CN114203353A - System and method for resisting strong magnetic field interference of inspection robot - Google Patents
System and method for resisting strong magnetic field interference of inspection robot Download PDFInfo
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- CN114203353A CN114203353A CN202111642102.XA CN202111642102A CN114203353A CN 114203353 A CN114203353 A CN 114203353A CN 202111642102 A CN202111642102 A CN 202111642102A CN 114203353 A CN114203353 A CN 114203353A
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- 230000005291 magnetic effect Effects 0.000 title claims abstract description 51
- 238000007689 inspection Methods 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title claims abstract description 15
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims abstract description 23
- 238000002955 isolation Methods 0.000 claims abstract description 23
- 229910052782 aluminium Inorganic materials 0.000 claims abstract description 15
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims abstract description 15
- 239000011889 copper foil Substances 0.000 claims abstract description 14
- 229910052802 copper Inorganic materials 0.000 claims abstract description 9
- 239000010949 copper Substances 0.000 claims abstract description 9
- 238000003466 welding Methods 0.000 claims abstract description 8
- 230000002093 peripheral effect Effects 0.000 claims abstract description 5
- 238000004891 communication Methods 0.000 claims description 12
- 238000012423 maintenance Methods 0.000 claims description 10
- 229910052751 metal Inorganic materials 0.000 claims description 9
- 239000002184 metal Substances 0.000 claims description 9
- 239000000853 adhesive Substances 0.000 claims description 6
- 230000001070 adhesive effect Effects 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 6
- 230000005350 ferromagnetic resonance Effects 0.000 claims description 5
- 238000004512 die casting Methods 0.000 claims description 4
- 238000007789 sealing Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 3
- 239000011888 foil Substances 0.000 claims description 3
- 239000003973 paint Substances 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 239000003381 stabilizer Substances 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K9/00—Screening of apparatus or components against electric or magnetic fields
- H05K9/0073—Shielding materials
- H05K9/0081—Electromagnetic shielding materials, e.g. EMI, RFI shielding
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
- H01B11/00—Communication cables or conductors
- H01B11/02—Cables with twisted pairs or quads
- H01B11/06—Cables with twisted pairs or quads with means for reducing effects of electromagnetic or electrostatic disturbances, e.g. screens
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K9/00—Screening of apparatus or components against electric or magnetic fields
- H05K9/0073—Shielding materials
- H05K9/0075—Magnetic shielding materials
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- Engineering & Computer Science (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
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Abstract
A system and a method for resisting strong magnetic field interference of an inspection robot comprise a hardware anti-electromagnetic interference device and a software anti-electromagnetic interference module, wherein the hardware anti-electromagnetic interference device comprises a driving board shielding cover, a control chip shielding cover, a robot shielding box body, an input signal isolation circuit and a shielding wire rod, the software anti-electromagnetic interference module comprises a function of reducing while waiting sentences in an algorithm, the control chip shielding cover is wrapped by copper foil, and insulating layers are arranged on the inner side and the outer side of the control chip shielding cover; the robot shielding box body is formed by welding aluminum plates; the input signal isolation circuit comprises an isolation diode and a peripheral circuit; the shielding wire is internally wrapped by a copper mesh; the method adopts hardware anti-interference and software anti-interference modes, can protect power grid spike pulse interference caused by a strong magnetic field, and can also protect spike interference pulses generated by the power grid caused by the strong magnetic field.
Description
Technical Field
The invention relates to the field of anti-electromagnetic interference of inspection robots, in particular to a system and a method for resisting strong magnetic field interference of an inspection robot.
Background
The inspection robot working environment is often accompanied by strong electromagnetic interference, the main problem of the electromagnetic interference is that the operation of the robot is unstable due to the jump of a controller running code, clock loss and the like, so the key of the electromagnetic interference resistance is the protection of the controller.
The hydraulic generator is the core equipment of the hydropower station, the hydraulic generator runs safely and stably, and the hydraulic generator and the power grid are both influenced significantly, so that the hydraulic generator is important to be regularly checked. Because the mounting environment of the hydraulic generator is severe, the manual inspection is difficult and dangerous, and a special hydraulic generator inspection robot is expected to replace manual inspection at present. However, there is strong magnetic field interference around the hydraulic generator, and it is necessary to provide an anti-interference system and method for a patrol robot in a strong magnetic field environment.
Aiming at the defects in the prior art, the invention provides an anti-electromagnetic interference system of an inspection robot, which improves the anti-electromagnetic interference capability of the inspection robot.
Disclosure of Invention
The invention aims to provide an anti-electromagnetic interference system and method for an inspection robot, which can improve the anti-electromagnetic interference capability of the novel inspection robot.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
an anti-electromagnetic interference system of an inspection robot comprises a hardware anti-electromagnetic interference device and a software anti-electromagnetic interference module, wherein the hardware anti-electromagnetic interference device comprises a driving board shielding cover, a control chip shielding cover, a robot shielding box body, an input signal isolation circuit and a shielding wire rod, and the software anti-electromagnetic interference module is used for reducing while waiting sentences in an algorithm; the driving plate shielding cover is made of aluminum materials, is integrally formed by die casting, is divided into an upper block and a lower block, is fixed by bolts, and is provided with a lead interface outside; the control chip shielding case is wrapped by copper foil, and insulating layers are arranged on the inner side and the outer side of the control chip shielding case; the robot shielding box body is formed by welding aluminum plates; the input signal isolation circuit comprises an isolation diode and a peripheral circuit; the shielding wire is wrapped by a copper mesh.
Preferably, the drive plate shield casing material is 6063T5 industrial extruded aluminum alloy with a thickness of 1.5 mm; the control chip shielding case is made of 99.98 parts of copper and 0.05mm in thickness; the material of the robot shielding box body is 6063T5, and the thickness is 2 mm; the diode model of the input signal isolation circuit is 1N4007, and the reverse cut-off voltage of the input signal isolation circuit is up to 1200V; the tolerance value of the input voltage of the controller is improved.
The thickness of foretell drive plate shield cover is 1.5mm, is equipped with the draw-in groove on two upper and lower blocks of drive plate shield cover, and the outside and the inside of drive plate shield cover have sprayed insulating paint, make the shielding layer reach sealed effect, and the metal part of drive plate shield cover links to each other with inspection robot direct current power supply ground wire.
The copper foil adopted by the control chip shielding case is a 0.05mm double-side conductive single-sided adhesive copper foil, the inner side and the outer side of the aluminum foil are provided with insulating adhesive, and the metal part of the copper foil is connected with a direct-current power supply ground wire of the inspection robot.
Foretell robot shielding box adopts aluminum plate welding to form, and its side one side is opened the face for the maintenance, and the face is opened in the maintenance adopts bolted connection with the body of robot shielding box, and the face is opened in the maintenance and adopts waterproof sealing protection between the robot shielding box, and the metal part of robot shielding box links to each other with patrolling and examining robot direct current power supply ground wire.
A method for resisting strong magnetic field interference of an anti-strong magnetic field interference system of an inspection robot comprises the following steps:
step 1: an input power supply part of the upper computer is provided with an alternating current voltage-stabilized power supply, and the alternating current voltage-stabilized power supply with anti-interference capability in a ferromagnetic resonance mode is selected;
step 2: a 1000VA isolation transformer is additionally arranged in front of a working power supply of the upper computer and is used for protecting power grid spike pulse interference caused by a strong magnetic field;
and step 3: the upper computer and the lower computer are provided with a switching power supply which is used for preventing the problem of overvoltage or undervoltage caused by a strong magnetic field when the voltage of a power grid changes in a wide range;
and 4, step 4: a power supply filter is arranged on the lower computer and is used for protecting spike interference pulses generated by a power grid due to a strong magnetic field;
and 5: for communication cables and ordinary cables, the communication cables are in the form of twisted pairs.
A shielding layer is arranged outside each communication cable, a shielding layer is arranged outside the twisted pair, and the shielding layers are effectively grounded, so that magnetic field interference can flow into a grounding end through the shielding layers; a shielding layer is additionally arranged on a common cable of the robot, and strong current and weak current cables are separated and wired inside the robot, so that mutual magnetic field interference is reduced.
The model of the power filter in the above step 4 is DL15TH 1.
The invention provides an anti-electromagnetic interference system and method for an inspection robot, which have the following beneficial effects:
1. the strong magnetic field interference resisting system of the inspection robot comprises a hardware anti-electromagnetic interference device and a software anti-electromagnetic interference module, wherein the hardware anti-electromagnetic interference device comprises a driving board shielding cover, a control chip shielding cover, a robot shielding box body, an input signal isolation circuit and a shielding wire rod; the mode of hardware interference resistance and software interference resistance is adopted, meanwhile, the driving plate shielding cover is made of aluminum materials and is integrally formed by die casting, the shielding cover is divided into an upper shielding cover and a lower shielding cover which are fixed by bolts, and a lead interface is reserved outside the shielding cover and divided into the upper shielding cover and the lower shielding cover, so that the shielding cover can be detached, maintained and replaced more conveniently; the control chip shielding case is wrapped by copper foil, insulating layers are arranged on the inner side and the outer side of the control chip shielding case, and the insulating layers are designed for the purposes of insulation and interference resistance; the robot shielding box body is formed by welding aluminum plates; the input signal isolation circuit comprises an isolation diode and a peripheral circuit; the shielding wire is wrapped by a copper mesh, and the purpose of wrapping the shielding wire by the copper mesh is anti-electromagnetic interference.
2. According to the method for resisting the strong magnetic field interference, an alternating current voltage stabilizing power supply is arranged at an input power supply part of the upper computer, and the alternating current voltage stabilizer with an anti-interference ferromagnetic resonance mode can effectively stabilize voltage fluctuation to positive and negative 1% -positive and negative 2%; the 1000AV isolation transformer is additionally arranged in front of the working power supply of the upper computer and can be used for protecting power grid spike pulse interference caused by a strong magnetic field; the upper computer and the lower computer are provided with a switching power supply which is used for preventing the problem of overvoltage or undervoltage caused by a strong magnetic field when the voltage of a power grid changes in a wide range; and a DL15TH1 type power supply filter is installed on the lower computer and is used for protecting spike interference pulses generated by a power grid due to a strong magnetic field.
3. The communication cable adopts the design of twisted pairs aiming at communication cables and common cables, and because the twisted distances of all sections of the twisted pairs are equal, the areas of electric wires are equal, the directions are opposite, and the impedances are the same, the magnetic field interference generated by the twisted pairs or the external strong magnetic field interference can be mutually counteracted. Meanwhile, a shielding layer is arranged outside each communication cable, a shielding layer is arranged outside the twisted pair, and the shielding layer is effectively grounded, so that magnetic field interference can flow into a grounding end through the shielding layer; a shielding layer is additionally arranged on a common cable of the robot, and strong current and weak current cables are separated and wired inside the robot, so that mutual magnetic field interference is reduced.
Drawings
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
FIG. 1 is a schematic structural diagram of an anti-strong magnetic field interference system of the inspection robot of the invention;
FIG. 2 is a schematic diagram of the method for resisting the strong magnetic field interference of the strong magnetic field interference resisting system of the inspection robot according to the invention;
FIG. 3 is a schematic diagram of a twisted pair cable according to the present invention;
fig. 4 is a schematic structural diagram of the shielding layer of the present invention.
Wherein: 1-shield layer, 2-twisted pair.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Example 1
A strong magnetic field interference resisting system of an inspection robot comprises a hardware electromagnetic interference resisting device and a software electromagnetic interference resisting module, wherein the hardware electromagnetic interference resisting device comprises a driving board shielding cover, a control chip shielding cover, a robot shielding box body, an input signal isolation circuit and a shielding wire rod, and the software electromagnetic interference resisting module is used for reducing while waiting sentences in an algorithm; the driving plate shielding cover is made of aluminum materials, is integrally formed by die casting, is divided into an upper block and a lower block, is fixed by bolts, and is provided with a lead interface outside; the control chip shielding cover is wrapped by copper foil, and insulating layers are arranged on the inner side and the outer side of the control chip shielding cover; the robot shielding box body is formed by welding aluminum plates; the input signal isolation circuit comprises an isolation diode and a peripheral circuit; the shielding wire is internally wrapped by a copper mesh, the shielding wire is internally wrapped by the copper mesh, so that the interference of an electric magnetic field to the inspection robot can be effectively shielded, the anti-interference capability of the inspection robot is further improved, the shielding cover of the driving plate is made of 6063T5 industrial extruded aluminum alloy, and the thickness of the shielding cover is 1.5 mm; the control chip shielding case is made of 99.98 parts of copper and 0.05mm in thickness; the robot shielding box body is made of 6063T5 and is 2mm thick; the diode model of the input signal isolation circuit is 1N4007, and the reverse cut-off voltage of the input signal isolation circuit is up to 1200V; the tolerance value of the input voltage of the controller is improved, so that the inspection robot can bear higher voltage.
Further, the thickness of drive plate shield be 1.5mm, be equipped with the draw-in groove on two upper and lower blocks of drive plate shield, set up the draw-in groove and can be with two upper and lower blocks of joints, also convenient the dismantlement simultaneously, be convenient for maintain, the outside and the inside of drive plate shield are spouted with insulating paint, make the shielding layer reach sealed effect simultaneously can better insulating, lead to patrolling and examining the robot and damage and cause loss or other incident to prevent electrically conducting, the metal part of drive plate shield links to each other with patrolling and examining robot DC power supply ground wire.
Furthermore, the copper foil adopted by the control chip shielding case is a 0.05mm double-side conductive single-sided adhesive copper foil, the inner side and the outer side of the aluminum foil are provided with insulating adhesive, and the metal part of the copper foil is connected with a direct current power supply ground wire of the inspection robot.
Further, the robot shielding box body is formed by welding aluminum plates, one side face of the robot shielding box body is opened for maintenance, the purpose of opening the face for maintenance is convenient to maintain, the opened face for maintenance is connected with the body of the robot shielding box body through bolts, waterproof sealing protection is adopted between the opened face for maintenance and the robot shielding box body, and the metal part of the robot shielding box body is connected with a direct-current power supply ground wire of the inspection robot.
Example 2
A method for resisting strong magnetic field interference of an anti-strong magnetic field interference system of an inspection robot is characterized by comprising the following steps:
step 1: an input power supply part of the upper computer is provided with an alternating current voltage-stabilized power supply, and the alternating current voltage-stabilized power supply with anti-interference capability in a ferromagnetic resonance mode is selected;
step 2: a 1000VA isolation transformer is additionally arranged in front of a working power supply of the upper computer and is used for protecting power grid spike pulse interference caused by a strong magnetic field;
and step 3: the upper computer and the lower computer are provided with a switching power supply which is used for preventing the problem of overvoltage or undervoltage caused by a strong magnetic field when the voltage of a power grid changes in a wide range;
and 4, step 4: a power supply filter is arranged on the lower computer and is used for protecting spike interference pulses generated by a power grid due to a strong magnetic field;
and 5: for communication cables and ordinary cables, the communication cables are in the form of twisted pairs.
An alternating current voltage-stabilized power supply is arranged at an input power supply part of the upper computer, and the alternating current voltage-stabilized power supply with an anti-interference ferromagnetic resonance mode is selected to effectively stabilize the voltage fluctuation to positive and negative 1% -positive and negative 2%;
the 1000AV isolation transformer is additionally arranged in front of the working power supply of the upper computer and can be used for protecting power grid spike pulse interference caused by a strong magnetic field;
the upper computer and the lower computer are provided with a switching power supply which is used for preventing the problem of overvoltage or undervoltage caused by a strong magnetic field when the voltage of a power grid changes in a wide range;
a DL15TH1 type power supply filter is installed on the lower computer and used for protecting spike interference pulses generated by a power grid due to a strong magnetic field;
furthermore, a shielding layer is arranged outside each communication cable, a shielding layer is arranged outside the twisted pair, and the shielding layers are effectively grounded, so that magnetic field interference can flow into a grounding end through the shielding layers; a shielding layer is additionally arranged on a common cable of the robot, and strong current and weak current cables are separated and wired inside the robot, so that mutual magnetic field interference is reduced.
Further, the model of the power filter in step 4 is DL15TH 1.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (7)
1. A strong magnetic field interference resisting system of an inspection robot is characterized by comprising a hardware electromagnetic interference resisting device and a software electromagnetic interference resisting module, wherein the hardware electromagnetic interference resisting device comprises a driving board shielding cover, a control chip shielding cover, a robot shielding box body, an input signal isolating circuit and a shielding wire rod; the driving plate shielding cover is made of aluminum materials, is integrally formed by die casting, is divided into an upper block and a lower block, is fixed by bolts, and is provided with a lead interface outside; the control chip shielding case is wrapped by copper foil, and insulating layers are arranged on the inner side and the outer side of the control chip shielding case; the robot shielding box body is formed by welding aluminum plates; the input signal isolation circuit comprises an isolation diode and a peripheral circuit; the shielding wire is wrapped by a copper mesh.
2. The inspection robot strong magnetic field interference resisting system according to claim 1, wherein the thickness of the drive plate shield is 1.5mm, the upper and lower blocks of the drive plate shield are provided with clamping grooves, insulating paint is sprayed outside and inside the drive plate shield, so that the shielding layer achieves a sealing effect, and the metal part of the drive plate shield is connected with a direct-current power supply ground wire of the inspection robot.
3. The inspection robot strong magnetic field interference resisting system according to claim 1, wherein the copper foil adopted by the control chip shielding case is a 0.05mm double-sided conductive single-sided adhesive copper foil, insulating adhesive is arranged on the inner side and the outer side of the aluminum foil, and the metal part of the copper foil is connected with a direct current power supply ground wire of the inspection robot.
4. The inspection robot strong magnetic field interference resisting system according to claim 1, wherein the robot shielding box is formed by welding aluminum plates, one side of the robot shielding box is a maintenance open surface, the maintenance open surface is connected with the body of the robot shielding box through bolts, waterproof sealing protection is adopted between the maintenance open surface and the robot shielding box, and a metal part of the robot shielding box is connected with a direct-current power supply ground wire of the inspection robot.
5. A method for resisting strong magnetic field interference of an inspection robot is characterized by comprising the following steps:
step 1: an input power supply part of the upper computer is provided with an alternating current voltage-stabilized power supply, and the alternating current voltage-stabilized power supply with anti-interference capability in a ferromagnetic resonance mode is selected;
step 2: a 1000VA isolation transformer is additionally arranged in front of a working power supply of the upper computer and is used for protecting power grid spike pulse interference caused by a strong magnetic field;
and step 3: the upper computer and the lower computer are provided with a switching power supply which is used for preventing the problem of overvoltage or undervoltage caused by a strong magnetic field when the voltage of a power grid changes in a wide range;
and 4, step 4: a power supply filter is arranged on the lower computer and is used for protecting spike interference pulses generated by a power grid due to a strong magnetic field;
and 5: for communication cables and ordinary cables, the communication cables are in the form of twisted pairs.
6. The inspection robot strong magnetic field interference resisting method according to claim 5, wherein a shielding layer is arranged outside each communication cable, a shielding layer is arranged outside a twisted pair, and the shielding layers are effectively grounded, so that magnetic field interference can flow into a ground terminal through the shielding layers; a shielding layer is additionally arranged on a common cable of the robot, and strong current and weak current cables are separated and wired inside the robot, so that mutual magnetic field interference is reduced.
7. The inspection robot anti-strong magnetic field interference method according to claim 5, wherein the model of the power filter in step 4 is DL15TH 1.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111642102.XA CN114203353A (en) | 2021-12-30 | 2021-12-30 | System and method for resisting strong magnetic field interference of inspection robot |
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| CN202111642102.XA CN114203353A (en) | 2021-12-30 | 2021-12-30 | System and method for resisting strong magnetic field interference of inspection robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115348816A (en) * | 2022-10-18 | 2022-11-15 | 国网湖北省电力有限公司电力科学研究院 | Electromagnetic shielding method for equipotential operation of electric robot |
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