CN203357457U - Wireless cable routing inspection robot and control system thereof - Google Patents

Wireless cable routing inspection robot and control system thereof Download PDF

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Publication number
CN203357457U
CN203357457U CN 201320391778 CN201320391778U CN203357457U CN 203357457 U CN203357457 U CN 203357457U CN 201320391778 CN201320391778 CN 201320391778 CN 201320391778 U CN201320391778 U CN 201320391778U CN 203357457 U CN203357457 U CN 203357457U
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China
Prior art keywords
controller
module
wireless
crusing robot
control system
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Withdrawn - After Issue
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CN 201320391778
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Chinese (zh)
Inventor
王应海
李红益
张好明
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Suzhou Industrial Park Institute of Vocational Technology
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Suzhou Industrial Park Institute of Vocational Technology
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Abstract

The utility model relates to a wireless cable routing inspection robot and a control system thereof. The control system comprises a control module, a temperature collection module, an image collection module, a servo system, a power module, a storage module and a wireless module. The control module comprises a first controller and a second controller. The first controller is connected with the temperature collection module, the image collection module and the servo system and used for processing temperature signals collected by the temperature collection module and image signals collected by the image collection module, and controlling the servo system. The second controller is connected with the first controller, the power module, the storage module and the wireless module and used for storing the temperature signals and the image signals processed by the first controller in the storage module. The wireless module is used for communicating with a master station. Through the arrangement of the first controller and the second controller, the control system can greatly improve processing speed to adapt to the high-speed routing inspection of the wireless cable routing inspection robot.

Description

Wireless cable crusing robot and control system thereof
Technical field
The utility model relates to field of electrical equipment, is specifically related to a kind of wireless cable crusing robot and control system thereof.
Background technology
In the industries such as electric power, metallurgy, chemical industry, power and control cables are usually concentrated and are laid in cable tunnel, to facilitate wiring and to safeguard.The increasing overhead transmission line cable tunnel that also goes underground gradually in city.Yet, because cable connector and cable insulation damage the cable tunnel fire caused, happen occasionally.Cable tunnel fire burning velocity is fast, is difficult to put out a fire to save life and property, once huge direct and indirect national economy loss occurs just can cause.Therefore, analyse in depth the occurrence cause of cable tunnel fire, and find rational fireproof measure, just become the key issue of avoiding fire to occur.
The cable tunnel fire be one gradually the accumulation process.Along with the increase of time, due to reasons such as insulating barrier are aging, the dust greasy dirt long-pending, transition joint is loosening, cause the cable local temperature to rise gradually, thus initiation fire.Therefore, before accident occurs, if can be effectively the situations such as the temperature of inside, cable tunnel, smog be carried out to real-time monitoring, just can accomplish fire disasters protection in possible trouble.
Traditional cable tunnel adopts the mode of manual inspection, and the tour personnel enter tunnel at regular intervals, utilizes the manual temperature regime that checks cable intermediate joint of temperature measuring device.This method has been wasted a large amount of manpowers, and, due to the limitation of manual mode, is difficult to accomplish all each transition joint is detected at every turn, still has certain hidden danger.For this reason, people have developed the cable crusing robot, to replace the manual inspection cable.Existing cable crusing robot control system is general adopts a single-chip microcomputer process the signal that the cable crusing robot collects and control accordingly, but the computational speed of this control system is generally all slow, be difficult to meet the rapidity requirement of high speed cruising inspection.Therefore, those skilled in the art need badly and develop a kind of cable crusing robot control system that can the high speed processing data, to adapt to the demand of high speed cruising inspection.
The utility model content
In view of this, the utility model aims to provide a kind of wireless cable crusing robot and control system thereof that can the high speed processing data.
In order to realize the purpose of this utility model, the utility model embodiment provides a kind of wireless cable crusing robot control system on the one hand, it comprises control module, temperature collect module, image capture module, servo-drive system, power module, memory module and wireless module, described temperature collect module and image capture module are respectively used to gather temperature signal and the picture signal of cable, described control module comprises the first controller and second controller, described the first controller and described temperature collect module, image capture module and servo-drive system connect, be used for described temperature collect module, temperature signal and picture signal that image capture module collects are processed, and for controlling described servo-drive system, described servo-drive system is for moving the wireless cable crusing robot, described second controller and described the first controller, power module, memory module and wireless module connect, for controlling described power module, it is described wireless cable crusing robot power supply, and store described memory module into for temperature signal and the picture signal after described the first controller is processed, described wireless module is for carrying out communication with main website.
Preferably, the data processing speed of described the first controller is greater than the data processing speed of second controller.
Preferably, described the first controller is field programmable gate array, and described second controller is digital signal processor.
Preferably, the distance that described second controller also moves for calculating described cable inspection machine, and determine the range information of described cable inspection machine apart from next moving target according to the distance of described movement, described the first controller is for generating the control signal of controlling described servo-drive system according to described range information.
Preferably, described second controller is is also patrolled and examined route data for obtaining, and described the first controller is for generating according to patrolling and examining route data the control signal of controlling servo-drive system.
Preferably, described second controller also judges for temperature signal and/or the picture signal of processing according to the first controller whether cable exists fault or potential faults, if exist send warning message and current location information by described wireless module to described main website.
Preferably, described power module comprises the first power supply and second source, described the first power supply is powered when described wireless cable crusing robot control system is is normally patrolled and examined, and described second controller is also for enabling described second source during in low-pressure state in described control system.
Preferably, described the first power supply is lithium ion battery, and described second source is battery.
Preferably, described second controller is also for detecting in real time the voltage of described the first power supply, and sends warning message by described wireless module when the voltage of described the first power supply during lower than preset value.
The wireless cable crusing robot control system that the utility model embodiment provides is by arranging the first controller and second controller, and the first controller and second controller are divided the work, make the first controller process the larger work of operand, second controller is processed the work that operand is less, thereby greatly improve processing speed, to be adapted to the high speed cruising inspection of wireless cable crusing robot.This wireless cable crusing robot control system is also carried out communication by wireless module and main website, is convenient to controlling of wireless cable crusing robot.
The utility model embodiment provides a kind of wireless cable crusing robot on the other hand, and described wireless cable crusing robot comprises the described wireless cable crusing robot of above-mentioned any one control system.This wireless cable crusing robot obviously also has advantages of above-mentioned wireless cable crusing robot control system, does not repeat them here.
The accompanying drawing explanation
Fig. 1 be the utility model embodiment provide the structural representation of wireless cable crusing robot control system.
The specific embodiment
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein is only in order to explain the utility model, and be not used in restriction the utility model.
Please refer to Fig. 1, the utility model embodiment provides a kind of wireless cable crusing robot control system, and it comprises control module 14, temperature collect module 12, image capture module 11, servo-drive system 13, power module 15, memory module 16 and wireless module 17.
Temperature collect module 12 and image capture module 11 are respectively used to gather temperature signal and the picture signal of cable.Particularly, temperature collect module 12 can comprise temperature sensor, and 11 of image capture modules can be camera, all can be arranged on the front portion of wireless cable crusing robot.
Servo-drive system 13 is for moving the wireless cable crusing robot.Particularly, this wireless cable crusing robot can comprise a plurality of wheels, 13 motors for the wheels rotation of servo-drive system.In the present embodiment, this wireless cable crusing robot comprises two driving wheels and a universal wheel, and two driving wheels are for generation of power, and universal wheel is for turning to.Servo-drive system 13 comprises two motors, and these two motors are connected with two driving wheels respectively, drives two driving wheels to rotate, so that the wireless cable crusing robot can be walked.Control module 14 can be controlled two motors and rotate (being differential control) with different rotating speeds, makes two driving wheel rotating speed differences, thereby realizes turning under the cooperation of universal wheel.
Power module 15 is used to the power supply of wireless cable crusing robot, to guarantee its normal operation.Because the wireless cable crusing robot often moves, so power module 15 is preferably battery.Particularly, in the present embodiment, power module 15 comprises the first power supply 151 and second source 152, the first power supply 151 is for power supply when wireless cable crusing robot control system works, 152 of second sources are as stand-by power supply, for enabling during in low-pressure state in wireless cable crusing robot control system, in case the first power supply 151 damages under low-pressure state.Particularly, the first power supply 151 is lithium ion battery, and second source 152 is battery.Second controller 142 can detect in real time the voltage of the first power supply 151 in running; when low pressure (lower than preset value) occurring; second controller 142 sends warning message by wireless module 17 to main website (monitoring the platform of this wireless cable crusing robot); and unlatching second source 152; make second source 152 start power supply, thereby effectively protect the first power supply 151 not damaged.Simultaneously, second controller 142 also stores current data immediately, and sends the signal that makes a return voyage, and servo-drive system 13 is maked a return voyage, and so just can not cause the loss of patrolling and examining result.
Control module 14 comprises the first controller 141 and second controller 142.The first controller 141 is connected with temperature collect module 12, image capture module 11 and servo-drive system 13, for temperature signal and picture signal that temperature collect module 12, image capture module 11 are collected, processed, and for controlling servo-drive system 13.Second controller 142 is connected with the first controller 141, power module 15, memory module 16 and wireless module 17, for controlling power module 142 for the power supply of wireless cable crusing robot, and store memory module 16 into for temperature signal and the picture signal after the first controller 141 is processed.
Wireless module 17 is for carrying out communication with main website.Particularly, wireless module 17, for from main website, receiving control instruction, patrol task, patrol and examine route etc., sends it to second controller 142.Wireless module 17 can also the instruction according to second controller 142 be patrolled and examined a part data that obtain in the process of patrolling and examining, temperature signal and corresponding positional information thereof that for example temperature collect module 12 gathers, send to main website, make the staff of main website can recognize in time the part important information.
This wireless cable crusing robot is in the process of patrolling and examining, and the first controller 141 generates the control signal of servo-drive system 13, controls servo-drive system 13 operations so that this wireless cable crusing robot moves along planned orbit.The wireless cable crusing robot is in mobile process, temperature signal and picture signal by temperature collect module 12 and image capture module 11 Real-time Collection cables, the first 141 pairs of controllers temperature signal collected and picture signal are processed, send to second controller 142 after processing, by second controller 142, store temperature signal and picture signal after processing into memory module 16.After end is patrolled and examined, closing temperature acquisition module 12 and image capture module 11, the first controller 141 is controlled servo-drive system 13 so that the wireless cable crusing robot makes a return voyage, the operator is analyzed temperature signal and the picture signal of memory module 16 storages, whether there are fault or potential faults to find out cable, thereby can process timely.
Because the data volume of temperature signal and picture signal is larger, and the workload of the control signal of generation servo-drive system 13 is also larger, therefore this wireless cable crusing robot control system adopts the first controller 141 to come treatment temperature signal and picture signal, and the control signal that generates servo-drive system 13, adopt the power supply of second controller 142 amount of work for the treatment of less to control simultaneously, the work such as data storage, also adopt two controllers to be controlled, and according to the characteristic of controller, controller is divided the work, thereby can greatly improve processing speed, to be adapted to the high speed cruising inspection of wireless cable crusing robot.
In a preferred embodiment, the data processing speed of the first controller 141 is greater than the data processing speed of second controller 142, so that the first controller 141 is adapted to its larger data processing amount.Further, the first controller 141 is field programmable gate array (FPGA), and 142 of second controllers are digital signal processor (DSP), and the first controller 141 and second controller 142 carry out exchanges data by the I/O mouth.Particularly, the model of second controller 142 is TMS320F2812, and this chip is the fixed point 32 bit DSP chips on the C2000 platform released of American TI company, and the model of the first controller 141 is A3P250.
In a preferred embodiment, the distance that second controller 142 also moves for calculating the cable inspection machine, and determine the range information of cable inspection machine apart from next moving target according to mobile distance, the first controller 141 for example, for generating the control signal (direction signal and rate signal) of controlling servo-drive system 13 according to range information.In the process of wireless cable crusing robot motion, second controller 142 can constantly store the distance of process or the important test point of process, and determine accordingly the distance that will move the distance to next operating point and the motor in servo-drive system 13, then second controller 142 and the first controller 141 communications, these parameters are transferred to the first controller 141, then the speed ladder diagram that the first controller 141 is controlled motor movement according to electric current and the optical code disk Information generation of motor, the area that these speed ladder diagrams comprise is exactly the distance that motor will move.Particularly, the first controller 141 generates the PWM ripple of controlling motor movement, and, by I/O mouth and second controller 142 real-time communications, is controlled output and the shutoff of its PWM waveform by second controller 142.If endless loop appears in patrolling and examining apart from solving in motion process in the first controller 141, to send interrupt requests to second controller 142, second controller 142 can be done very first time response to interrupt requests, if the interrupt response of second controller 142 does not have enough time to process, the motor of servo-drive system 13, by the original place self-locking, waits for that the maintenance personal reprocesses.
In a preferred embodiment, second controller 142 is is also patrolled and examined route data for obtaining, and the first controller 141 is for generating according to patrolling and examining route data the control signal of controlling servo-drive system 13.Particularly, second controller 142 can obtain the pre-stored route data of patrolling and examining from memory module 16, also can obtain and patrol and examine route data by Data Input Interface (such as USB interface) etc., can also obtain and patrol and examine route data by wireless module 17.
In a preferred embodiment, temperature signal and/or picture signal that second controller 142 can also be processed according to the first controller 141 judge whether cable exists fault or potential faults, if exist, by wireless module 17, to main website, send warning message and current location information, make the staff of main website can recognize in time abort situation, thus troubleshooting rapidly.For example, when the temperature in cable somewhere surpasses dangerous values, second controller 142 sends alarm signal.
The wireless cable crusing robot control system that the utility model embodiment provides is by arranging the first controller and second controller, and the first controller and second controller are divided the work, make the first controller process the larger work of operand, second controller is processed the work that operand is less, thereby greatly improve processing speed, to be adapted to the high speed cruising inspection of wireless cable crusing robot.This wireless cable crusing robot control system is also carried out communication by wireless module and main website, is convenient to controlling of wireless cable crusing robot.
The utility model embodiment also provides a kind of wireless cable crusing robot, and it has the described wireless cable crusing robot of above-mentioned arbitrary embodiment control system.In one embodiment, this wireless cable crusing robot comprises two driving wheels and a universal wheel, and two driving wheels are for generation of power, and universal wheel is for turning to.Servo-drive system 13 comprises two motors, and these two motors are connected with two driving wheels respectively, drives two driving wheels to rotate, so that the wireless cable crusing robot can be walked.The first controller 141 can be controlled two motors and rotate (being differential control) with different rotating speeds, makes two driving wheel rotating speed differences, thereby realizes turning under the cooperation of universal wheel.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all any modifications of doing within spirit of the present utility model and principle, be equal to and replace and improvement etc., within all should being included in protection domain of the present utility model.

Claims (10)

1. a wireless cable crusing robot control system, it is characterized in that, comprise control module, temperature collect module, image capture module, servo-drive system, power module, memory module and wireless module, described temperature collect module and image capture module are respectively used to gather temperature signal and the picture signal of cable, described control module comprises the first controller and second controller, described the first controller and described temperature collect module, image capture module and servo-drive system connect, be used for described temperature collect module, temperature signal and picture signal that image capture module collects are processed, and for controlling described servo-drive system, described servo-drive system is for moving the wireless cable crusing robot, described second controller and described the first controller, power module, memory module and wireless module connect, for controlling described power module, it is described wireless cable crusing robot power supply, and store described memory module into for temperature signal and the picture signal after described the first controller is processed, described wireless module is for carrying out communication with main website.
2. wireless cable crusing robot control system according to claim 1, is characterized in that, the data processing speed of described the first controller is greater than the data processing speed of second controller.
3. wireless cable crusing robot control system according to claim 1, is characterized in that, described the first controller is field programmable gate array, and described second controller is digital signal processor.
4. wireless cable crusing robot control system according to claim 1, it is characterized in that, the distance that described second controller also moves for calculating described cable inspection machine, and determine the range information of described cable inspection machine apart from next moving target according to the distance of described movement, described the first controller is for generating the control signal of controlling described servo-drive system according to described range information.
5. wireless cable crusing robot control system according to claim 1, is characterized in that, described second controller is is also patrolled and examined route data for obtaining, and described the first controller is for generating according to patrolling and examining route data the control signal of controlling servo-drive system.
6. wireless cable crusing robot control system according to claim 1, it is characterized in that, described second controller also judges for temperature signal and/or the picture signal of processing according to the first controller whether cable exists fault or potential faults, if exist send warning message and current location information by described wireless module to described main website.
7. according to the described wireless cable crusing robot of claim 1 to 6 any one control system, it is characterized in that, described power module comprises the first power supply and second source, described the first power supply is powered when described wireless cable crusing robot control system is is normally patrolled and examined, and described second controller is also for enabling described second source during in low-pressure state in described control system.
8. wireless cable crusing robot control system according to claim 7, is characterized in that, described the first power supply is lithium ion battery, and described second source is battery.
9. wireless cable crusing robot control system according to claim 7, it is characterized in that, described second controller is also for detecting in real time the voltage of described the first power supply, and sends warning message by described wireless module when the voltage of described the first power supply during lower than preset value.
10. a wireless cable crusing robot, is characterized in that, described wireless cable crusing robot comprises according to the described wireless cable crusing robot of claim 1 to 9 any one control system.
CN 201320391778 2013-06-26 2013-07-03 Wireless cable routing inspection robot and control system thereof Withdrawn - After Issue CN203357457U (en)

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Granted publication date: 20131225

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