeve (4); a strip-shaped limiting hole is formed in the corresponding position of each of the two horizontal support plates (9), and the length direction of the strip-shaped limiting hole is perpendicular to the left side surface of the square sliding sleeve (4); a strip-shaped limit groove is arranged on the side edge of the square mounting seat (10); the two square mounting seats (10) are respectively and slidably mounted on the upper and lower bar-shaped limiting holes, and the bar-shaped limiting grooves are buckled on the edges of the bar-shaped limiting holes; two ends of the gear shaft (11) are rotatably arranged on the two square mounting seats (10); the driving gear (12) is fixedly arranged on the gear shaft (11); a strip-shaped gear hole is arranged on the left side surface of the square sliding sleeve (4) and positioned at the driving gear (12); a driving rack (7) is arranged on the left side edge of the inspection track (2); the driving gear (12) is meshed with the driving rack (7) after passing through the bar-shaped gear hole; a motor mounting plate (13) is arranged on the square mounting seat (10) at the lower side; the driving motor (16) and the speed reducer (17) are both arranged on the motor mounting plate (13); an output shaft of the driving motor (16) drives the speed reducer (17) to rotate, and an output shaft of the speed reducer (17) drives the gear shaft (11) to rotate; a motor driving circuit is arranged in the control box (20); the microprocessor controls the start and stop of the driving motor (16) through the motor driving circuit; a bump (14) is arranged on the square mounting seat (10) at the upper side and the lower side of the speed reducer (17); one ends of two tension springs (15) are respectively fixed on the two convex blocks (14), and the other ends are respectively fixed on the left side surface of the square sliding sleeve (4); the storage battery (28) supplies power for the motor driving circuit and the driving motor (16); the driving motor (16) is a stepping motor with brake.
2. The UWB-based substation intelligent patrol positioning system according to claim 1, wherein: the charging mechanism comprises a square mechanism shell (33), a locking structure arranged in the square mechanism shell (33), a circuit board (37) and two conductive structures; the square mechanism shell (33) is fixedly arranged on a vertical rod of the L-shaped stay bar (1); an upper electrode column (29) and a lower electrode column (29) are vertically arranged on the outer side of the vertical side plate of the fixed plate (27); the two electrode columns (29) are respectively and electrically connected with the positive electrode and the negative electrode of the storage battery (28); a motor turn-off switch is arranged between the upper electrode column (29) and the lower electrode column (29); two strip-shaped sliding grooves (53) are arranged in parallel on the left side surface of the square mechanism shell (33); a guide chute (54) is arranged on the left side surface of the square mechanism shell (33) and positioned between the two strip-shaped chute (53); an RFID card reader (30) is arranged outside the vertical side plate of the fixed plate (27); the side surface of the square mechanism shell (33) is also provided with an entering RFID tag (51) and an exiting RFID tag (31); the locking mechanism comprises an electric telescopic rod (38), two fixed rods (39) and a limiting seat (40); the two fixing rods (39) are fixedly arranged in the square mechanism shell (33) in parallel; the limiting seat (40) is fixedly arranged on the end parts of the two fixing rods (39), and a telescopic limiting hole is formed in the limiting seat (40); the electric telescopic rod (38) is positioned between the two fixed rods (39), and the telescopic end part (52) of the electric telescopic rod (38) penetrates through the telescopic limiting hole and then stretches into the guide chute (54); a charging controller, a charging 4G communication module, an electronic switch, a charging circuit and a voltage acquisition circuit are arranged on the circuit board (37); the charging controller is electrically connected with the charging 4G communication module, the electric telescopic rod (38), the electronic switch and the voltage acquisition circuit respectively; the charging controller controls the power supply on-off of the charging circuit through the electronic switch; the conductive structure comprises two -shaped brackets (34), two pressure springs (36) and a conductive strip (35); the edges of the two strip-shaped sliding grooves (53) are respectively provided with a conducting strip window communicated with the inside of the square mechanism shell (33); the two -shaped brackets (34) are fixedly arranged in the square mechanism shell (33), one ends of the two pressure springs (36) are respectively arranged on transverse rods of the two -shaped brackets (34), and the other ends of the two pressure springs (36) are fixedly arranged on the conducting strips (35); the two conductive structures are respectively arranged close to the two strip-shaped sliding grooves (53), two ends of the two conductive strips (35) are tilted, and the middle parts of the two conductive structures protrude into the strip-shaped sliding grooves (53) from the conductive strip window and are parallel to the groove edges of the strip-shaped sliding grooves (53); the input end of the voltage acquisition circuit is electrically connected with the two conducting strips (35) respectively; the output end of the charging circuit is electrically connected with the two conducting strips (35) respectively; the RFID card reader (30) and the motor turn-off switch are electrically connected with the microprocessor; when the power supply mechanism passes through the charging mechanism, the two electrode columns (29) respectively extend into the two strip-shaped sliding grooves (53) and move along the strip-shaped sliding grooves (53), the motor cut-off switch moves along the guide sliding grooves (54), the two conductive strips (35) are respectively elastically pressed on the two electrode columns (29), the telescopic end parts (52) of the electric telescopic rods (38) extend out and then are contacted with the motor cut-off switch, and the RFID card reader (30) sequentially reads the RFID tag (51) and the RFID tag (31); the charging 4G communication module is in wireless communication with the remote monitoring mechanism; the battery (28) supplies power to the RFID reader (30).
3. The UWB-based substation intelligent patrol positioning system according to claim 2, wherein: the motor turn-off switch comprises a switch mounting seat, a rear supporting plate (41), a stop bar (32), a supporting pressure spring (42), a pressing column (45), a rebound pressure spring (47), a fixed contact (49) and a spring piece (48); the switch mounting seat is fixedly arranged on the outer side surface of the vertical side plate of the fixed plate (27), and a mounting cavity is arranged in the switch mounting seat; the rear supporting plate (41) is fixedly arranged on the switch mounting seat, and the edge of the hinged end of the stop strip (32) is hinged on the switch mounting seat through a hinge shaft (43); the stop strip (32) is opposite to the rear supporting plate (41), and a supporting pressure spring (42) is elastically supported and installed between the stop strip (32) and the rear supporting plate (41); a guide support (44) is arranged in the mounting cavity, and a guide sliding hole is arranged on the guide support (44); one end of the spring piece (48) is fixedly arranged on the inner wall of the mounting cavity, and the other end is provided with a moving contact (50); the fixed contact (49) is fixedly arranged on the inner wall of the mounting cavity and is opposite to the movable contact (50); the rebound pressure spring (47) is elastically supported and installed between the inner wall of the installation cavity and the spring piece (48), and the elastic support enables the moving contact (50) to be far away from the fixed contact (49); the fixed contact (49) is grounded, and the movable contact (50) is electrically connected with the microprocessor; the pressing column (45) is slidably arranged on the guide sliding hole, one end of the pressing column (45) penetrates through the cavity wall of the mounting cavity to be pressed on the end face of the hinged end of the stop strip (32), and the other end of the pressing column is pressed on the spring piece (48) to push the movable contact (50) to be in contact with the fixed contact (49); a limiting convex ring (46) for preventing the pressing column (45) from being separated from the guide sliding hole is arranged on the pressing column (45); when the power supply mechanism passes through the charging mechanism, the stop bar (32) and the rear supporting plate (41) simultaneously extend into the guide sliding groove (54), and the stop bar (32) is used for being contacted with the telescopic end (52) of the electric telescopic rod (38).
4. The UWB-based substation intelligent patrol positioning system according to claim 2, wherein: the remote monitoring mechanism comprises a server, a display screen, a memory and a base station 4G communication module; the server is electrically connected with the display screen, the memory and the base station 4G communication module respectively; the charging 4G communication module is in wireless communication with the base station 4G communication module; the detection platform mechanism also comprises a terminal 4G communication module connected with the microprocessor; a storage battery (28) supplies power for the terminal 4G communication module; the terminal 4G communication module communicates wirelessly with the base station 4G communication module.
5. The UWB-based substation intelligent patrol positioning system according to claim 2, wherein: an arc-shaped concave (55) is arranged on each of the two conductive strips (35); when the telescopic end (52) of the electric telescopic rod (38) is contacted with the motor switch-off switch after being stretched out, the two electrode posts (29) slide into the two arc-shaped concave parts (55) respectively.
6. The UWB-based substation intelligent patrol positioning system according to claim 1, wherein: the detection platform mechanism also comprises a rotary cradle head (24) and a camera (25); the rotary cradle head (24) is arranged at the top of the control box (20); the camera (25) is arranged on the rotary holder (24); the rotary cradle head (24) and the camera (25) are electrically connected with the microprocessor.
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| CN201810362975.7A CN108344454B (en) | 2018-04-21 | 2018-04-21 | UWB-based intelligent substation inspection positioning system |
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| CN201810362975.7A CN108344454B (en) | 2018-04-21 | 2018-04-21 | UWB-based intelligent substation inspection positioning system |
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| CN109839151A (en) * | 2019-01-18 | 2019-06-04 | 衡阳师范学院 | Monoblock type Dense crowd indoor air quality-monitoring alarm system |
| CN109587387B (en) * | 2019-01-22 | 2023-09-15 | 宁波市电力设计院有限公司 | Substation power equipment monitoring system based on infrared detection |
| CN110597136B (en) * | 2019-09-24 | 2020-07-28 | 苏州南师大科技园投资管理有限公司 | Intelligent inspection system for production line |
| CN113838288A (en) * | 2021-11-29 | 2021-12-24 | 深圳市溪联科技有限公司 | Module road vehicle recording device based on rail transit control system |
| CN114170703A (en) * | 2021-12-15 | 2022-03-11 | 鞍钢集团自动化有限公司 | Corridor inspection system and laser scanning detection method |
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