CN113741293A - Remote communication control system of multifunctional operation vehicle for power transmission line - Google Patents
Remote communication control system of multifunctional operation vehicle for power transmission line Download PDFInfo
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- CN113741293A CN113741293A CN202111058206.6A CN202111058206A CN113741293A CN 113741293 A CN113741293 A CN 113741293A CN 202111058206 A CN202111058206 A CN 202111058206A CN 113741293 A CN113741293 A CN 113741293A
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention provides a remote communication control system of a multifunctional operation vehicle of a power transmission line, belonging to the field of communication. The multifunctional operation vehicle remote communication control system for the power transmission line comprises: the multifunctional operation vehicle for the power transmission line is placed on the power transmission line bearing rope, and the portable handheld remote control terminal controls the multifunctional operation vehicle for the power transmission line. The multifunctional operation vehicle for the power transmission line comprises a main control module, a sensor module, a motor driving module, a motor module, an operation vehicle power supply module and an operation vehicle wireless communication module. The portable hand-held remote control terminal comprises a microprocessor module, a key input module, a display module, a communication module, a terminal power supply module and a terminal wireless communication module. According to the invention, the portable handheld remote control terminal is used for establishing information communication with the multifunctional operation vehicle of the power transmission line, so that the multifunctional operation vehicle of a plurality of groups of power transmission lines can be remotely controlled to complete high-altitude operation, and the problem that the remote control of the existing power transmission line operation vehicle in a high-voltage strong electromagnetic environment is unreliable is solved.
Description
Technical Field
The invention relates to the technical field of communication, in particular to a remote communication control system of a multifunctional operation vehicle of a power transmission line.
Background
With the rapid development of power grid construction in China, power transmission line construction operation often spans various power transmission channels, highways, railways and the like, in order to ensure normal operation of spanned objects, screen sealing construction operation needs to be carried out, and an insulating net is laid above the spanned objects, so that the power transmission line overhead construction is prevented from being accidentally influenced on the spanned objects. The traditional net sealing operation usually adopts the erection of a disk buckle type crossing frame net sealing or the manual aerodyne net sealing, wherein the erection of the disk buckle type crossing frame net sealing is realized by erecting scaffold high platforms on two sides of a crossed object, erecting a Dyneema bearing rope and then sealing to protect the crossed object. The construction operation has the defects of high construction cost, long construction period, large cross-department coordination difficulty and the like. The manual galloping car net sealing is carried out on a bearing rope by an operator through the manual galloping car, and although the spanning frame is avoided being built, the operator is in the environment of high altitude, high voltage and strong electric field, so that the defects of high risk of aloft work, high potential risk of personal casualty accidents and the like are overcome. In addition, the traditional net sealing mode is greatly limited by terrain, such as the net sealing operation can not be carried out at the positions of large span, large span and low sag of mountainous regions.
The multifunctional operation vehicle for the power transmission line is an automatic device for high-altitude operation of the power transmission line, can replace the traditional net sealing operation mode, avoids building a coil buckle type crossing frame, replaces a manual flyer vehicle to seal nets in the high-altitude operation, and can also perform multifunctional operation such as ground wire replacement, lead wire replacement and the like. However, the overhead operation of the power transmission line is in an environment with high voltage and complex electromagnetic interference, and the multifunctional operation vehicle of the power transmission line has the characteristics of long communication distance, multiple interference factors and the like during the overhead operation, so that misoperation is easily caused, normal construction is influenced, and production safety accidents are caused. In view of the above problems in the related art, no effective solution has been provided at present.
Disclosure of Invention
In view of this, embodiments of the present invention provide a remote communication control system for a multifunctional work vehicle for a power transmission line, which can implement remote communication control of the multifunctional work vehicle for the power transmission line, and implement data communication and remote control.
According to an aspect of the present invention, an embodiment of the present invention provides a remote communication control system for a multifunctional working vehicle for a power transmission line, including: the multifunctional operation vehicle for the power transmission line and the portable handheld remote control terminal.
The portable handheld remote control terminal is added, so that communication control of the multifunctional operation vehicle for the power transmission line in an overhead, remote and complex electromagnetic environment can be realized, operation of a plurality of groups of multifunctional operation vehicles for the power transmission line can be controlled simultaneously, and the effect of mutual noninterference is achieved.
In one embodiment, the multifunctional operation vehicle for the power transmission line comprises a main control module, a sensor module, a motor driving module, a servo motor, an operation vehicle power module and an operation vehicle wireless communication module; the portable handheld remote control terminal comprises a microprocessor module, a key input module, a display output module, a terminal power supply module and a terminal wireless communication module.
The motor driving module receives the PWM driving signal of the main control module and drives the direct current servo motor to rotate, so that the multifunctional operation vehicle of the power transmission line moves on the overhead bearing rope.
In one embodiment, the main control module is connected with the sensor module, the motor driving module, the servo motor, the work vehicle power module and the work vehicle wireless communication module, and the main control module adopts a single chip microcomputer with the model of STM32F103VET 6.
The main control module adopts STM32F103 series chips of a microprocessor with high performance and low power consumption. Because the main control module has more functions and considers the later function expansion, the STM32F103VET6 chip with more functional pins is selected. The main control module calculates a control instruction sent by the portable handheld remote control terminal, outputs a driving motor signal to the motor driving chip, and integrates and outputs sensor information and voltage information of the 24V20AH lithium battery to the wireless communication module of the operation vehicle.
In one embodiment, the microprocessor module is connected with the key input module, the display output module, the terminal power supply module and the terminal wireless communication module, and the microprocessor module is a single chip microcomputer with a model number of STM32F103C8T 6.
Because the portable hand-held remote control terminal module is less, and simultaneously, in order to reduce the size, the microprocessor module adopts an STM32F103C8T6 chip. The key input module comprises keys connected with the microprocessor module and is used for inputting control instructions. The display output module comprises a 5.6-inch LCD screen, the LCD screen is connected with the microprocessor module, and the LCD screen is used for displaying the state information of the multifunctional operation vehicle of the power transmission line.
In one embodiment, the sensor module includes: the photoelectric coded disc is used for detecting the moving distance of the multifunctional operation vehicle of the power transmission line on the high-altitude bearing rope; the gyroscope is used for detecting attitude data of the multifunctional operation vehicle of the power transmission line during high-altitude movement; the pressure sensor is used for detecting pressure data of the multifunctional operation vehicle of the power transmission line on the bearing rope; and the tension sensor is used for detecting tension data of the multifunctional operation vehicle of the power transmission line on the net sealing device.
The sensor module comprises a photoelectric code disc, a gyroscope, a pressure sensor and a tension sensor, wherein the photoelectric code disc is used for collecting displacement data of the multifunctional operation vehicle of the power transmission line on the bearing rope; the gyroscope is used for acquiring attitude information of the multifunctional operation vehicle of the power transmission line during aloft work; the pressure sensor is used for acquiring the pressure of the multifunctional operation vehicle of the power transmission line on the bearing rope; the tension sensor is used for collecting the tension of the multifunctional operation vehicle of the power transmission line on the net sealing device.
In one embodiment, the work vehicle power module includes: the device comprises a 24V lithium battery, a battery charging and discharging protection circuit, a DC/DC conversion circuit and a voltage detection circuit; the terminal power supply module includes: 3.7V lithium battery, power management circuit, low pressure warning circuit.
The 24V20AH lithium battery is an energy source of the operation vehicle, and the battery charging and discharging protection circuit is used for preventing the lithium battery from being overcharged and overdischarged; the DC/DC conversion circuit converts the 24V lithium battery into 12V, 5V and 3.3V, wherein the 12V voltage supplies power to the sensor, the 5V voltage supplies power to the voltage detection circuit and the wireless communication module of the operation vehicle, and the 3.3V supplies power to the main control chip; the voltage detection circuit detects the voltage state of the 24V20AH lithium battery in real time and transmits the voltage state to the main control module.
A 3.7V lithium battery of the terminal power supply module is an energy source of the portable handheld remote control terminal; the power management chip can charge a 3.7V lithium battery, and can also convert the 3.7V lithium battery into 5V and 3.3V voltages, wherein the 5V voltage is supplied to the display output module and the use terminal wireless communication module, and the 3.3V voltage is supplied to the microprocessor module and the key input module; the low-voltage alarm circuit is used for detecting the state of the 3.7V lithium battery, and when the voltage of the 3.7V lithium battery is reduced to 3.4V, the low-voltage alarm circuit sends a low-voltage signal to the microprocessor module to remind of charging.
In one embodiment, the operation vehicle wireless communication module and the terminal wireless communication module are both LoRa wireless communication chips.
The LoRa wireless communication chip has the following advantages: firstly, high sensitivity and strong anti-interference performance; the high interference immunity is one of the advantages of the LoRa wireless communication chip, and the LoRa wireless communication chip selects the LoRa wireless spread spectrum technology, so that the high receiving sensitivity is-139 dBm, and the module has better penetrating power compared with the traditional GFSK and FSK modules, and the quantity of gateways and the construction cost can be greatly reduced. Secondly, the transmission distance is long; in complex environments such as mountain jungles and lakes, the industrial control field often requires a long communication transmission distance. The LoRa wireless communication chip has a transmission distance of more than 5000 meters, can solve the difficult problem that low power consumption and long distance can not be achieved at the same time, and is suitable for project schemes such as wireless meter reading and industrial control. Thirdly, low power consumption; this is particularly important for devices that require battery power in order to conserve energy, reduce heat, and thereby extend the useful life of the product. The selection of the low-power-consumption LoRa wireless communication chip has important significance in energy conservation and product service life prolonging.
In an embodiment, the portable handheld remote control terminal is configured to display an operation state of the power transmission line multifunctional working vehicle in real time, and when the power transmission line multifunctional working vehicle is remotely controlled to enter a standby mode, the portable handheld remote control terminal closes the sensor module and the motor driving module, so that the main control module is in a sleep mode.
When the multifunctional operation vehicle of the power transmission line is in a standby state, the portable handheld remote control terminal can send a sleep instruction, and remotely turns off the sensor module and the motor driving module, so that the main control module is in a sleep mode, standby power consumption is reduced, and the standby time of the multifunctional operation vehicle of the power transmission line in high-altitude operation is prolonged.
In one embodiment, the operating vehicle wireless communication module and the terminal wireless communication module are both provided with communication keys, the communication keys are used for preventing high-voltage electromagnetic interference and performing networking communication by using a private encryption data protocol, and the portable handheld remote control terminal controls the multi-functional operating vehicles of multiple groups of power transmission lines to operate simultaneously.
The private encryption data protocol is designed for preventing the control instruction of the system from being received wrongly due to electromagnetic interference or other wireless communication signals, and is used for verifying the correctness of the control instruction sent to the working vehicle by the remote control terminal.
In one embodiment, the power transmission line multifunctional operation vehicle and the portable handheld remote control terminal establish a heartbeat protocol, and the heartbeat protocol is used for detecting whether the power transmission line multifunctional operation vehicle is on line or not; the main control module of the multifunctional operation vehicle for the power transmission line is provided with a locking program, and the multifunctional operation vehicle enters a standby mode after the locking program detects a disconnection or abnormal signal.
The method comprises the steps that a heartbeat protocol is established between the multifunctional operation vehicle of the power transmission line and the portable handheld remote control terminal, a heartbeat data packet is sent to the opposite side every 0.2s, if the heartbeat data packet of the opposite side is not received after 1s, the multifunctional operation vehicle of the power transmission line stops sending the heartbeat data packet and executes a locking program, the multifunctional operation vehicle of the power transmission line stops executing a control instruction to enter a standby mode, and the portable handheld remote control terminal waits for awakening.
The remote communication control system of the multifunctional operation vehicle for the power transmission line provided by the embodiment of the invention has the beneficial effects that: firstly, communication control of the multifunctional operation vehicle of the power transmission line under high-altitude, long-distance and complex electromagnetic environments can be realized; secondly, the operation of the multi-functional operation vehicles of a plurality of groups of power transmission lines can be controlled simultaneously without mutual interference; and thirdly, the working reliability of the multifunctional operation vehicle for the power transmission line is improved, and the endurance time is prolonged.
Drawings
Fig. 1 is a schematic structural diagram of a remote communication control system of a multifunctional work vehicle for power transmission lines according to an exemplary embodiment of the present disclosure.
Fig. 2 is a schematic structural diagram of a telecommunication control system of a multifunctional work vehicle for power transmission lines according to another exemplary embodiment of the present application.
Fig. 3 is a schematic structural diagram of a multifunctional work vehicle for a power transmission line according to an exemplary embodiment of the present application.
Fig. 4 is a schematic structural diagram of a sensor module according to an exemplary embodiment of the present application.
Fig. 5 is a schematic structural diagram of a portable handheld remote control terminal according to an exemplary embodiment of the present application.
Description of reference numerals: the multifunctional electric transmission line work vehicle comprises a power transmission line multifunctional work vehicle 1, a main control module 11, a sensor module 12, a photoelectric coded disc 121, a gyroscope 122, a pressure sensor 123, a tension sensor 124, a motor driving module 13, a servo motor 14, a work vehicle power supply module 15, a work vehicle wireless communication module 16, a portable handheld remote control terminal 2, a microprocessor module 21, a key input module 22, a display output module 23, a terminal power supply module 24 and a terminal wireless communication module 25.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Further, in the exemplary embodiments, since the same reference numerals denote the same components having the same structure or the same steps of the same method, if an embodiment is exemplarily described, only a structure or a method different from the already described embodiment is described in other exemplary embodiments.
Throughout the specification and claims, when one element is described as being "connected" to another element, the one element may be "directly connected" to the other element or "electrically connected" to the other element through a third element. Furthermore, unless explicitly described to the contrary, the term "comprising" and its corresponding terms should only be taken as including the stated features, but should not be taken as excluding any other features.
Fig. 1 is a schematic structural diagram of a remote communication control system of a power transmission line multifunctional work vehicle according to an exemplary embodiment of the present disclosure, and as shown in fig. 1, the remote communication control system of the power transmission line multifunctional work vehicle 1 includes: the multifunctional power transmission line operation vehicle comprises a power transmission line multifunctional operation vehicle 1 and a portable handheld remote control terminal 2.
The portable handheld remote control terminal 2 can correspondingly control the operation of the multiple groups of power transmission line multifunctional operation vehicles 1 at the same time, and the multiple groups of power transmission line multifunctional operation vehicles 1 are not interfered with each other.
The portable handheld remote control terminal 2 can be a portable handheld remote controller, the portable handheld remote controller is convenient for a worker to directly command the handheld remote controller on site, remote control can be performed under the condition that the multifunctional operation vehicle 1 of the power transmission line is observed, the portable handheld remote control terminal 2 can realize communication control of the multifunctional operation vehicle 1 of the power transmission line under high-altitude, long-distance and complex electromagnetic environments, the operation of multiple groups of multifunctional operation vehicles 1 of the power transmission line can be controlled simultaneously, the multiple groups of multifunctional operation vehicles 1 of the power transmission line are not interfered with each other during operation, the working reliability of the multifunctional operation vehicle 1 of the power transmission line is improved, and the endurance time is prolonged.
Fig. 2 is a schematic structural diagram of a remote communication control system of a multifunctional work vehicle for power transmission line according to another exemplary embodiment of the present application, and as shown in fig. 2, a communication connection is formed between the multifunctional work vehicle for power transmission line 1 and a portable handheld remote control terminal 2. The multifunctional operation vehicle 1 for the power transmission line comprises a main control module 11, a sensor module 12, a motor driving module 13, a servo motor 14, an operation vehicle power module 15 and an operation vehicle wireless communication module 16. The main control module 11, the sensor module 12, the motor driving module 13, the servo motor 14, the work vehicle power module 15 and the work vehicle wireless communication module 16 are in communication connection. The portable hand-held remote control terminal 2 includes a microprocessor module 21, a key input module 22, a display output module 23, a terminal power supply module 24, and a terminal wireless communication module 25. The microprocessor module 21, the key input module 22, the display output module 23, the terminal power supply module 24 and the terminal wireless communication module 25 are in communication connection.
Fig. 3 is a schematic structural diagram of the power transmission line multifunctional work vehicle 1 according to an exemplary embodiment of the present application, and as shown in fig. 3, the power transmission line multifunctional work vehicle 1 includes a main control module 11, a sensor module 12, a motor driving module 13, a servo motor 14, a work vehicle power module 15, and a work vehicle wireless communication module 16. The main control module 11 is connected with the sensor module 12, the motor driving module 13, the servo motor 14, the work vehicle power module 15 and the work vehicle wireless communication module 16, and the main control module 11 adopts a single chip microcomputer with the model number of STM32F103VET 6.
The work vehicle power module 15 includes a 24V20AH lithium battery, a battery charging/discharging protection circuit, a DC/DC conversion circuit, and a voltage detection circuit. The 24V20AH lithium battery is an energy source of the operation vehicle, and the battery charging and discharging protection circuit is used for preventing the lithium battery from being overcharged and overdischarged; the DC/DC conversion circuit converts the 24V lithium battery into 12V, 5V and 3.3V, wherein the 12V voltage supplies power to the sensor, the 5V voltage supplies power to the voltage detection circuit and the wireless communication module of the operation vehicle, and the 3.3V supplies power to the main control chip; the voltage detection circuit detects the voltage state of the 24V20AH lithium battery in real time and transmits the voltage state to the main control module 11.
The main control module 11 adopts a high-performance and low-power consumption microprocessor STM32F103 series chip. Because the main control module 11 has more functions and considers the later function expansion, the STM32F103VET6 chip with more functional pins is selected. The main control module 11 calculates the control instruction sent by the portable handheld remote control terminal 2, outputs a servo motor 14 signal to the motor driving chip, and integrates and outputs the sensor information and the voltage information of the 24V20AH lithium battery to the work vehicle wireless communication module 16.
Fig. 4 is a schematic structural diagram of a sensor module 12 according to an exemplary embodiment of the present application, where as shown in fig. 4, the sensor module 12 includes: the photoelectric coded disc 121 is used for detecting the moving distance of the multifunctional operation vehicle 1 of the power transmission line on the overhead bearing rope; the gyroscope 122 is used for detecting attitude data of the multifunctional operation vehicle 1 of the power transmission line during high-altitude movement; the pressure sensor 123 is used for detecting pressure data of the multifunctional working vehicle 1 of the power transmission line on the bearing rope; and the tension sensor 124 is used for detecting tension data of the multifunctional operation vehicle 1 for the net sealing device of the power transmission line.
The sensor module 12 comprises a photoelectric code disc 121, a gyroscope 122, a pressure sensor 123 and a tension sensor 124, wherein the photoelectric code disc 121 is used for collecting displacement data of the multifunctional working vehicle 1 of the power transmission line on a bearing rope; the gyroscope 122 is used for acquiring attitude information of the multifunctional operation vehicle 1 for overhead operation of the power transmission line; the pressure sensor 123 is used for acquiring the pressure of the multifunctional operation vehicle 1 of the power transmission line on the bearing rope; the tension sensor 124 is used for acquiring the tension of the multifunctional operation vehicle 1 for the blocking device.
The motor driving module 13 receives the PWM driving signal of the main control module 11, and drives the dc servo motor 14 to rotate, so that the multifunctional operation vehicle 1 for the power transmission line moves on the overhead bearing rope.
Fig. 5 is a schematic structural diagram of a portable handheld remote control terminal 2 according to an exemplary embodiment of the present application, and as shown in fig. 5, the portable handheld remote control terminal 2 includes a microprocessor module 21, a key input module 22, a display output module 23, a terminal power supply module 24, and a terminal wireless communication module 25.
The microprocessor module 21 is connected with the key input module 22, the display output module 23, the terminal power supply module 24 and the terminal wireless communication module 25, and the microprocessor module 21 adopts a single chip microcomputer with the model number of STM32F103C8T 6.
Wherein, the terminal power supply module 24 comprises a 3.7V lithium battery, a power supply management chip and a low-voltage alarm circuit. The 3.7V lithium battery is an energy source of the portable handheld remote control terminal 2; the power management chip can charge a 3.7V lithium battery, and can also convert the 3.7V lithium battery into 5V and 3.3V voltages, the 5V voltage is supplied to the display output module 23 and the use terminal wireless communication module 25 for use, and the 3.3V voltage is supplied to the microprocessor module 21 and the key input module 22; the low-voltage alarm circuit is used for detecting the state of the 3.7V lithium battery, and when the voltage of the 3.7V lithium battery is reduced to 3.4V, the low-voltage alarm circuit sends a low-voltage signal to the microprocessor module 21 to remind of charging.
Since the portable hand-held remote control terminal 2 has fewer modules, and at the same time, in order to reduce the size, the microprocessor module 21 employs an STM32F103C8T6 chip. The key input module 22 includes keys connected to the microprocessor module 21 for inputting control commands. The display output module 23 comprises a 5.6-inch LCD screen, the LCD screen is connected with the microprocessor module 21, and the LCD screen is used for displaying the state information of the multifunctional operation vehicle 1 of the power transmission line.
The operation vehicle wireless communication module 16 and the terminal wireless communication module 25 are both LoRa wireless communication chips, and baud rate, data bit, check bit, stop bit, address, channel and other information of the operation vehicle wireless communication module 16 and the terminal wireless communication module 25 need to be configured consistently. In addition, the work vehicle wireless communication module 16 and the terminal wireless communication module 25 are externally connected with antennas, so that the sending and receiving intensity of signals is enhanced.
The LoRa wireless communication chip has the following advantages: firstly, high sensitivity and strong anti-interference performance; the high interference immunity is one of the advantages of the LoRa wireless communication chip, and the LoRa wireless communication chip selects the LoRa wireless spread spectrum technology, so that the high receiving sensitivity is-139 dBm, and the module has better penetrating power compared with the traditional GFSK and FSK modules, and the quantity of gateways and the construction cost can be greatly reduced. Secondly, the transmission distance is long; in complex environments such as mountain jungles and lakes, the industrial control field often requires a long communication transmission distance. The LoRa wireless communication chip has a transmission distance of more than 5000 meters, can solve the difficult problem that low power consumption and long distance can not be achieved at the same time, and is suitable for project schemes such as wireless meter reading and industrial control. Thirdly, low power consumption; this is particularly important for devices that require battery power in order to conserve energy, reduce heat, and thereby extend the useful life of the product. The selection of the low-power-consumption LoRa wireless communication chip has important significance in energy conservation and product service life prolonging.
The portable handheld remote control terminal 2 is used for displaying the running state of the power transmission line multifunctional working vehicle 1 in real time, and when the remote control power transmission line multifunctional working vehicle 1 enters a standby mode, the portable handheld remote control terminal 2 turns off the sensor module 12 and the motor driving module 13, so that the main control module 11 is in a sleep mode.
The operation vehicle wireless communication module 16 and the terminal wireless communication module 25 are both provided with communication keys, the communication keys are used for preventing high-voltage electromagnetic interference, networking communication is carried out by using a private encryption data protocol, and the portable handheld remote control terminal 2 controls the multi-functional operation vehicle 1 of multiple groups of power transmission lines to operate simultaneously. The communication key is established, so that the communication control of the multifunctional operation vehicle 1 of the power transmission line under the high-altitude, long-distance and complex electromagnetic environment can be realized, and the problems of long communication distance, multiple interference factors and the like existing in the multifunctional operation vehicle 1 of the power transmission line during high-altitude operation are solved.
The private encryption data protocol is designed for preventing the control instruction receiving error of the system caused by electromagnetic interference or other wireless communication signals, and is used for verifying the correctness of the control instruction sent by the remote control terminal to the working vehicle. The private encryption data protocol includes:
(1) a unified password reference book (data array) is prestored in each work vehicle main control module 11 and the microprocessor module 21 of the handheld remote control terminal; (2) the first bit of a data packet of a control instruction sent to the multifunctional operation vehicle 1 of the power transmission line by the handheld remote control terminal is a secret key, and the last bit is a random number; (3) after receiving the data, the multifunctional operation vehicle 1 of the power transmission line adds the data of the data packet except the first secret key to obtain an address, and finds out the corresponding secret key in the password reference book through the address; (4) checking whether the first bit of the data packet of the control command is a key and a key of the password reference book are consistent, if so, executing the control command by the working vehicle, and returning an execution flag bit to the portable handheld remote control terminal 2; if not, returning to the portable handheld remote control terminal 2 to resend the zone bit; (5) if the portable handheld remote control terminal 2 receives the execution flag bit, the portable handheld remote control terminal stops sending the control instruction and displays the 'control instruction is being executed by the power transmission line multifunctional operating vehicle 1' on the display output module 23; if the resend flag bit is not received, the control command (updating the key and the random number) is sent again.
The heartbeat protocol is established between the multifunctional operation vehicle 1 of the power transmission line and the portable handheld remote control terminal 2, and is used for detecting whether the multifunctional operation vehicle 1 of the power transmission line is on line or not; the main control module 11 of the multifunctional operating vehicle 1 for the power transmission line is provided with a locking program, and enters a standby mode after the locking program detects a disconnection or abnormal signal.
The remote communication control system of the multifunctional operation vehicle 1 for the power transmission line provided by the embodiment of the invention has the following beneficial effects: firstly, communication control of the multifunctional operation vehicle 1 of the power transmission line under high-altitude, long-distance and complex electromagnetic environment can be realized; secondly, the multifunctional operation vehicles 1 of a plurality of groups of power transmission lines can be controlled to operate without mutual interference; thirdly, the working reliability of the multifunctional operation vehicle 1 of the power transmission line is improved, and meanwhile the endurance time is improved.
The remote communication control system of the multifunctional operation vehicle 1 for the power transmission line, provided by the embodiment of the invention, can reduce the potential risks of high-altitude operation and personal casualty accidents caused by that operating personnel are in high-altitude, high-voltage and strong electric fields, realize remote construction operation of the power transmission line, enable the multifunctional operation vehicle 1 for the power transmission line to replace the traditional net sealing operation mode, avoid building a coil buckle type crossing frame, replace a manpower flying vehicle to seal nets in high-altitude operation, and also carry out multifunctional operation such as ground wire replacement, lead wire replacement and the like.
The invention provides an actual operation process of a remote communication control system of a multifunctional operation vehicle 1 of a power transmission line, when the remote communication control system of the multifunctional operation vehicle 1 of the power transmission line starts to operate, a main control module 11 of the multifunctional operation vehicle 1 of the power transmission line and a microprocessor module 21 of a portable handheld remote control terminal 2 are initialized, and a wireless communication module 16 of the operation vehicle and a wireless communication module 25 of a terminal are paired.
After initialization and pairing are completed, the power transmission line multifunctional working vehicle 1 sends state information including battery power, posture, pressure and tension information to the portable handheld remote control terminal 2 at regular time.
After receiving the state information, the portable handheld remote control terminal 2 displays the state information in real time through the display output module 23, so that a user can directly observe the state information of the power transmission line multifunctional operation vehicle 1 at the portable handheld remote control terminal 2, and adjust the power transmission line multifunctional operation vehicle 1 in real time.
When the portable handheld remote control terminal 2 is used for sending a control instruction, by pressing a key of the key input module 22 corresponding to the control instruction, the microprocessor module 21 of the terminal sends a corresponding control instruction data packet to the terminal wireless communication module 25, the terminal wireless communication module 25 transmits the control instruction data packet to the operation vehicle wireless communication module 16 in an encrypted wireless manner, the operation vehicle wireless communication module 16 transmits the data packet to the main control module 11 of the operation vehicle after decryption, and then the main control module 11 checks the integrity of the data packet. If the data packet is complete, executing a corresponding control instruction, and feeding back 'instruction receiving complete' information to the portable handheld remote control terminal 2; if the integrity of the data packet is poor, the multifunctional operation vehicle 1 of the power transmission line feeds back 'instruction incomplete' information to the portable handheld remote control terminal 2. After the terminal wireless communication module 25 sends the command, it will send the control command again if it does not receive the feedback message or receives the feedback information of "incomplete command".
The portable hand-held remote control terminal 2 can also establish contact with a mobile terminal, for example, the portable hand-held remote control terminal 2 establishes communication connection with a mobile phone, corresponding software is installed in the mobile phone and used for remotely controlling the portable hand-held remote control terminal 2, the remote control of an unmanned site is realized, a worker starts the key input module 22 through remotely controlling the mobile phone, the microprocessor module 21 of the terminal sends a corresponding control instruction data packet to the terminal wireless communication module 25, the terminal wireless communication module 25 transmits the control instruction data packet to the operation vehicle wireless communication module 16 through encryption and wireless transmission, the operation vehicle wireless communication module 16 transmits the data packet to the main control module 11 of the operation vehicle after decryption, and then the main control module 11 checks the integrity of the data packet. If the data packet is complete, executing a corresponding control instruction, feeding back 'instruction receiving complete' information to the portable handheld remote control terminal 2, and sending 'instruction receiving complete' information to the mobile terminal by the portable handheld remote control terminal 2 to prompt a worker; if the integrity of the data packet is poor, the multifunctional operation vehicle 1 of the power transmission line feeds back 'instruction incomplete' information to the portable handheld remote control terminal 2. After the terminal wireless communication module 25 sends the command, it will send the control command again if it does not receive the feedback message or receives the feedback information of "incomplete command".
When the multifunctional operation vehicle 1 of the power transmission line is in a standby state, the portable handheld remote control terminal 2 can send a sleep instruction, and remotely turns off the sensor module 12 and the motor driving module 13, so that the main control module 11 is in a sleep mode, the standby power consumption of the multifunctional operation vehicle 1 of the power transmission line is reduced, the standby time of the multifunctional operation vehicle 1 of the power transmission line in high-altitude operation is prolonged, the energy is saved, and the endurance time is prolonged.
The heartbeat protocol is established between the multifunctional operation vehicle 1 of the power transmission line and the portable handheld remote control terminal 2, a heartbeat data packet is sent to the opposite side every 0.2s, if the heartbeat data packet of the opposite side is not received after 1s, the multifunctional operation vehicle 1 of the power transmission line stops sending the heartbeat data packet and executes a locking program, stops executing a control instruction and enters a standby mode, and waits for the portable handheld remote control terminal 2 to be awakened. When the multifunctional operation vehicle 1 of the power transmission line does not receive the heartbeat data packet sent by the portable handheld remote control terminal 2 within the preset time, it can be determined that the multifunctional operation vehicle 1 of the power transmission line loses contact with the portable handheld remote control terminal 2, and the multifunctional operation vehicle 1 of the power transmission line enters a standby mode. The multifunctional operation vehicle 1 of the power transmission line enters a standby mode when the multifunctional operation vehicle cannot be connected with the portable handheld remote control terminal 2, so that the standby time of the multifunctional operation vehicle 1 of the power transmission line in high-altitude operation can be prolonged, energy is saved, and the endurance time is prolonged.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and the like that are within the spirit and principle of the present invention are included in the present invention. The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (10)
1. The utility model provides a multi-functional operation car remote communication control system of transmission line which characterized in that includes:
the multifunctional operation vehicle for the power transmission line and the portable handheld remote control terminal.
2. The system of claim 1, wherein the power transmission line multifunctional work vehicle comprises a master control module, a sensor module, a motor driving module, a servo motor, a work vehicle power module and a work vehicle wireless communication module;
the portable handheld remote control terminal comprises a microprocessor module, a key input module, a display output module, a terminal power supply module and a terminal wireless communication module.
3. The system of claim 2, wherein the master control module is connected with the sensor module, the motor driving module, the servo motor, the work vehicle power module and the work vehicle wireless communication module, and the master control module adopts a single chip microcomputer with a model number of STM32F103VET 6.
4. The system according to claim 2, wherein the microprocessor module is connected with the key input module, the display output module, the terminal power supply module and the terminal wireless communication module, and the microprocessor module adopts a single chip microcomputer with a model number of STM32F103C8T 6.
5. The system of claim 2, wherein the sensor module comprises:
the photoelectric coded disc is used for detecting the moving distance of the multifunctional operation vehicle of the power transmission line on the high-altitude bearing rope;
the gyroscope is used for detecting attitude data of the multifunctional operation vehicle of the power transmission line during high-altitude movement;
the pressure sensor is used for detecting pressure data of the multifunctional operation vehicle of the power transmission line on the bearing rope;
and the tension sensor is used for detecting tension data of the multifunctional operation vehicle of the power transmission line on the net sealing device.
6. The system of claim 2,
the work vehicle power module includes: the device comprises a 24V lithium battery, a battery charging and discharging protection circuit, a DC/DC conversion circuit and a voltage detection circuit;
the terminal power supply module includes: 3.7V lithium battery, power management circuit, low pressure warning circuit.
7. The system of claim 2, wherein the work vehicle wireless communication module and the terminal wireless communication module are both LoRa wireless communication chips.
8. The system of claim 2, wherein the portable handheld remote control terminal is configured to display an operation state of the power transmission line multifunctional working vehicle in real time, and when the power transmission line multifunctional working vehicle is remotely controlled to enter a standby mode, the portable handheld remote control terminal turns off the sensor module and the motor driving module, so that the main control module is in a sleep mode.
9. The system according to claim 2, wherein the work vehicle wireless communication module and the terminal wireless communication module are both provided with communication keys, the communication keys are used for preventing high-voltage electromagnetic interference and carrying out networking communication by using a private encryption data protocol, and the portable handheld remote control terminal controls the multi-functional work vehicles of the multiple groups of power transmission lines to operate simultaneously.
10. The system of claim 2, wherein the power transmission line multifunctional operating vehicle and the portable handheld remote control terminal establish a heartbeat protocol, and the heartbeat protocol is used for detecting whether the power transmission line multifunctional operating vehicle is on-line; the main control module of the multifunctional operation vehicle for the power transmission line is provided with a locking program, and the multifunctional operation vehicle enters a standby mode after the locking program detects a disconnection or abnormal signal.
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| CN113741293B (en) | 2023-02-17 |
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