CN114905534B - 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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- CN114905534B CN114905534B CN202210558965.7A CN202210558965A CN114905534B CN 114905534 B CN114905534 B CN 114905534B CN 202210558965 A CN202210558965 A CN 202210558965A CN 114905534 B CN114905534 B CN 114905534B
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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 ground station of an electric power inspection robot for a complex environment, and relates to the technical field of ground stations of robots. 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 and lower boxes are made of plastic materials and are connected by an articulated line pipe; the split type metal screen plate which is easy to detach is arranged at the inner side of the box body, and electromagnetic interference with different strengths can be resisted by changing different types, and electromagnetic interference can be shielded in two states of opening and closing; the upper box body and the lower box body can realize self-heating through heating wires; 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 value and the ambient temperature on the basis of the positive and negative rotation of the dustproof heat dissipation fans and the opening and closing of the grille; the ground station can perform data communication and data receiving with the robot, and perform 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 an electric power inspection robot ground station used in a complex environment.
Background
In terms of energy distribution, the wind energy and solar energy development and utilization potential of the northwest regions in China, such as Xinjiang, shaanxi, gansu, ningxia and the like, are very large, the Xinjiang region has nine wind regions, has excellent geographic conditions for building wind power stations, has high total solar irradiance on the horizontal plane and is the second to be national, but has the characteristics of complex meteorological environments such as large temperature difference, strong wind, strong storm, thick icing and the like, and the Xinjiang power grid has higher requirements on safe and stable operation of a power system.
In order to ensure safe and stable operation of the power grid, the power grid needs to be subjected to inspection operation, the current mainstream high-voltage towers are more than ten meters and even higher, under the environment, the manual power inspection task of the power grid is dangerous, and the difficulty can be well solved by adopting the power inspection robot to replace manual inspection.
In order to facilitate the patrol personnel to more intuitively patrol the power line of the power grid, detect the information of the power patrol robot and observe the shot video picture, the patrol robot needs to be provided with a ground station. The traditional ground station focuses on aspects of software design, interface design, signal transmission and the like on the basis of portability, and researches on environmental applicability are omitted.
Aiming at the problems, the ground station which can stably operate under complex environments such as electromagnetic interference, large temperature difference, rain, snow, sand and dust and has the advantages of the traditional portable ground station is particularly important, and great convenience is provided for electric power inspection of a power grid in complex environments in Xinjiang and other areas in China.
Disclosure of Invention
The invention aims to provide a ground station which can adapt to complex environments and has the advantages of the traditional portable ground station. By combining the development trend of the current power grid power inspection, the robot inspection becomes a mainstream inspection mode, the ground station is designed aiming at complex environments such as electromagnetic interference, large temperature difference, rain, snow, sand dust and the like, and the stable operation in the complex environments is realized on the premise that the portability, the expansibility and the like of the ground station are not affected, so that the power grid power machine inspection in Xinjiang and other areas in China is convenient.
In order to achieve the above 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 hinged 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: an upper box shell (101), an upper box metal screen plate (102), a display module (103) and an antenna (104); the upper box expanded metal sheet (102) includes: the device comprises a front screen (1021), a rear screen (1022), a left screen (1023), a right screen (1024), a lower screen (1025), heating wires (1026) and conductive sealing strips (1027), wherein an upper box screen (102) is arranged in an upper box shell (101), the heating wires (1026) are arranged in wire grooves of a metal screen (102), and the conductive sealing strips (1027) are arranged in wire grooves formed in the upper part of the metal screen (102); the display module (103) comprises: the display comprises a display (1031), a display fixing plate (1032) and support 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 support columns.
The lower case (2) includes: the power supply device comprises a lower box shell (201), a lower box metal screen 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-ejector (211), a lifting handle (212), a lock catch (213), a hinged wire tube (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 cooling 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) includes: the heat-generating wire box 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), heating wires (1026) and conductive sealing strips (1027), wherein the lower box body screen plate (202) is arranged in a lower box body shell (201), the heating wires (1026) are arranged in wire grooves of the metal screen plate (202), and the conductive sealing strips (2027) are arranged in wire grooves formed in the upper part of the metal screen plate (202); the pressing self-flickers (211) are arranged on the left screen plate (2023) and the right screen plate (2024); the articulating conduit (214) comprises: damping hinges (2141), an upper box body line pipe (2142) and a lower box body line pipe (2143), wherein the damping hinges (2141) are connected with an upper box body shell (101) at two sides of a box body, the upper box body line pipe (2142) is connected with an upper box body rear screen plate (1022), and the lower box body line pipe (2143) is connected with a lower box body front screen plate (2021);
the operation panel (3) includes: the intelligent remote control 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 absorption pad (308); wherein the panel fixing plate (301) is connected with the 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 metal mesh plates (102, 202) within the ground station housing can be replaced to combat varying degrees of electromagnetic interference. The metal mesh plates (102, 202) are mutually communicated after being spliced and are grounded through metal pad feet (216) of the lower box body, wherein in an open state, the upper box body metal mesh plate (102) is in contact communication with the display fixing plate (1032) and the metal backboard thereof, the display fixing plate (1032) and the metal backboard thereof are made of metal materials, thus the six surfaces of the upper box body are covered with the metal materials, the upper box body forms a Faraday cage, and in the same way, 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 strips, and the six surfaces of the box bodies are reconstituted into a Faraday cage; the upper box body and the lower box body are communicated through a damping hinge (2141), a lower screen plate (2025) of the lower box body is communicated with a metal pad foot (216) through bolts, and thus the whole body is grounded, so that electromagnetic interference is shielded under two states of opening and closing; the replaceable expanded metal sheet (102, 202) is mainly: left mesh board (1023, 2023), right mesh board (1024, 2024).
The lower case (2) is designed for quick release, taking into account possible damage to the internal modules of the ground station. Pressing two corners of the magnetic pad (308) of the operation panel (3) can be quickly sprung by the self-spring device (211), and the operation panel (3) is turned over and opened and fixed through the damping hinge (307), so that the inner 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, different air channels of the box body can be formed by changing the rotation direction of a fan (2097) and opening and closing of a grid (2092) through an industrial personal computer (204); the 4 dustproof cooling fans (209) are respectively numbered as (1), (2), (3) and (4), when the grille (2092) is fully opened, (1) (2) air inlet (3) (4) air outlet is in a first mode, (2) (3) air inlet (1) (4) air outlet is in a second mode, and (1) (3) air inlet (2) (4) air outlet is in a third mode; when the grille (2092) is completely closed, the air supply to the interior of the grille (1), (2), (3) and (4) is in a mode four; the four modes are integral modes, so that local heat dissipation, local heat preservation and linkage switching between heat dissipation and heat preservation are accurately realized, a grille (2092) of part of fans can be opened or closed, 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 a T1 detection charging module (205), a T2 detection battery (203), a T3 detection lower box body (2), a T4 detection data transmission station (207), a T5 detection industrial personal computer (204) and a T6 detection image transmission station (208) are arranged in the lower box body.
The heat dissipation or heat preservation mode is selected based on the comparison of the module temperature and the box body temperature, and the local heat dissipation and local heat preservation mode is selected based on the comparison of the module temperature and a set threshold value; when the temperature of the box body is higher than a threshold value 1, a heat dissipation mode is started; when the temperature of the box body is lower than a threshold value 2, starting a heat preservation mode; when the temperature of a certain module is higher than a set threshold value X, starting local heat dissipation of the position of the module; when the temperature of the sensor T3 is below a set threshold, the grille (2092) is closed; when the temperature of a certain module is lower than a set threshold value Y, starting a heat preservation mode, and supplying hot air to the module; when the temperature values of more than 2 modules are higher than the threshold temperature, performing global heat dissipation; when more than 2 modules are lower than the threshold temperature, global heat preservation is carried out; the overall heat dissipation mode is selected by comparing the temperature of each module with the threshold value or the box body temperature, so that the main air duct flows through the high-temperature module; the selection of the local heat dissipation mode is determined by the module position and the sensor position, and the box body is divided into areas I, II, III and IV according to the position of the fan (2097); when the module temperature exceeds a set threshold and the other modules are within a normal temperature range, the fan (2097) in the area of the module starts to rotate forward or reverse, and the adjacent fan is matched with the fan to rotate forward or reverse or only the grille (2092) is opened; the local heat preservation is performed by a fan (2097) to blow heated air to the module at a low temperature to help the module to quickly enter a proper working temperature; the control mode of the local heat preservation is the same as the local heat dissipation, when the temperature of a module is lower than a set threshold value and other modules are in a normal temperature range, a fan in the area where the module is positioned starts to supply air inwards, and one fan (2097) adjacent to the module is matched with the fan 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 the upper box body of the ground station; the lower box body is integrated with an industrial personal computer (204), an operation panel (3), a data transmission station (207), a picture transmission 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); wherein the antenna (104) is arranged on the display fixing plate (1032), and in the open state, the signal shielding caused by Faraday effect of the box body can be prevented; the ground station can carry out data communication with the inspection robot through the data transmission station (207), the image transmission station (208) can process image data received by the image transmission station in real time, and the inspection robot can be controlled by the operation panel (3) in a task manner and remotely controlled in real time; wherein the external interface (304) of the operation panel (3) can conduct data export and is connected with an expansion display
The portable power inspection robot ground station for the complex environment has the following advantages:
1. the invention is different from the existing portable ground station, considers the variability of climate temperature in Xinjiang and other areas and the electromagnetic interference in the electric network power inspection environment, and creates a ground station structure for the portable power inspection robot in a complex environment, and finally provides the portable power inspection robot ground station structure.
2. The invention utilizes the electromagnetic shielding effect of the Faraday cage to design the box body, the metal screen plates (102, 202) with replaceable materials are arranged in the ground station box body, and the metal screen plates are mutually communicated after being spliced and grounded through the metal pad feet (216) of the lower box body; in the open state, the upper box metal screen (102) is in contact communication with the display fixing plate (1032) and the display metal backboard, the display fixing plate (1032) is made of metal, so that six surfaces of the upper box are covered with metal materials, the upper box forms a Faraday cage, and similarly, the lower box panel fixing plate (301) is made of metal, and the lower box also forms a Faraday cage; in a closed state, the upper box body and the lower box body are communicated through conductive sealing strips, and six surfaces of the box bodies form a Faraday cage; the upper box body and the lower box body are communicated through damping hinges (2141), and the lower box body and the lower screen plate (2025) are communicated with metal pad feet (216) through bolts, so that the ground station is integrally grounded.
3. The ground station box body is internally provided with a detachable heating wire (1026), the working state of the ground station box body can be controlled by an industrial personal computer, and the ground station box body is matched with dustproof cooling fans (209) arranged on two sides of the lower box body, so that in order to adapt to a high-temperature dust environment, a main cooling mode II and a main cooling mode III can be operated on the premise of opening a grille (2092) so as to realize rapid cooling; in order to adapt to the low-temperature environment, on the premise of closing the grille (2092), a main heat preservation mode IV is operated to maintain the temperature in the box body and ensure that each hardware module works normally; to achieve local heat dissipation or local thermal insulation, the fan (2097) and the grille (2092) may be controlled in a targeted manner.
4. The ground station can carry out data communication and image transmission with the inspection robot through the data transmission station (207), the image transmission station (208), the industrial personal computer (204) can process image data received by the image transmission station (208) in real time, and the inspection robot can be controlled by a task through the operation panel (3) in real time; wherein the external interface (304) of the operation panel (3) can conduct data export and is connected with an external expansion display.
Drawings
Fig. 1 is a schematic diagram of the ground station operating state.
Fig. 2 is a schematic view of the structure of the upper case.
Fig. 3 is a schematic view of the structure of the lower case.
Fig. 4 is a schematic view of the structure of the operation panel.
FIG. 5 is a schematic view of the lower box expanded metal panel assembly.
Fig. 6 is a lower case heating wire trace.
Fig. 7 is a schematic view of a dustproof heat dissipation fan.
Fig. 8 is a schematic view of a grid structure.
Fig. 9 is a schematic diagram of a ground station in a closed state.
Fig. 10 is a schematic diagram of a global heat dissipation mode.
FIG. 11 is a global warming schematic.
Fig. 12 is a schematic view of partial heat dissipation.
Fig. 13 is a schematic view of partial thermal insulation.
The reference numerals in the figures illustrate: 1. an upper case; 2. a lower box body; 3. an operation panel; 1021. a front screen; 1023. a left screen plate of the upper box body; 1031. a display; 1027. a conductive sealing strip; 1024. a right screen plate of the upper box body; 1032. a display fixing plate; 104. an antenna; 1022. a rear screen plate of the upper box body; 2141. damping hinges; 2142. a line pipe of the upper box body; 205. a charging module; 209. a dustproof heat radiation fan; 206. a power management module; 207. a data transmission station; 2143. a lower box body line pipe; 2021. a lower box front screen; 203. a battery; 210. a module fixing plate; 208. a picture transmission station; 211. pressing the self-flicking device; 212. a handle; 204. an industrial personal computer; 213. locking; 307. damping hinges; 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 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 lower box body rear screen plate; 1026. a heating wire; 2091. a decorative frame; 2092. a grille; 2093. a slide rail; 2094. a crankshaft is opened and closed; 2095. a fixed frame; 2096. a dust screen; 2097. a fan; 2098. a fan frame; 2099. and preventing the net touching.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of 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, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and thus should not be construed as limiting the invention.
In addition, in the present invention, unless explicitly stated and limited otherwise, the terms "disposed," "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected or detachably connected; may be a mechanical connection; or may be an electrical connection; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
As shown in fig. 1 to 9, 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 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 hinged line pipe (214).
The upper box body (1) comprises: an upper box shell (101), an upper box metal screen plate (102), a display module (103) and an antenna (104); the upper box expanded metal sheet (102) includes: the device comprises a front screen (1021), a rear screen (1022), a left screen (1023), a right screen (1024), a lower screen (1025), heating wires (1026) and conductive sealing strips (1027), wherein an upper box screen (102) is arranged in an upper box shell (101), the heating wires (1026) are arranged in wire grooves of a metal screen (102), and the conductive sealing strips (1027) are arranged in wire grooves formed in the upper part of the metal screen (102); the display module (103) comprises: the display comprises a display (1031), a display fixing plate (1032) and support 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 support columns.
The lower box body (2) comprises: the power supply device comprises a lower box shell (201), a lower box metal screen 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-ejector (211), a lifting handle (212), a lock catch (213), a hinged wire tube (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 cooling 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) includes: the heat-generating wire box 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), heating wires (1026) and conductive sealing strips (1027), wherein the lower box body screen plate (202) is arranged in a lower box body shell (201), the heating wires (1026) are arranged in wire grooves of the metal screen plate (202), and the conductive sealing strips (2027) are arranged in wire grooves formed in the upper part of the metal screen plate (202); the pressing self-flickers (211) are arranged on the left screen plate (2023) and the right screen plate (2024); the articulating conduit (214) comprises: damping hinges (2141), an upper box body line pipe (2142) and a lower box body line pipe (2143), wherein the damping hinges (2141) are connected with an upper box body shell (101) at two sides of a box body, the upper box body line pipe (2142) is connected with an upper box body rear screen plate (1022), and the lower box body line pipe (2143) is connected with a lower box body front screen plate (2021);
the operation panel (3) comprises: the intelligent remote control 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 absorption pad (308); wherein the panel fixing plate (301) is connected with the 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).
To combat electromagnetic interference in a high voltage grid environment, the metal mesh plates (102, 202) within the ground station housing may be replaced to combat varying degrees of electromagnetic interference. The metal mesh plates (102, 202) are mutually communicated after being spliced and are grounded through metal pad feet (216) of the lower box body, wherein in an open state, the upper box body metal mesh plate (102) is in contact communication with a display fixing plate (1032), the display fixing plate (1032) is made of metal, thus six surfaces of the upper box body are covered with metal materials, the upper box body forms a Faraday cage, and in the same way, the lower box body panel fixing plate (301) is made of metal, 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 strips, and the 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), a lower screen plate (2025) of the lower box body is communicated with a metal pad foot (216) through bolts, so that the whole ground station is grounded, and electromagnetic interference is shielded under two states of opening and closing; the replaceable expanded metal sheet (102, 202) is specifically: front (1021, 2021), rear (2021, 2022), bottom (1025, 2025), left (1023, 2023), right (1024, 2024) and left (1023, 2023) and right (1024, 2024) webs are the primary replacement webs.
According to the requirements of national relevant standards and specifications, electromagnetic shielding treatment is carried out on the electronic equipment and the information center, and the 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 screen plate models under different interference environments from the prevention of external electromagnetic interference so as to meet the requirements of the shielding indexes.
The calculation formula of the shielding effectiveness is as follows: se=r+a;
wherein: SE- - -shielding effectiveness (dB);
r- - -reflection loss (dB);
a— absorption loss (dB);
the reflection loss R can be calculated by:
the absorption loss a can be calculated by the following formula:
wherein: g- -copper-based conductivity (G Copper (Cu) ＝1，G Aluminum (Al) ＝0.61，G Iron (Fe) =0.17), the detailed values are shown in table 1-1;
μ— relative permeability with respect to free space; the detailed data are shown in Table 1-1;
d, the thickness of the shielding layer is expressed in meters (m);
f- -the frequency of electromagnetic waves in hertz (Hz);
table 1-1: g, mu values of copper, aluminum and iron in different frequency ranges
The shielding effectiveness of various metal materials with different types and thicknesses at various frequency points can be calculated according to the above formula and the table 1-1.
The lower case (2) is designed for quick release, taking into account possible damage to the internal modules of the ground station. Pressing two corners of the magnetic pad (308) of the operation panel (3) can be quickly sprung by the pressing self-spring device (211), and fixing any angle of the operation panel (3) through the damping hinge (307) so as to quickly overhaul the internal module of the lower box body (2);
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 ground station box body is connected with a power management module (206), and the temperature adjustment at 0-60 ℃ can be realized by adjusting the voltage of the power management module (206). The heating wires (1026) are arranged in metal mesh plates (102, 202) with wire grooves, wherein the front mesh plates (1021, 2021), the rear mesh plates (1022, 2022), the left mesh plates (1023, 2023) and the right mesh plates (1024, 2024) are provided with wire grooves; selecting a heating wire (1026) suitable for 0-60 ℃ temperature adjustment according to the power of the battery (203) and the proper working temperature of each module inside; 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 dust environment, dustproof and dustproof cooling fans (209) are arranged on two sides of the lower box body, so that rapid cooling can be realized, and meanwhile, rainwater and dust are prevented from entering. The dustproof heat dissipation fan (209) includes: a decorative frame (2091), a grille (2092), a slide rail (2093), an openable crankshaft (2094), a fixed frame (2095), a dust screen (2096), a fan (2097), a fan frame (2098) and a touch screen (2099); different air channels of the box body can be formed by changing the forward and reverse rotation of the fan (2097) and the opening and closing of the grid (2092) through the industrial personal computer (204); the 4 dustproof cooling fans (2097) are respectively numbered as (1), (2), (3) and (4), when the grids are all opened, (1) (2) air inlet (3) (4) air outlet is in a mode one, (2) (3) air inlet (1) (4) air outlet is in a mode two, and (1) (3) air inlet (2) (4) air outlet is in a mode three; when the grids are all closed, (1), (2), (3) and (4) supply air to the inside to form a mode four; the four modes are main modes, and in order to realize local heat dissipation, the grille (2092) can be partially opened and partially closed, and the fan (2097) can also be partially blown inwards, partially blown outwards and partially closed. For example, the heat generated by the image transmission station (208) is much higher than that of other modules, and only the fans (2097) with the numbers (2) and (3) and the corresponding grids (2092) can be started to accurately exhaust heat in the area where the image transmission station (208) is located.
In order to have the characteristics of the traditional ground station, a display module (103) and an antenna (104) are integrated in the upper box body of the ground station; the lower box body is integrated with 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); wherein the antenna (104) is fixed on the display fixing plate (1032), and signal interference caused by Faraday effect of the box body can be prevented in an open state; the ground station can carry out data communication with the inspection robot through the data transmission station (207), the image transmission station (208), the industrial personal computer (204) can process image data received by the image transmission 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 conduct data export and is connected with an expansion 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 should be able to apply equivalents and modifications according to the technical scheme and the inventive concept thereof within the scope of the present invention.
Claims (9)
1. A electric power inspection robot ground station for complex environment, its characterized in that: the structure comprises 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 through a hinged communication pipe (214), and the operation panel (3) is connected to the lower box body through a damping hinge (307); the front and rear metal screen plates (102, 202) of the two boxes are respectively arranged at the inner sides of the two boxes, the installation modes of the metal screen plates (102, 202) of the two boxes are the same, the front screen plate (2021) of the lower box is fixed on the lower box (2) through a hinged wire through pipe (214), the rear screen plate (2022) of the lower box is fixed on the lower box (2) through fixing bolts of a handle (212) and a lock catch (213), stepped clamping grooves are arranged at the two sides of the front and rear screen plates, the left and right screen plates are fixed at the two sides of the box through the clamping grooves, trapezoid grooves are formed in the middle of the bottoms of the front, rear, left and right screen plates, protruding trapezoid structures are arranged at the periphery of the lower screen plate and are matched with the trapezoid grooves to be fixed on the bottom surface of the box, a wire groove is formed in the metal screen plates (102, a heating wire is also formed in the metal screen plate (202), a semi-embedded heating wire (1026) is arranged in the upper box, a touchable display (1031) is arranged on a display fixing plate, the display fixing plate is connected with the upper box through the supporting column, and a relevant hardware module is placed in the lower box (2); an electric quantity display module (302), a scram 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 hinged wire pipe (214); electromagnetic shielding can be realized under two states of opening and closing of the box body, wherein when the box body is opened, a metal screen plate (102) of an upper box body (1), a display backboard and a display fixing plate (1032) form a Faraday cage, a metal screen 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 form the Faraday cage through conductive sealing strips (1027) arranged on the metal screen 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 a metal pad leg (216) through the lower screen plate, the whole grounding is realized, and the left screen plate and the right screen plate of the upper box body and the lower box body can be quickly disassembled so as to be convenient for replacement; the dustproof cooling fan (209) of the lower box body can form air channels with different modes so as to realize comprehensive cooling or partial cooling, or the dustproof cooling fan is matched with a heating wire (1026) to realize comprehensive heat preservation or partial heat preservation of the box body; the dustproof cooling fan (209) is controlled by the industrial personal computer (204) to rotate forwards and reversely, the grille (2092) is opened and closed, and the lower box body (2) is provided with a plurality of temperature sensors for detecting the temperature in the box body so as to be used for the industrial personal computer (204) to judge; the fan (2097) rotates forwards and reversely and the grille (2092) is opened and closed through the industrial personal computer (204) to form air channels in different modes of the box body; the 4 dustproof cooling fans (209) are respectively numbered as (1), (2), (3) and (4), when the grille (2092) is fully opened, (1) (2) air inlet (3) (4) air outlet is in a first mode, (2) (3) air inlet (1) (4) air outlet is in a second mode, and (1) (3) air inlet (2) (4) air outlet is in a third mode; when the grille (2092) is completely closed, the air supply to the interior of the grille (1), (2), (3) and (4) is in a mode four; the first mode to the third mode are the integral heat dissipation mode, and the fourth mode is the integral heat preservation mode; to accurately realize local heat dissipation, local heat preservation, and linkage switching between heat dissipation and heat preservation, a grille (2092) of part of fans can be opened or closed, and the fans (2097) can also partially rotate positively, partially rotate reversely and be partially closed; the lower box body is internally provided with temperature sensors T1-T6, wherein a T1 detection charging module (205), a T2 detection battery (203), a T3 detection lower box body (2), a T4 detection data transmission station (207), a T5 detection industrial personal computer (204) and a T6 detection image transmission station (208) are arranged in the lower box body; the heat dissipation or heat preservation mode is selected based on the comparison of the module temperature and the box body temperature, and the local heat dissipation and local heat preservation mode is selected based on the comparison of the module temperature and a set threshold value; when the temperature of the box body is higher than a threshold value 1, a heat dissipation mode is started; when the temperature of the box body is lower than a threshold value 2, starting a heat preservation mode; when the temperature of a certain module is higher than a set threshold value X, starting local heat dissipation of the position of the module; when the temperature of the sensor T3 is below a set threshold, the grille (2092) is closed; when the temperature of a certain module is lower than a set threshold value Y, starting a heat preservation mode, and supplying hot air to the module; when the temperature values of more than 2 modules are higher than the threshold temperature, carrying out integral heat dissipation; when more than 2 modules are lower than the threshold temperature, carrying out integral heat preservation; the whole heat dissipation mode is selected by comparing the temperature of each module with the threshold value or the box body temperature, so that the main air duct flows through the high-temperature module; the selection of the local heat dissipation mode is determined by the module position and the sensor position, and the box body is divided into areas I, II, III and IV by the position of a fan (2097); when the temperature of a module exceeds a set threshold and other modules are within a normal temperature range, the fans (2097) in the area of the module start to supply or discharge air inwards, and one fan (2097) adjacent to the module is matched with the fan to supply or discharge air 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 the local heat preservation is the same as the local heat dissipation, when the temperature of the module is lower than the set threshold value and other modules are in the normal temperature range, the fan (2097) in the area where the module is located starts to supply air inwards, and one fan (2097) adjacent to the module is matched with the fan to supply air.
2. A power inspection robot ground station for complex environments as set forth in claim 1, wherein: the metal mesh plates (102, 202) are arranged in the box body, and can be replaced by different types according to different environments so as to resist electromagnetic interference of different degrees, wherein the different types are different in material quality, and the material quality is determined by the environments; the metal net plates (102, 202) are mutually communicated after being spliced and are grounded through metal pad feet (216) of the lower box body; in the open state of the ground station, the upper box body metal screen plate (102) is in contact communication with the metal display fixing plate (1032) and the display backboard, so that the six surfaces of the upper box body are covered with metal materials, and the upper box body (1) forms a Faraday cage; similarly, the lower box panel fixing plate (301) is made of metal, and the lower box (2) also forms a Faraday cage; in the closed state, the upper box body and the lower box body are communicated through conductive sealing strips (1027), and the six surfaces of the closed box body form a Faraday cage so as to realize electromagnetic interference shielding in the opening state and the closing state.
3. A power inspection robot ground station for complex environments as set forth in claim 2, wherein: the upper box body and the lower box body are communicated through damping hinges (2141) made of metal, and the lower box body lower screen plate (2025) is communicated with the metal pad feet (216) through bolts, so that the ground station is integrally grounded.
4. A power inspection robot ground station for complex environments as set forth in claim 1, wherein: the heating wire (1026) is arranged in the wire slot of the metal mesh plate (102, 202), can be disassembled and assembled along with the metal mesh plate, can be disassembled and assembled independently, is powered by the internal battery (203), is connected with the power management module (206), and is used for adjusting the temperature of the heating wire (1026) by adjusting the voltage of the power management module (206) through the industrial personal computer (204), so that the temperature of the box body is controlled.
5. A power inspection robot ground station for complex environments as set forth in claim 2, wherein: the replaceable metal mesh plate (102, 202) is specifically: front (1021, 2021), rear (1022, 2022), left (1023, 2023), right (1024, 2024), lower (1025, 2025) screen.
6. A power inspection robot ground station for complex environments as set forth in claim 4, wherein: the wire grooved metal mesh plates (102, 202) are a front mesh plate (1021, 2021), a rear mesh plate (1022, 2022), a left mesh plate (1023, 2023), and a right mesh plate (1024, 2024).
7. A power inspection robot ground station for complex environments as set forth in claim 1, wherein: the dustproof cooling fan (209) has a structure comprising a decorative frame (2091), a grating (2092), a sliding rail (2093), an opening and closing crankshaft (2094), a fixed frame (2095), a dustproof net (2096), a fan (2097), a fan frame (2098) and an anti-touch net (2099), wherein the grating (2092) can be opened and closed by utilizing the quick return characteristic of a crank slider and dragging the sliding rail (2093) to move for 4mm by a motor; in addition, a dustproof net (2096) is arranged in the dustproof cooling fan (209), the grid (2092) can prevent rainwater from entering from the upper part in an open state, and the grid can completely isolate rainwater in a closed state; the dustproof net (2096) can prevent dust from entering the box body; the power management module (206) is controlled by the industrial personal computer (204) to adjust the fan (2097) to realize forward rotation and reverse rotation, and the adjusting motor drags the sliding rail (2093) to control the grid (2092) to be opened and closed.
8. A power inspection robot ground station for complex environments as set forth in claim 1, wherein: the display module (103) and the antenna (104) are integrated in the upper box body of the ground station; the lower box body is integrated with 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); the antenna (104) is fixed on the display fixing plate (1032), and signal interference caused by electromagnetic shielding of the box body can be prevented when the box body is opened.
9. A power inspection robot ground station for complex environments as set forth in claim 1, wherein: the ground station carries out data communication with the inspection robot through the data transmission station (207), the image transmission station (208), the industrial personal computer (204) processes the image data received by the image transmission station (208) in real time, and the inspection robot is subjected to task control and real-time remote control through the operation panel (3); wherein the external interface (304) of the operation panel (3) carries out data export and is connected with an 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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