CN114905534A - A electric power inspection robot ground station for complex environment - Google Patents
A electric power inspection robot ground station for complex environment Download PDFInfo
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- CN114905534A CN114905534A CN202210558965.7A CN202210558965A CN114905534A CN 114905534 A CN114905534 A CN 114905534A CN 202210558965 A CN202210558965 A CN 202210558965A CN 114905534 A CN114905534 A CN 114905534A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
- B25J13/065—Control stands, e.g. consoles, switchboards comprising joy-sticks
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S10/00—Systems supporting electrical power generation, transmission or distribution
- Y04S10/40—Display of information, e.g. of data or controls
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Abstract
The invention provides a power inspection robot ground station for a complex environment, and relates to the technical field of robot ground stations. The complex environment is electromagnetic interference, large temperature difference, rain, snow and sand; the ground station structure comprises an upper box body, a lower box body and an operation panel. The upper box body and the lower box body are made of plastic materials and are connected by a hinged pipeline; the inner side of the box body is provided with an easily-detachable split type metal screen plate, different types of the split type metal screen plate can resist electromagnetic interference with different strengths and can shield the electromagnetic interference in two states of opening and closing; the upper and lower box bodies can realize self-heating through the heating wire; the dustproof heat dissipation fans are arranged on two sides of the lower box body, and global heat dissipation, global heat preservation, local heat dissipation and local heat preservation can be realized according to the comparison between the sensor, a set threshold and the ambient temperature on the basis of forward and reverse rotation of the dustproof heat dissipation fans and opening and closing of the grating; the ground station can perform data communication and data receiving with the robot, and performs task control and real-time remote control on the robot. The ground station provided by the scheme of the invention can effectively cope with the complex environment.
Description
Technical Field
The invention belongs to the technical field of robot ground stations, and particularly relates to a power inspection robot ground station used in a complex environment.
Background
In the aspect of energy distribution, the wind energy and solar energy development and utilization potentials of northwest regions of China, such as Xinjiang, Shaanxi, Gansu and Ningxia, are very large, the Xinjiang regions have nine wind regions and have excellent geographic conditions for building wind power plants, the solar irradiance on the horizontal plane is high in total amount and occupies the second place of the whole country, but the Xinjiang power grid with the complex meteorological environmental characteristics of large temperature difference, strong wind, strong sand storm, thick ice covering and the like has higher requirements on the safe and stable operation of a power system.
In order to ensure the safe and stable operation of the power grid, the power grid needs to be patrolled and examined, the current mainstream high-voltage tower is more than ten meters and even higher, the task of manually loading the tower to examine the power is a very dangerous task under the environment, and the difficulty can be well solved by adopting a power inspection robot to replace manual inspection.
For the convenience of inspection personnel to inspect the power line of the power grid more visually, detect the information of the power inspection robot and observe the shot video pictures, a ground station needs to be configured for the inspection robot. On the basis of portability, the traditional ground station focuses on aspects such as software design, interface design and signal transmission, and ignores the research on environment applicability.
In order to solve the problems, a ground station which can stably operate in complex environments such as electromagnetic interference, large temperature difference, rain, snow, sand and dust and has the advantages of a traditional portable ground station is important, and great convenience is provided for power grid power inspection in complex environments in regions such as Xinjiang in China.
Disclosure of Invention
The invention aims to provide a ground station which can adapt to a complex environment and has the advantages of the traditional portable ground station. The invention designs the ground station aiming at the complex environments of electromagnetic interference, large temperature difference, rain, snow, sand and dust and the like, realizes stable operation in the complex environments on the premise of not influencing the characteristics of portability, strong expansibility and the like of the ground station, and provides convenience for power grid power machine routing inspection in areas of Xinjiang in China and the like.
In order to achieve the purpose, the technical scheme of the invention is that the portable power inspection robot ground station for the complex environment is composed of an upper box body (1), a lower box body (2) and an operation panel (3), wherein the upper box body and the lower box body are connected through a hinge connecting line pipe (214), and the operation panel (3) is connected to the lower box body through a damping hinge (307).
The upper case (1) includes: the device comprises an upper box shell (101), an upper box metal mesh plate (102), a display module (103) and an antenna (104); the upper box expanded metal sheet (102) comprises: the screen plate comprises a front screen plate (1021), a rear screen plate (1022), a left screen plate (1023), a right screen plate (1024), a lower screen plate (1025), a heating wire (1026) and a conductive sealing strip (1027), wherein the upper box body screen plate (102) is arranged in an upper box body shell (101), the heating wire (1026) is arranged in a wire groove of the metal screen plate (102), and the conductive sealing strip (1027) is arranged in a wire groove formed in the upper part of the metal screen plate (102); the display module (103) comprises: the display fixing plate comprises a display (1031), a display fixing plate (1032) and supporting columns, wherein the display (1031) is fixed on the display fixing plate (1032), and the display fixing plate (1032) is fixedly connected with the upper box shell (101) through the supporting columns.
The lower case (2) includes: the device comprises a lower box body shell (201), a lower box body metal mesh plate (202), a battery (203), an industrial personal computer (204), a charging module (205), a power supply management module (206), a data transmission radio station (207), a picture transmission radio station (208), a dustproof cooling fan (209), a module fixing plate (210), a pressing self-eject device (211), a handle (212), a lock catch (213), a hinged through wire pipe (214), a charging interface (215) and a metal pad foot (216); the battery (203), the industrial personal computer (204), the charging module (205), the power management module (206), the data transmission station (207), the image transmission station (208) and the dustproof heat dissipation fan (209) are fixed on a module fixing plate (210), and the module fixing plate (210) is connected with the lower box body shell (201) through bolts; the lower box expanded metal sheet (202) comprises: the screen plate comprises a front screen plate (2021), a rear screen plate (2022), a left screen plate (2023), a right screen plate (2024), a lower screen plate (2025), a heating wire (1026) and a conductive sealing strip (1027), wherein the lower box body screen plate (202) is arranged in a lower box body shell (201), the heating wire (1026) is arranged in a wire groove of the metal screen plate (202), and the conductive sealing strip (2027) is arranged in a wire groove formed in the upper part of the metal screen plate (202); the pressing self-bouncing device (211) is arranged on the left screen plate (2023) and the right screen plate (2024); the articulation conduit (214) includes: the damping hinge (2141), the upper box body through pipe (2142) and the lower box body through pipe (2143), wherein the damping hinge (2141) is connected with the upper box body shell (101) at two sides of the box body, the upper box body through pipe (2142) is connected with the upper box body rear screen plate (1022), and the lower box body through pipe (2143) is connected with the lower box body front screen plate (2021);
the operation panel (3) includes: the device comprises a panel fixing plate (301), an electric quantity display module (302), an emergency stop button (303), an external interface (304), a keyboard and mouse integrated keyboard (305), a remote control module (306), a damping hinge (307) and a magnetic suction gasket (308); wherein the panel fixing plate (301) is connected with a front screen plate (2021) of the lower box body through a damping hinge (307); the external interface (304) comprises: a USB3.0 interface and an HDMI interface; the remote control module (306) comprises: a rocker (3061), a status display (3062) and a parameter adjusting keyboard (3063).
To combat electromagnetic interference in a high voltage grid environment, the type of metallic mesh panels (102, 202) within the ground station enclosure may be replaced to combat varying levels of electromagnetic interference. The metal mesh plates (102 and 202) are connected with each other after being spliced and grounded through a metal pad (216) of the lower box body, wherein in an open state, the metal mesh plate (102) of the upper box body is in contact communication with the display fixing plate (1032) and the metal back plate thereof, the display fixing plate (1032) and the metal back plate thereof are made of metal materials, so that six surfaces of the upper box body are all covered with metal materials, the upper box body forms a Faraday cage, and similarly, the lower box body panel fixing plate (301) is made of metal materials, and the lower box body also forms the Faraday cage; in a closed state, the upper box body and the lower box body are communicated again through the conductive sealing strip, and six surfaces of the box bodies form a Faraday cage again; the upper box body and the lower box body are communicated through a damping hinge (2141), and a lower screen plate (2025) of the lower box body is communicated with a metal pad (216) through a bolt, so that the whole body is grounded, and electromagnetic interference is shielded in two states of opening and closing; the replaceable metal mesh plate (102, 202) mainly comprises: left screen plates (1023, 2023) and right screen plates (1024, 2024).
The lower box body (2) is designed to be quickly disassembled in consideration of possible damage conditions of modules inside the ground station. The magnetic gaskets (308) on two corners of the operation panel (3) are pressed to be quickly bounced by the pressing self-bouncer (211), and the operation panel (3) is turned over, opened and fixed through the damping hinge (307), so that the internal module of the lower box body (2) is quickly overhauled;
in order to realize heat dissipation in a high-temperature environment and heat preservation in a low-temperature environment, the rotation direction of a fan (2097) and the opening and closing of a grating (2092) can be changed through an industrial personal computer (204) to form different air channels of the box body; the 4 dustproof cooling fans (209) are respectively numbered as a first mode, a second mode, a third mode and a fourth mode, when the grille (2092) is completely opened, the first mode is that air is supplied and the fourth mode is that air is supplied and the second mode is that air is supplied and the third mode is that air is supplied and the fourth mode is that air is supplied; when the grille (2092) is completely closed, the first, second, third and fourth air supply to the inside is in a fourth mode; the four modes are integral modes, in order to accurately realize local heat dissipation and local heat preservation and linkage switching between heat dissipation and heat preservation, a grid (2092) of a part of fans can be opened or closed, and the fans (2097) can also partially supply air inwards, partially supply air outwards and partially close; and temperature sensors T1-T6 are arranged in the lower box body (2), wherein T1 detects the charging module (205), T2 detects the battery (203), T3 detects the lower box body (2), T4 detects the data transmission radio station (207), T5 detects the industrial personal computer (204), and T6 detects the map transmission radio station (208).
The selection of the heat dissipation or heat preservation mode is based on the comparison between the temperature of the module and the temperature of the box body, and the selection of the local heat dissipation and heat preservation mode is based on the comparison between the temperature of the module and a set threshold; starting a heat dissipation mode when the temperature of the box body is higher than a threshold value 1; starting a heat preservation mode when the temperature of the box body is lower than a threshold value 2; when the temperature of a certain module is higher than the set threshold value X, starting local heat dissipation of the position of the module; when the sensor T3 temperature is below the set threshold, the grille (2092) is closed; when the temperature of a certain module is lower than the set threshold value Y, starting a heat preservation mode and sending hot air to the module; when the temperature values of more than 2 modules are higher than the threshold temperature, carrying out overall heat dissipation; when the temperature of more than 2 modules is lower than the threshold temperature, carrying out overall heat preservation; the global heat dissipation mode is selected by comparing the temperature of each module with the threshold value or the temperature of the box body, so that the main air channel flows through the high-temperature module; the selection of the local heat dissipation mode is determined by the position of the module and the position of the sensor, and the box body is divided into areas I, II, III and IV according to the position of the fan (2097); when the temperature of the module exceeds the set threshold value and other modules are in the normal temperature range, the fan (2097) of the area where the module is located starts to rotate forwards or backwards, and one fan adjacent to the fan is matched with the fan to rotate forwards or backwards or only opens the grille (2092); the local heat preservation mode is that a fan (2097) blows heated air to the module in a low-temperature state to help the module to quickly enter a proper working temperature; the control mode of local heat preservation is the same as that of local heat dissipation, when the temperature of the module is lower than a set threshold value and other modules are in a normal temperature range, the fan in the area where the module is located starts to supply air inwards, and the fan is matched with one fan (2097) adjacent to the module to supply air;
in order to have the characteristics of the traditional ground station, a display module (103) and an antenna (104) are integrated in a box body on the ground station; an industrial personal computer (204), an operation panel (3), a data transmission radio station (207), a picture transmission radio station (208), a remote control module (306), a dustproof cooling fan (209), a battery (203), a charging module (205) and a power management module (206) are integrated in the lower box body; wherein the antenna (104) is arranged on the display fixing plate (1032), and can prevent signal shielding caused by the Faraday effect of the box body in an opening state; the ground station can carry out data communication with the inspection robot through the data transmission radio station (207) and the image transmission radio station (208), the industrial personal computer (204) can process image data received by the image transmission radio station in real time, and the inspection robot can be subjected to task control and real-time remote control through the operation panel (3); wherein the external interface (304) of the operation panel (3) can carry out data export and is connected with the expansion display
The portable electric power inspection robot ground station for the complex environment provided by the invention has the following advantages:
1. the ground station can effectively avoid electromagnetic interference, can give consideration to integral heat dissipation performance under the condition of preventing water and dust, can keep the temperature in the box body under the low-temperature environment to ensure the stable operation of modules in the ground station, and has the advantages of portability, strong expansibility and the like of the traditional ground station.
2. The box body design is carried out by utilizing the electromagnetic shielding effect of the Faraday cage, metal mesh plates (102, 202) with replaceable materials are arranged in the box body of the ground station, are mutually communicated after being spliced and are grounded through a metal pad (216) of the lower box body; in an open state, the upper box body metal screen plate (102) is in contact communication with the display fixing plate (1032) and the display metal back plate, the display fixing plate (1032) is made of metal materials, and therefore six surfaces of the upper box body are all covered with metal materials, the upper box body forms a Faraday cage, and similarly, the lower box body panel fixing plate (301) is made of metal materials, and the lower box body also forms the Faraday cage; in a closed state, the upper box body and the lower box body are communicated through the conductive sealing strip, and a Faraday cage is formed by six surfaces of the box bodies; the upper box body and the lower box body are communicated through a damping hinge (2141), and a lower screen plate (2025) of the lower box body is communicated with a metal pad foot (216) through a bolt, so that the ground station is integrally grounded.
3. The ground station box is internally provided with a detachable heating wire (1026), the working state of the ground station box can be controlled by an industrial personal computer, and the ground station box is matched with dustproof heat dissipation fans (209) arranged on two sides of the lower box, so that in order to adapt to a high-temperature water-dust environment, a primary heat dissipation mode, namely one, two and three, can be operated on the premise of opening a grid (2092) to realize rapid cooling; in order to adapt to a low-temperature environment, a main heat preservation mode four is operated on the premise of closing the grating (2092) to maintain the temperature in the box body and ensure that each hardware module works normally; in order to realize local heat dissipation or local heat preservation, the fan (2097) and the grid (2092) can be controlled in a targeted mode.
4. The ground station can carry out data communication and image transmission with the inspection robot through the data transmission radio station (207) and the image transmission radio station (208), the industrial personal computer (204) can process image data received by the image transmission radio station (208) in real time, and the inspection robot can be subjected to task control and real-time remote control through the operation panel (3); wherein, the external interface (304) of the operation panel (3) can lead out data and is connected with the external expansion display.
Drawings
Fig. 1 is a schematic view of the working state of the ground station.
Fig. 2 is a schematic structural view of the upper box part.
Fig. 3 is a schematic structural view of the lower box portion.
Fig. 4 is a schematic view of the structure of the operation panel.
FIG. 5 is a schematic view of the lower box body metal mesh plate.
FIG. 6 is a wiring diagram of the heating wire of the lower box body.
Fig. 7 is a schematic structural view of a dustproof heat dissipation fan.
Fig. 8 is a schematic view of a grid structure.
Fig. 9 is a schematic view of a closed state of the ground station.
Fig. 10 is a schematic diagram of a global heat dissipation mode.
FIG. 11 is a schematic view of global incubation.
Fig. 12 is a schematic view of partial heat dissipation.
FIG. 13 is a schematic view of partial incubation.
The reference numbers in the figures illustrate: 1. an upper box body; 2. a lower box body; 3. an operation panel; 1021. a front screen plate; 1023. a left screen plate of the upper box body; 1031. a display; 1027. a conductive seal strip; 1024. a right screen plate of the upper box body; 1032. a display fixing plate; 104. an antenna; 1022. putting the box body on a rear screen plate; 2141. a damping hinge; 2142. an upper box body through pipe; 205. a charging module; 209. a dustproof heat radiation fan; 206. a power management module; 207. a data transmission radio station; 2143. a lower box body through pipe; 2021. a lower box body front screen plate; 203. a battery; 210. a module fixing plate; 208. a picture radio station; 211. pressing the self-eject device; 212. a handle; 204. an industrial personal computer; 213. locking; 307. a damping hinge; 3063. a parameter adjusting keyboard; 3062. a status display; 303. an emergency stop button; 301. a panel fixing plate; 304. an external interface; 305. a keyboard and a mouse integrated keyboard; 3061. a rocker; 2025. a lower screen plate of the lower box body; 2024. a right screen plate of the lower box body; 2023. a left screen plate of the lower box body; 2022. a rear screen plate of the lower box body; 1026. a heat generating line; 2091. a decorative frame; 2092. a grid; 2093. a slide rail; 2094. a crankshaft is opened and closed; 2095. a fixing frame; 2096. a dust screen; 2097. a fan; 2098. a fan frame; 2099. prevent touching the net.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In addition, in the present invention, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection; may be a mechanical connection; or may be an electrical connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 1 to 9, the portable power inspection robot ground station for complex environments of the invention comprises an upper box body (1), a lower box body (2) and an operation panel (3), wherein the operation panel (3) is connected to the lower box body through a damping hinge (307), and the upper box body and the lower box body are connected through a hinge connecting pipe (214).
The upper case (1) includes: the device comprises an upper box shell (101), an upper box metal mesh plate (102), a display module (103) and an antenna (104); the upper box body metal mesh plate (102) comprises: the screen plate comprises a front screen plate (1021), a rear screen plate (1022), a left screen plate (1023), a right screen plate (1024), a lower screen plate (1025), a heating wire (1026) and a conductive sealing strip (1027), wherein the upper box body screen plate (102) is arranged in an upper box body shell (101), the heating wire (1026) is arranged in a wire groove of the metal screen plate (102), and the conductive sealing strip (1027) is arranged in a wire groove formed in the upper part of the metal screen plate (102); the display module (103) comprises: display (1031), display fixed plate (1032) and support column, wherein display (1031) is fixed in display fixed plate (1032), and display fixed plate (1032) links firmly with upper box body shell (101) through the support column.
The lower case (2) includes: the device comprises a lower box body shell (201), a lower box body metal mesh plate (202), a battery (203), an industrial personal computer (204), a charging module (205), a power supply management module (206), a data transmission radio station (207), a picture transmission radio station (208), a dustproof cooling fan (209), a module fixing plate (210), a pressing self-eject device (211), a handle (212), a lock catch (213), a hinged through wire pipe (214), a charging interface (215) and a metal pad foot (216); the battery (203), the industrial personal computer (204), the charging module (205), the power management module (206), the data transmission station (207), the image transmission station (208) and the dustproof heat dissipation fan (209) are fixed on a module fixing plate (210), and the module fixing plate (210) is connected with the lower box body shell (201) through bolts; the lower box expanded metal sheet (202) comprises: the screen plate comprises a front screen plate (2021), a rear screen plate (2022), a left screen plate (2023), a right screen plate (2024), a lower screen plate (2025), a heating wire (1026) and a conductive sealing strip (1027), wherein the lower box body screen plate (202) is arranged in a lower box body shell (201), the heating wire (1026) is arranged in a wire groove of the metal screen plate (202), and the conductive sealing strip (2027) is arranged in a wire groove formed in the upper part of the metal screen plate (202); the pressing self-bouncing device (211) is arranged on the left screen plate (2023) and the right screen plate (2024); the articulation conduit (214) includes: the damping hinge (2141), an upper box body vent pipe (2142) and a lower box body vent pipe (2143), wherein the damping hinge (2141) is connected with the upper box body shell (101) at two sides of the box body, the upper box body vent pipe (2142) is connected with the upper box body rear screen plate (1022), and the lower box body vent pipe (2143) is connected with the lower box body front screen plate (2021);
the operation panel (3) includes: the device comprises a panel fixing plate (301), an electric quantity display module (302), an emergency stop button (303), an external interface (304), a keyboard and mouse integrated keyboard (305), a remote control module (306), a damping hinge (307) and a magnetic suction gasket (308); wherein the panel fixing plate (301) is connected with a front screen plate (2021) of the lower box body through a damping hinge (307); the external interface (304) comprises: a USB3.0 interface (3041) and an HDMI interface (3042); the remote control module (306) comprises: a rocker (3061), a status display (3062) and a parameter adjusting keyboard (3063).
In order to resist electromagnetic interference in a high-voltage power grid environment, metal mesh plates (102, 202) in the ground station box body can be replaced to resist electromagnetic interference of different degrees. The metal mesh plates (102 and 202) are connected with each other after being spliced and grounded through a metal pad (216) of the lower box body, wherein in an open state, the metal mesh plate (102) of the upper box body is in contact communication with a display fixing plate (1032), the display fixing plate (1032) is made of metal materials, six surfaces of the upper box body are all covered with metal materials, the upper box body forms a Faraday cage, and similarly, the lower box body panel fixing plate (301) is made of metal materials, and the lower box body also forms the Faraday cage; in a closed state, the upper box body and the lower box body are communicated again through the conductive sealing strip, and six surfaces of the box bodies form a Faraday cage again; the upper box body and the lower box body are communicated through a damping hinge (2141), and a lower screen plate (2025) of the lower box body is communicated with a metal pad (216) through a bolt, so that the ground station is integrally grounded, and electromagnetic interference is shielded in an opening state and a closing state; the replaceable metal mesh plate (102, 202) is specifically as follows: front screen boards (1021, 2021), rear screen boards (2021, 2022), bottom screen boards (1025, 2025), left screen boards (1023, 2023) and right screen boards (1024, 2024), wherein the left screen boards (1023, 2023) and the right screen boards (1024, 2024) are main replaceable screen boards.
According to the requirements of relevant national standards and specifications, electromagnetic shielding treatment is carried out on electronic equipment and an information center, and electromagnetic shielding indexes are as follows:
the shielding effectiveness index of the electromagnetic shielding system is shown in the following table:
| frequency range | Shielding effectiveness |
| 100Hz～20MHz | ≥80dB |
| 20MHz～1GHz | ≥100dB |
| 1GHz～12.4GHz | ≥100dB |
The invention designs different metal mesh plate models in different interference environments by preventing external electromagnetic interference so as to meet the requirements of the shielding indexes.
The calculation formula of the shielding effectiveness is: SE ═ R + a;
in the formula: SE- -shielding effectiveness (dB);
r- - -reflection loss (dB);
a- -absorption loss (dB);
the reflection loss R can be calculated by the following equation:
the absorption loss a can be calculated by the following formula:
in the formula: g- -copper-based conductivity (G) Copper (Cu) ＝1，G Aluminium ＝0.61，G Iron 0.17), detailed values are given in table 1-1;
μ — relative permeability with respect to free space; detailed data are shown in Table 1-1;
d- -thickness of the shielding layer in meters (m);
f- - -the frequency of the electromagnetic waves in Hertz (Hz);
tables 1 to 1: g and mu values of Cu, Al and Fe in different frequency ranges
The shielding effectiveness of various metal materials with different types and thicknesses at each frequency point can be calculated according to the formula and the table 1-1.
The lower box body (2) is designed to be quickly disassembled in consideration of possible damage conditions of modules inside the ground station. The magnetic gaskets (308) at two corners of the operation panel (3) are pressed to be quickly bounced by the pressing self-bouncer (211), and the operation panel (3) is fixed at any angle through the damping hinge (307), so that the modules in the lower box body (2) are quickly overhauled;
in order to adapt to a low-temperature environment, a detachable heating wire (1026) is arranged in the ground station box body, power is supplied through an internal battery (203), the power supply management module (206) is connected, and the temperature of 0-60 ℃ can be adjusted by adjusting the voltage of the power supply management module (206). The heating wire (1026) is arranged in the metal screen plates (102, 202) provided with wire grooves, wherein the wire grooves are formed in the front screen plates (1021, 2021), the rear screen plates (1022, 2022), the left screen plates (1023, 2023) and the right screen plates (1024, 2024); according to the power of the battery (203) and the proper working temperature of each internal module, a heating line (1026) suitable for temperature regulation at 0-60 ℃ is selected; meanwhile, the heating wire can be disassembled and assembled according to specific environmental conditions so as to reduce the weight.
In order to adapt to the high-temperature water and dust environment, dustproof and dustproof heat dissipation fans (209) are installed on two sides of the lower box body, so that rapid cooling can be realized, and rainwater and dust can be prevented from entering the lower box body. The dustproof heat dissipation fan (209) comprises: the device comprises a decorative frame (2091), a grid (2092), a sliding rail (2093), an opening-closing crankshaft (2094), a fixed frame (2095), a dust-proof net (2096), a fan (2097), a fan frame (2098) and an anti-touch net (2099); the industrial personal computer (204) can change the forward and reverse rotation of the fan (2097) and the opening and closing of the grating (2092) to form different air channels of the box body; 4 dustproof cooling fans (2097) are respectively numbered as a first mode, a second mode, a third mode and a fourth mode, when the grille is completely opened, the first mode is that air is supplied and the fourth mode is that air is supplied and the third mode is that air is supplied and the fourth mode is that air is supplied; when the grille is completely closed, the first, second, third and fourth air supply modes are four; the four modes are main modes, in order to realize local heat dissipation, the grille (2092) can be partially opened and partially closed, and the fan (2097) can also partially supply air inwards, partially supply air outwards and partially close. For example, when the radio map transmission station (208) works, the heat productivity is large and is far higher than that of other modules, only the fans (2097) with the numbers of two and three and the corresponding grids (2092) can be started, and the area where the radio map transmission station (208) is located can be accurately discharged heat.
In order to have the characteristics of the traditional ground station, a display module (103) and an antenna (104) are integrated in a box body on the ground station; an industrial personal computer (204), an operation panel (3), a data transmission radio station (207), a picture transmission radio station (208), a remote control module (306), a dustproof cooling fan (209), a battery (203), a charging module (205) and a power management module (206) are integrated in the lower box body; the antenna (104) is fixed on the display fixing plate (1032), and can prevent signal interference caused by the Faraday effect of the box body in an opening state; the ground station can carry out data communication with the inspection robot through the data transmission radio station (207) and the image transmission radio station (208), the industrial personal computer (204) can process image data received by the image transmission radio station, and the inspection robot can be subjected to task control and real-time remote control through the operation panel (3); wherein, the external interface (304) of the operation panel (3) can carry out data export and is connected with the extended display.
Finally, it should be noted that the above embodiments are only preferred embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can substitute or change the technical solution and the inventive concept of the present invention within the technical scope of the present invention.
Claims (11)
1. The invention provides a ground station of an electric power inspection robot for a complex environment, which is characterized by comprising an upper box body (1), a lower box body (2) and an operation panel (3), wherein the upper box body and the lower box body are made of plastic materials and are connected with a wiring pipe (214) through hinges, and the operation panel (3) is connected to the lower box body through a damping hinge (307); the inner sides of the two boxes are respectively provided with 5 metal screen plates (102, 202) at the front part, the rear part, the left part, the right part and the lower part, the metal screen plates (102, 202) of the two boxes are arranged in the same way, the front screen plate (2021) of the lower box is fixed by a damping hinge (2141), the rear screen plate (2022) of the lower box is fixed by a handle (212) and a fixing bolt of a lock catch (213), two sides of the upper screen plate and the lower screen plate are respectively provided with a step-shaped clamping groove, the left screen plate and the right screen plate are fixed at two sides of the boxes by the clamping grooves, the middle parts of the bottoms of the front screen plate, the rear screen plate, the left screen plate and the right screen plate are provided with a step-shaped notch, the periphery of the lower screen plate is provided with a protruding step-shaped structure which is matched with the step-shaped notch and is fixed at the bottom surface of the box, the metal screen plates (102, 202) are also provided with wire grooves, a heating wire (1026) is embedded in the groove, a touch display (1031) is arranged in the inner part of the upper box, the display is arranged on a display fixing plate, a display fixing plate (1032) is connected with the upper box by a support column, related hardware modules are placed in the lower box body (2); an electric quantity display module (302), an emergency stop button (303), an external interface (304), a keyboard and mouse integrated keyboard (305) and a remote control module (306) are arranged on the operation panel (3); wiring at the hinged position is completed between the upper box body and the lower box body through a hinge connecting line pipe (214); the box body can realize electromagnetic shielding in two states of opening and closing, wherein when the box body is opened, a metal mesh plate (102) of an upper box body (1), a display back plate and a display fixing plate (1032) form a Faraday cage, a metal mesh plate (202) of a lower box body (2) and an operation panel form the Faraday cage, when the box body is closed, the upper box body and the lower box body can form the Faraday cage through conductive sealing strips (1027) arranged on the metal mesh plate, the upper box body and the lower box body are communicated through a metal damping hinge (2141), the lower box body (2) is communicated with metal pad feet (216) through the lower mesh plate, integral grounding is realized, and the left mesh plate and the right mesh plate of the upper box body and the lower box body can be quickly disassembled so as to be convenient to replace; the dustproof heat radiation fan (209) of the lower box body can form air channels with different modes so as to realize overall heat radiation or local heat radiation, or the dustproof heat radiation fan is matched with the heating wire (1026) to carry out overall heat preservation or local heat preservation on the box body; wherein, the dustproof heat radiation fan (209) can be controlled by the industrial personal computer (204) to rotate forwards and backwards, the grille (2092) is opened and closed, and the lower box body (2) is provided with a plurality of temperature sensors to detect the temperature in the box body so as to be judged by the industrial personal computer (204).
2. A metallic otter board (102, 202) according to claim 1, being built into a box and being exchangeable for different types according to different environments to achieve different degrees of emi resistance, said different types being different in their material, the material being selected according to the environment; the metal mesh plates (102, 202) are communicated after being spliced and are grounded through a metal pad foot (216) of the lower box body; is also characterized in that under the state of opening the ground station, the metal screen plate (102) of the upper box body is in contact communication with the metal display fixing plate (1032) and the display back plate, so that six surfaces of the upper box body are all covered with metal materials, and the upper box body (1) forms a Faraday cage; similarly, the lower box body panel fixing plate (301) is made of metal, and the lower box body (2) also forms a Faraday cage; in a closed state, the upper box body and the lower box body are communicated through a conductive sealing (1027) strip, and a Faraday cage is formed by six surfaces of the closed box body so as to shield electromagnetic interference in the open state and the closed state.
3. The grounding structure as claimed in claim 2, wherein the upper and lower boxes are connected by a damping hinge (2141) made of metal, and the lower screen plate (2025) of the lower box is connected by bolts to the metal pad (216), so as to realize grounding of the whole ground station.
4. The heating wire (1026) according to claim 1, characterized in that it is placed in the wire slot of the metal mesh plate (102, 202), can be disassembled and assembled with the metal mesh plate, or can be disassembled and assembled separately, and is powered by the internal battery (203), connected to the power management module (206), and the industrial personal computer (204) is used to adjust the voltage of the power management module (206), and can adjust the temperature of the heating wire (1026), thereby controlling the temperature of the box body.
5. The exchangeable sheet metal mesh (102, 202) of claim 2, in particular: front screen boards (1021, 2021), rear screen boards (1022, 2022), left screen boards (1023, 2023), right screen boards (1024, 2024) and lower screen boards (1025, 2025).
6. A slotted expanded metal screen (102, 202) according to claim 4 being a front screen (1021, 2021), a rear screen (1022, 2022), a left screen (1023, 2023) and a right screen (1024, 2024).
7. The dustproof heat dissipation fan (209) according to claim 1, which is structurally characterized in that the grille (2092) can be opened and closed by driving the sliding rail (2093) to move 4mm by a motor by utilizing the quick return characteristic of a crank slider, and the grille (2092) can be opened and closed by driving the sliding rail (2093) to move 4mm by the motor; in addition, a dustproof net (2096) is arranged in the dustproof heat dissipation fan (209), the grille (2092) can prevent rainwater above the grille from entering the grille in an opening state, and the grille can completely isolate the rainwater in a closing state; the dustproof net (2096) can prevent dust from entering the box body; the industrial personal computer (204) can control the power management module (206) to adjust the fan (2097) to realize forward rotation and reverse rotation, and the adjusting motor drives the sliding rail (2093) to control the opening and closing of the grating (2092).
8. The air ducts with different modes as claimed in claim 1, characterized in that the industrial personal computer (204) changes the fan (2097) to rotate forward and backward, and the grille (2092) to open and close to form different air ducts of the box; the 4 dustproof cooling fans (209) are respectively numbered as a first mode, a second mode, a third mode and a fourth mode, when the grille (2092) is completely opened, the first mode is that air is supplied and the fourth mode is that air is supplied and the second mode is that air is supplied and the third mode is that air is supplied and the fourth mode is that air is supplied; when the grille (2092) is completely closed, the first, second, third and fourth air supply to the inside is in a fourth mode; the first mode, the second mode, the third mode and the fourth mode are integrated heat dissipation modes; in order to accurately realize local heat dissipation and local heat preservation and linkage switching between heat dissipation and heat preservation, a grid (2092) of a part of fans can be opened or closed, and the fans (2097) can also be partially rotated forwards, partially rotated backwards and partially closed; and temperature sensors T1-T6 are arranged in the lower box body, wherein T1 detects a charging module (205), T2 detects a battery (203), T3 detects the lower box body (2), T4 detects a data transmission radio station (207), T5 detects an industrial personal computer (204), and T6 detects a picture transmission radio station (208).
9. The heat dissipation and heat preservation and linkage switching as claimed in claim 7, wherein the selection of the heat dissipation or heat preservation mode is based on the comparison of the module temperature and the box temperature, and the selection of the local heat dissipation and local heat preservation mode is based on the comparison of the module temperature and the set threshold; starting a heat dissipation mode when the temperature of the box body is higher than a threshold value 1; starting a heat preservation mode when the temperature of the box body is lower than a threshold value 2; when the temperature of a certain module is higher than the set threshold value X, starting local heat dissipation of the position of the module; when the sensor T3 temperature is below the set threshold, the grille (2092) is closed; when the temperature of a certain module is lower than the set threshold value Y, starting a heat preservation mode and supplying hot air to the module, and when the temperature of more than 2 modules is higher than the threshold value temperature, performing integral heat dissipation; when the temperature of more than 2 modules is lower than the threshold temperature, carrying out integral heat preservation; the selection of the integral heat dissipation mode is carried out by comparing the temperature of each module with the threshold value or the temperature of the box body, so that the main air channel flows through the high-temperature module; the selection of the local heat dissipation mode is determined by the position of the module and the position of the sensor, and the box body is divided into areas I, II, III and IV by the position of the fan (2097); when the temperature of the module exceeds the set threshold value and other modules are in the normal temperature range, the fan (2097) of the area where the module is located starts to supply or output air inwards, and the fan (2097) adjacent to the fan supplies or outputs air in a matched mode or only opens the grille (2092); the working mode of local heat preservation is to quickly blow heated air to the module in a low-temperature state so as to help the module to quickly enter a proper working temperature; the control mode of local heat preservation is the same as that of local heat dissipation, when the temperature of the module is lower than a set threshold value and other modules are in a normal temperature range, the fan (2097) in the area where the module is located starts to supply air inwards, and the fan (2097) adjacent to the module supplies air in a matched mode.
10. A ground station according to claim 1, characterized in that the display module (103), the antenna (104) are integrated inside the box on the ground station; an industrial personal computer (204), an operation panel (3), a data transmission radio station (207), a picture transmission radio station (208), a remote control module (306), a dustproof cooling fan (209), a battery (203), a charging module (205) and a power management module (206) are integrated in the lower box body; the antenna (104) is fixed on the display fixing plate (1032), and signal interference caused by box electromagnetic shielding can be prevented when the box is in an open state.
11. The ground station according to claim 1, characterized in that the ground station can communicate data with the inspection robot through a data transmission radio station (207), the image transmission radio station (208) can process image data received by the image transmission radio station (208) in real time, and the industrial personal computer (204) can perform task control and real-time remote control on the inspection robot through the operation panel (3); wherein, the external interface (304) of the operation panel (3) can carry out data export and is connected with the external expansion display.
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| US7631834B1 (en) * | 2006-02-24 | 2009-12-15 | Stealth Robotics, Llc | Aerial robot with dispensable conductive filament |
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