CN203476049U - Magnetic-switch-based automatic door control system for transformer substation inspection robot - Google Patents
Magnetic-switch-based automatic door control system for transformer substation inspection robot Download PDFInfo
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- CN203476049U CN203476049U CN201320416913.2U CN201320416913U CN203476049U CN 203476049 U CN203476049 U CN 203476049U CN 201320416913 U CN201320416913 U CN 201320416913U CN 203476049 U CN203476049 U CN 203476049U
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- 238000004891 communication Methods 0.000 claims abstract description 68
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- 238000001514 detection method Methods 0.000 abstract 2
- 238000005096 rolling process Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
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- 230000004048 modification Effects 0.000 description 2
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Abstract
A magnetic-switch-based automatic door control system for a transformer substation inspection robot is characterized by including a transformer substation inspection robot mobile platform, wherein an industrial personal computer (IPC) is arranged on the mobile platform and connected with a wireless communication module I; the wireless communication module I is in communication connection with a wireless communication module II in a base station, and is connected with an automatic door control module through the wireless communication module II; the automatic door control module is a drive control board card with a core of a single-chip microcomputer (SCM) and is respectively connected with the wireless communication module II, an automatic door location detection device, an automatic door motor and an access controller; the automatic door control module receives door opening/closing and status inquiry commands through the wireless communication module II, and the commands are sent by the IPC through the wireless communication module I; the forward and reverse rotations of the automatic door motor are controlled through a relay, so that an automatic door roller shutter can be driven to move up or down; the location status of the automatic door roller shutter is obtained through the location detection device; manually-operated door opening/closing commands are received through the access controller.
Description
A kind of Intelligent Mobile Robot automatic door control system based on door status switch.
Technical field
The utility model relates to a kind of Intelligent Mobile Robot automatic door control system based on door status switch, belong to automatic door control system technical field.
Background technology
Application robot used for intelligent substation patrol completes substation equipment patrol, can improve efficiency and the quality of substation inspection work, the work load that reduces the staff of transformer station, really plays the effect of personnel reduction and enlargement, advances faster and better the unattended process of transformer station.Robot accumulator plant is that important function has been brought into play in the self-protection realizing under robot automatic charging and bad weather.Before this, the unlatching of robot accumulator plant's door needs artificial cooperation or accumulator plant there is no door.When accumulator plant has, when robot carries out and finish tour task, the staff of Xu You transformer station manual unlocking and charge closing chamber door, allow crusing robot can shift out and enter accumulator plant, this mode is labor intensive both, reduce again the operating efficiency of robot, embodied the intelligent of Bu Chu robot; Accumulator plant does not have door, and bad weather affects equipment operation, causes robot cannot realize the long-term reliability of automatic charging.
Those skilled in the art has developed some automatic door control systems at present, Chinese patent zl201120189698.8 wherein, disclose a kind of name and be called robot used for intelligent substation patrol accumulator plant automatic door control system, proposed a kind of automatic door control system that carries out position probing based on reflective sensor.But there is following problem in this patented technology scheme:
1,, more than incandescent lamp 3000lux, when daylight 10000lux is above, may causes reflective sensor wrong report, and then cause the erroneous judgement of control system to automatic door position;
2, reflective sensor carries out target acquisition according to the light power receiving, and long-term use is affected by dirt accumulation easily, causes reporting wrong position signalling.
Summary of the invention
The purpose of this utility model is to overcome the deficiency that prior art exists, and provide a kind of illumination condition that is not subject to affect, insensitive to non-magnet materials such as dusts, safe and reliable, the lower-cost Intelligent Mobile Robot automatic door control system based on door status switch.
For achieving the above object, the technical solution adopted in the utility model is:
A kind of Intelligent Mobile Robot automatic door control system based on door status switch, it comprises Intelligent Mobile Robot mobile platform, on mobile platform, be provided with Industrial Personal Computer (IPC), Industrial Personal Computer (IPC) is connected with wireless communication module I, wireless communication module I communicates to connect with the wireless communication module II of base station, and is connected with automatic door control module by this wireless communication module II;
Described automatic door control module is to take the driving Control card that single-chip microcomputer is core, and it is connected with access controller with wireless communication module II, automatic door position detecting device, automatic door motor respectively; Automatic door control module receives by wireless communication module II switch gate and the status inquiry command that Industrial Personal Computer (IPC) sends through wireless communication module I; By the rotating of Control automatic door motor, to drive automatic door roller shutter to rise or to decline; By position detecting device, obtain the location status of automatic door roller shutter; By access controller, receive manually-operated switch gate instruction.
Automatic door position detecting device described in the utility model is door status switch, is divided into switch and door magnetic two parts, and wherein switch is arranged on the other body of wall of automatic door roller shutter, and door abampere is contained on automatic door roller shutter, and judges automatic door roller shutter state by off state.
Described access controller is the electronic-controlled installation of checking fingerprint or password, and after checking, access controller uses switching value signal to the order of automatic door control module transmit button door.
Described automatic door motor is special-purpose tube shaped electric machine or industrial motor, and with position limitation protection and thermel protection device.
Described automatic door roller shutter is cascaded by the door sheet of multi-joint activity, in fixing slideway, centered by the spool of door top, rotates.
Described Industrial Personal Computer (IPC) and wireless communication module I pass through serial communication; Wireless communication module I and wireless communication module II are zigbee communication module, and Industrial Personal Computer (IPC), by wireless communication module I and wireless communication module II, is communicated by letter with automatic door control module.
The workflow of the Intelligent Mobile Robot automatic door control system based on door status switch described in the utility model is as follows:
Intelligent Mobile Robot completes patrol task, arrives behind the front precalculated position of automatic door, accumulator plant, and the Industrial Personal Computer (IPC) on crusing robot mobile platform, by wireless communication module I, issues the order of opening the door to automatic door control module through wireless communication module II.Automatic door control module is controlled automatic door motor and is rotated, and automatic door motor drives automatic door roller shutter to rise.Automatic door control module is inquired about automatic door roller shutter position by continuous sense switch, and positional information is passed through to wireless communication module II, and through wireless communication module, I is uploaded to Industrial Personal Computer (IPC).When automatic door roller shutter arrives predetermined altitude, when meeting crusing robot and entering requiring of accumulator plant, automatic door control module stops operating by Control automatic door motor, and automatic door roller shutter stops rising.Industrial Personal Computer (IPC) obtains after the information of automatic door rolling door arrival predetermined altitude, controls crusing robot mobile platform and enters charging in accumulator plant.
Intelligent Mobile Robot mobile platform arrives behind precalculated position, accumulator plant, and Industrial Personal Computer (IPC), by wireless communication module I, issues the order of closing the door to automatic door control module through wireless communication module II.Automatic door control module is controlled automatic door motor and is rotated, and automatic door motor drives automatic door roller shutter to decline.Automatic door control module is inquired about automatic door roller shutter position by continuous sense switch, and positional information is passed through to wireless communication module II, and through wireless communication module, I is uploaded to Industrial Personal Computer (IPC).When automatic door roller shutter, close completely, while meeting crusing robot protection and antitheft requirement, automatic door control module stops operating by Control automatic door motor, and automatic door roller shutter stops decline.Industrial Personal Computer (IPC) obtains after the information that automatic door rolling door closes completely, more new state information.
Intelligent Mobile Robot mobile platform goes out accumulator plant to be carried out before patrol task, and completing patrol task with Intelligent Mobile Robot mobile platform, to enter the workflow of accumulator plant's front opening automatic door roller shutter the same.Intelligent Mobile Robot mobile platform goes out before carrying out patrol task behind accumulator plant needs charge closing chamber automatic door roller shutter, and the workflow of closing automatic door roller shutter before entering accumulator plant with Intelligent Mobile Robot mobile platform is the same.
The beneficial effects of the utility model are:
Intelligent Mobile Robot automatic door control system based on door status switch is not affected by illumination condition, and insensitive to non-magnet materials such as dusts, safe and reliable, cost is lower.
Accompanying drawing explanation
Fig. 1 is structure composition frame chart of the present utility model.
Label in figure has: 1, access controller, 2, automatic door control module, 3, wireless communication module I, 4, automatic door position detecting device, 5, door magnetic, 6, automatic door motor, 7, automatic door roller shutter, 8, wireless communication module II, 9, Industrial Personal Computer (IPC), 10, crusing robot mobile platform.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment, the utility model is described further.Shown in Fig. 1, a kind of Intelligent Mobile Robot automatic door control system based on door status switch described in the utility model, it comprises Intelligent Mobile Robot mobile platform, on mobile platform, be provided with Industrial Personal Computer (IPC) 9, Industrial Personal Computer (IPC) 9 is connected with wireless communication module I3, wireless communication module I3 communicates to connect with the wireless communication module II8 of base station, and is connected with automatic door control module 2 by this wireless communication module II8;
Described automatic door control module 2 is to take the driving Control card that single-chip microcomputer is core, and it is connected with wireless communication module II8, automatic door position detecting device 4, automatic door motor 6 and access controller 1 respectively; Automatic door control module 2 receives by wireless communication module II8 switch gate and the status inquiry command that Industrial Personal Computer (IPC) 9 sends through wireless communication module I3; By 6 rotatings of Control automatic door motor, to drive automatic door roller shutter 7 to rise or decline; By position detecting device 4, obtain the location status of automatic door roller shutter 7; By access controller 1, receive manually-operated switch gate instruction.
Described automatic door position detecting device 4 is door status switch, is divided into switch and door magnetic two parts, and wherein switch is arranged on the other body of wall of automatic door roller shutter, and door abampere is contained on automatic door roller shutter, and judges automatic door roller shutter state by off state.
The electronic-controlled installation that described access controller 1 is checking fingerprint or password, after checking, access controller 1 use switching value signal is to the order of automatic door control module transmit button door.
Described automatic door motor 6 is special-purpose tube shaped electric machine or industrial motor, and with position limitation protection and thermel protection device.
Described automatic door roller shutter 7 is cascaded by the door sheet of multi-joint activity, in fixing slideway, centered by the spool of door top, rotates.
Industrial Personal Computer (IPC) 9 described in the utility model passes through serial communication with wireless communication module I3; Wireless communication module I3 and wireless communication module II8 are zigbee communication module, and Industrial Personal Computer (IPC) 9, by wireless communication module I3 and wireless communication module II8, is communicated by letter with automatic door control module 2.
Intelligent Mobile Robot automatic door control system workflow based on door status switch described in the utility model is as follows:
Intelligent Mobile Robot mobile platform completes patrol task, arrive behind the front precalculated position of automatic door, accumulator plant, Industrial Personal Computer (IPC) 9 on crusing robot mobile platform 10, by wireless communication module I 8, issues the order of opening the door to automatic door control module 2 through wireless communication module II 3.Automatic door control module 2 is controlled automatic door motor 6 and is rotated, and automatic door motor drives automatic door roller shutter 7 to rise.Automatic door control module 2 is inquired about the position of automatic door roller shutters 7 by continuous sense switch 4, and positional information is passed through to wireless communication module II 3, through wireless communication module I 8, is uploaded to Industrial Personal Computer (IPC) 9.When automatic door roller shutter 7 arrives predetermined altitudes, when meeting crusing robot and entering requiring of accumulator plant, automatic door control module 2 stops operating by Control automatic door motor 6, and automatic door roller shutter 7 stops rising.Industrial Personal Computer (IPC) 9 obtains after the information of automatic door rolling door arrival predetermined altitude, controls crusing robot mobile platform 10 and enters accumulator plant's charging.
In Intelligent Mobile Robot mobile platform arrival accumulator plant, behind precalculated position, Industrial Personal Computer (IPC), by wireless communication module I 8, issues the order of closing the door to automatic door control module 2 through wireless communication module II 3.Automatic door control module 2 is controlled automatic door motor 6 and is rotated, and automatic door motor 6 drives automatic door roller shutter 7 to decline.Automatic door control module 2 is inquired about the position of automatic door roller shutters 7 by continuous sense switch 4, and positional information is passed through to wireless communication module II 3, through wireless communication module I 8, is uploaded to Industrial Personal Computer (IPC) 9.When automatic door roller shutter 7, close completely, while meeting crusing robot protection and antitheft requirement, automatic door control module 2 stops operating by Control automatic door motor 6, and automatic door roller shutter 7 stops decline.Industrial Personal Computer (IPC) 9 obtains after the information that automatic door rolling door closes completely, more new state information.
Intelligent Mobile Robot mobile platform 10Chu accumulator plant carries out before patrol task, and completing patrol task with Intelligent Mobile Robot mobile platform 10, to enter the workflow of accumulator plant's front opening automatic door roller shutter 7 the same.Before carrying out patrol task behind Intelligent Mobile Robot mobile platform 10Chu accumulator plant, need charge closing chamber automatic door roller shutter 7, the workflow of closing automatic door roller shutter 7 before entering accumulator plant with Intelligent Mobile Robot mobile platform is the same.
Although above the utility model is had been described in detail, the utility model is not limited to this, and those skilled in the art of the present technique can carry out the modification on various forms according to principle of the present utility model.Therefore, all modifications of doing according to the utility model principle, all should be understood to fall into protection domain of the present utility model.
Claims (6)
1. the Intelligent Mobile Robot automatic door control system based on door status switch, it is characterized in that: it comprises Intelligent Mobile Robot mobile platform, on mobile platform, be provided with Industrial Personal Computer (IPC), Industrial Personal Computer (IPC) is connected with wireless communication module I, wireless communication module I communicates to connect with the wireless communication module II of base station, and is connected with automatic door control module by this wireless communication module II;
Described automatic door control module is to take the driving Control card that single-chip microcomputer is core, and it is connected with access controller with wireless communication module II, automatic door position detecting device, automatic door motor respectively; Automatic door control module receives by wireless communication module II switch gate and the status inquiry command that Industrial Personal Computer (IPC) sends through wireless communication module I; By the rotating of Control automatic door motor, to drive automatic door roller shutter to rise or to decline; By position detecting device, obtain the location status of automatic door roller shutter; By access controller, receive manually-operated switch gate instruction.
2. the Intelligent Mobile Robot automatic door control system based on door status switch according to claim 1, it is characterized in that: described automatic door position detecting device is door status switch, be divided into switch and door magnetic two parts, wherein switch is arranged on the other body of wall of automatic door roller shutter, door abampere is contained on automatic door roller shutter, and judges automatic door roller shutter state by off state.
3. the Intelligent Mobile Robot automatic door control system based on door status switch according to claim 1, it is characterized in that: described access controller is the electronic-controlled installation of checking fingerprint or password, after checking, access controller uses switching value signal to the order of automatic door control module transmit button door.
4. according to the Intelligent Mobile Robot automatic door control system based on door status switch described in claim 1, it is characterized in that: described automatic door motor is special-purpose tube shaped electric machine or industrial motor, and with position limitation protection and thermel protection device.
5. the Intelligent Mobile Robot automatic door control system based on door status switch according to claim 1 and 2, it is characterized in that: described automatic door roller shutter is cascaded by the door sheet of multi-joint activity, in fixing slideway, centered by the spool of door top, rotate.
6. according to the Intelligent Mobile Robot automatic door control system based on door status switch described in claim 1, it is characterized in that: Industrial Personal Computer (IPC) and wireless communication module I pass through serial communication; Wireless communication module I and wireless communication module II are zigbee communication module, and Industrial Personal Computer (IPC), by wireless communication module I and wireless communication module II, is communicated by letter with automatic door control module.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320416913.2U CN203476049U (en) | 2013-07-15 | 2013-07-15 | Magnetic-switch-based automatic door control system for transformer substation inspection robot |
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| CN201320416913.2U CN203476049U (en) | 2013-07-15 | 2013-07-15 | Magnetic-switch-based automatic door control system for transformer substation inspection robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104612529A (en) * | 2014-11-29 | 2015-05-13 | 江西洪都航空工业集团有限责任公司 | Door opener for automatic sector door opening |
| CN106223775A (en) * | 2016-09-26 | 2016-12-14 | 广东电网有限责任公司珠海供电局 | A kind of leap fire prevention zone method, Apparatus and system |
| CN106346443A (en) * | 2016-10-25 | 2017-01-25 | 广东电网有限责任公司珠海供电局 | Track butting device and system |
| CN106597997A (en) * | 2015-10-14 | 2017-04-26 | 山东鲁能智能技术有限公司 | Transformer substation automatic door centralized control system and transformer substation automatic door centralized control method based on mobile robot |
| CN106707739A (en) * | 2016-12-06 | 2017-05-24 | 山东康威通信技术股份有限公司 | Redundancy control system and method for railway robot to automatically pass through fire exit door |
| CN106773960A (en) * | 2016-12-19 | 2017-05-31 | 中国航空工业集团公司洛阳电光设备研究所 | A kind of remote wireless control circuit of intelligent rolling screen door |
| CN108227656A (en) * | 2017-12-29 | 2018-06-29 | 国电南瑞科技股份有限公司 | A kind of Intelligent Mobile Robot charging house control system and control method |
| CN109610964A (en) * | 2018-10-30 | 2019-04-12 | 深圳供电局有限公司 | Crusing robot is entered the room system control method |
| CN113112634A (en) * | 2019-12-24 | 2021-07-13 | 江苏大唐国际吕四港发电有限责任公司 | Novel full-automatic power plant inspection method |
-
2013
- 2013-07-15 CN CN201320416913.2U patent/CN203476049U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104612529A (en) * | 2014-11-29 | 2015-05-13 | 江西洪都航空工业集团有限责任公司 | Door opener for automatic sector door opening |
| CN106597997A (en) * | 2015-10-14 | 2017-04-26 | 山东鲁能智能技术有限公司 | Transformer substation automatic door centralized control system and transformer substation automatic door centralized control method based on mobile robot |
| CN106597997B (en) * | 2015-10-14 | 2019-04-09 | 山东鲁能智能技术有限公司 | Substation's automatically-controlled door centralized control system and method based on mobile robot |
| CN106223775A (en) * | 2016-09-26 | 2016-12-14 | 广东电网有限责任公司珠海供电局 | A kind of leap fire prevention zone method, Apparatus and system |
| CN106223775B (en) * | 2016-09-26 | 2018-01-26 | 广东电网有限责任公司珠海供电局 | One kind crosses over fire prevention zone method, apparatus and system |
| CN106346443A (en) * | 2016-10-25 | 2017-01-25 | 广东电网有限责任公司珠海供电局 | Track butting device and system |
| CN106707739A (en) * | 2016-12-06 | 2017-05-24 | 山东康威通信技术股份有限公司 | Redundancy control system and method for railway robot to automatically pass through fire exit door |
| CN106773960A (en) * | 2016-12-19 | 2017-05-31 | 中国航空工业集团公司洛阳电光设备研究所 | A kind of remote wireless control circuit of intelligent rolling screen door |
| CN108227656A (en) * | 2017-12-29 | 2018-06-29 | 国电南瑞科技股份有限公司 | A kind of Intelligent Mobile Robot charging house control system and control method |
| CN109610964A (en) * | 2018-10-30 | 2019-04-12 | 深圳供电局有限公司 | Crusing robot is entered the room system control method |
| CN113112634A (en) * | 2019-12-24 | 2021-07-13 | 江苏大唐国际吕四港发电有限责任公司 | Novel full-automatic power plant inspection method |
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