CN203476049U - Magnetic-switch-based automatic door control system for transformer substation inspection robot - Google Patents

Abstract

A kind of substation inspection robot automatic door control system based on door magnetic switch, it is characterized in that: it comprises substation inspection robot mobile platform, is provided with industrial computer on mobile platform, industrial computer is connected with wireless communication module 1, wireless communication module I is then connected with the wireless communication module II communication of base station, and is connected with automatic door control module by this wireless communication module II; II. The automatic door position detection device, the automatic door motor and the access control controller are connected; the automatic door control module receives the door opening and closing and status query commands sent by the industrial computer through the wireless communication module I through the wireless communication module II; the automatic door motor is controlled through the relay. Reverse to drive the automatic door shutter to rise or fall; through the position detection device, obtain the position status of the automatic door shutter; through the access control controller to receive manual operation door opening and closing commands.

Description

An automatic door control system for substation inspection robot based on door magnetic switch

An automatic door control system for a substation inspection robot based on a door magnetic switch.

technical field

The utility model relates to an automatic door control system for a substation inspection robot based on a door magnetic switch, which belongs to the technical field of automatic door control systems.

Background technique

The application of substation intelligent inspection robots to complete the inspection of substation equipment can improve the efficiency and quality of substation inspection work, reduce the labor load of substation staff, really play a role in reducing staff and increasing efficiency, and promote unattended substations better and faster process. The robot charging room plays an important role in realizing the robot's automatic charging and self-protection in bad weather. Previously, the opening of the door of the charging room of the robot required manual cooperation or there was no door in the charging room. When the charging room has a door, when the robot performs and ends the inspection task, the substation staff needs to manually open and close the door of the charging room so that the inspection robot can move out and enter the charging room. This method consumes manpower and reduces the cost of the robot The high work efficiency does not reflect the intelligence of the robot; there is no door in the charging room, and bad weather affects the operation of the equipment, which makes the robot unable to achieve the long-term reliability of automatic charging.

At present, technical personnel in this field have developed some automatic door control systems, among which Chinese patent zl201120189698.8 discloses an automatic door control system called substation intelligent inspection robot charging room, and proposes a position detection based on reflective sensors automatic door control system. But there are following problems in this patent technical scheme:

1. When the incandescent lamp is above 3000lux and the sunlight is above 10000lux, the reflective sensor may cause false alarms, which in turn may cause the control system to misjudge the position of the automatic door;

2. The reflective sensor detects the target according to the intensity of the received light. Long-term use is easily affected by dust accumulation, resulting in reporting a wrong position signal.

Contents of the invention

The purpose of the utility model is to overcome the deficiencies of the existing technology, and provide a substation inspection robot based on a door magnetic switch that is not affected by light conditions, is insensitive to dust and other non-magnetic materials, is safe, reliable, and low in cost. Automatic door control system.

In order to achieve the above object, the technical solution adopted by the utility model is:

A substation inspection robot automatic door control system based on a door magnetic switch, which includes a substation inspection robot mobile platform, an industrial computer is arranged on the mobile platform, the industrial computer is connected to a wireless communication module 1, and the wireless communication module 1 is connected to a base station The wireless communication module II communication is connected, and is connected with the automatic door control module through this wireless communication module II;

The automatic door control module is a drive control board with a single-chip microcomputer as the core, and it is connected with the wireless communication module II, the automatic door position detection device, the automatic door motor and the access controller respectively; the automatic door control module passes through the wireless communication module II Receive the door opening and closing and status query commands sent by the industrial computer through the wireless communication module I; control the forward and reverse rotation of the automatic door motor through the relay to drive the automatic door roller shutter to rise or fall; obtain the position status of the automatic door roller shutter through the position detection device ; Receive manual door opening and closing instructions through the access controller.

The automatic door position detection device described in the utility model is a door magnetic switch, which is divided into two parts: a switch and a door magnet. The switch state judges the state of the automatic door roller shutter.

The access controller is an electronic control device for verifying fingerprints or passwords. After passing the verification, the access controller sends a door opening and closing command to the automatic door control module with a switch signal.

The automatic door motor is a special tubular motor or an industrial motor with limit protection and thermal protection devices.

The automatic door shutter is connected in series by multi-joint movable door sheets, and rotates around the reel above the door in a fixed slideway.

Described industrial computer and wireless communication module I communicate through serial ports; Wireless communication module I and wireless communication module II are zigbee communication modules, and industrial computer communicates with automatic door control module through wireless communication module I and wireless communication module II.

The workflow of the substation inspection robot automatic door control system based on the door magnetic switch described in the utility model is as follows:

After the substation inspection robot completes the inspection task and arrives at the predetermined position in front of the automatic door of the charging room, the industrial computer on the mobile platform of the inspection robot sends a door opening command to the automatic door control module through the wireless communication module I and II. The automatic door control module controls the rotation of the automatic door motor, and the automatic door motor drives the automatic door roller shutter to rise. The automatic door control module inquires the position of the automatic door rolling shutter by continuously detecting the switch, and uploads the position information to the industrial computer through the wireless communication module II and the wireless communication module I. When the automatic door shutter reaches the predetermined height and meets the requirements of the inspection robot to enter the charging room, the automatic door control module controls the automatic door motor to stop rotating through the relay, and the automatic door shutter stops rising. After the industrial computer obtains the information that the rolling shutter door of the automatic door reaches the predetermined height, it controls the mobile platform of the inspection robot to enter the charging room for charging.

After the substation inspection robot mobile platform arrives at the predetermined location in the charging room, the industrial computer sends a door-closing command to the automatic door control module through the wireless communication module I and II. The automatic door control module controls the rotation of the automatic door motor, and the automatic door motor drives the automatic door roller shutter to descend. The automatic door control module inquires the position of the automatic door rolling shutter by continuously detecting the switch, and uploads the position information to the industrial computer through the wireless communication module II and the wireless communication module I. When the automatic door shutter is completely closed to meet the protection and anti-theft requirements of the inspection robot, the automatic door control module controls the automatic door motor to stop rotating through the relay, and the automatic door shutter stops falling. After the industrial computer obtains the information that the automatic door rolling shutter door is completely closed, it updates the status information. the

Before the mobile platform of the substation inspection robot leaves the charging room to perform the inspection task, it is the same as the workflow of opening the automatic door roller shutter before the substation inspection robot mobile platform completes the inspection task and enters the charging room. After the substation inspection robot mobile platform leaves the charging room, it needs to close the automatic door shutter of the charging room before performing inspection tasks, which is the same as the workflow of closing the automatic door shutter before the substation inspection robot mobile platform enters the charging room.

The beneficial effects of the utility model are:

The automatic door control system of the substation inspection robot based on the door magnetic switch is not affected by light conditions, is not sensitive to non-magnetic materials such as dust, is safe, reliable, and low in cost.

Description of drawings

Fig. 1 is a structural composition block diagram of the utility model.

The labels in the figure are: 1, access control controller, 2, automatic door control module, 3, wireless communication module 1, 4, automatic door position detection device, 5, door sensor, 6, automatic door motor, 7, automatic door roll Curtain, 8. Wireless communication module II, 9. Industrial computer, 10. Mobile platform of inspection robot.

Detailed ways

Below in conjunction with accompanying drawing and embodiment the utility model is described further. As shown in Fig. 1, a kind of substation inspection robot automatic door control system based on door magnetic switch described in the utility model, it comprises substation inspection robot mobile platform, is provided with industrial computer 9 on the mobile platform, industrial computer 9 and The wireless communication module I3 is connected, and the wireless communication module I3 is connected with the wireless communication module II8 of the base station, and is connected with the automatic door control module 2 through the wireless communication module II8;

Described automatic door control module 2 is the drive control board with single-chip microcomputer as the core, and it is respectively connected with wireless communication module II8, automatic door position detection device 4, automatic door motor 6 and access controller 1; automatic door control module 2 The wireless communication module II8 receives the door opening and closing and status query commands sent by the industrial computer 9 via the wireless communication module I3; the relay controls the forward and reverse rotation of the automatic door motor 6 to drive the automatic door shutter 7 to rise or fall; through the position detection device 4 , to obtain the position status of the automatic door roller shutter 7; through the access control controller 1 to receive the manual operation door opening and closing instructions.

The automatic door position detection device 4 is a door magnetic switch, which is divided into two parts: a switch and a door magnet, wherein the switch is installed on the wall next to the automatic door shutter, and the door magnet is installed on the automatic door shutter, and passes through the switch state. Determine the state of the automatic door roller shutter.

The access controller 1 is an electronic control device for verifying fingerprints or passwords. After passing the verification, the access controller 1 sends a door opening and closing command to the automatic door control module with a switch signal.

The automatic door motor 6 is a special tubular motor or an industrial motor with limit protection and thermal protection devices.

The automatic door shutter 7 is connected in series by multi-joint movable door sheets, and rotates around the reel above the door in a fixed slideway.

The industrial computer 9 described in the utility model communicates with the wireless communication module I3 through the serial port; the wireless communication module I3 and the wireless communication module II8 are zigbee communication modules, and the industrial computer 9 controls the automatic door through the wireless communication module I3 and the wireless communication module II8. Module 2 communication.

The working process of the substation inspection robot automatic door control system based on the door magnetic switch described in the utility model is as follows:

After the substation inspection robot mobile platform completes the inspection task and arrives at the predetermined position in front of the automatic door of the charging room, the industrial computer 9 on the inspection robot mobile platform 10 passes the wireless communication module I 8 and the wireless communication module II 3 to the automatic door control module 2 issue an order to open the door. The automatic door control module 2 controls the automatic door motor 6 to rotate, and the automatic door motor drives the automatic door roller shutter 7 to rise. Automatic door control module 2 inquires the position of automatic door rolling shutter 7 by constantly detecting switch 4, and position information is passed to industrial computer 9 through wireless communication module II 3 through wireless communication module I 8. When the automatic door shutter 7 reaches a predetermined height and meets the requirements of the inspection robot to enter the charging chamber, the automatic door control module 2 controls the automatic door motor 6 to stop rotating through the relay, and the automatic door shutter 7 stops rising. After the industrial computer 9 acquires the information that the rolling shutter door of the automatic door reaches a predetermined height, it controls the mobile platform 10 of the inspection robot to enter the charging room for charging.

After the substation inspection robot mobile platform arrives at the predetermined position in the charging room, the industrial computer sends a door-closing command to the automatic door control module 2 through the wireless communication module I 8 and the wireless communication module II 3 . The automatic door control module 2 controls the automatic door motor 6 to rotate, and the automatic door motor 6 drives the automatic door roller shutter 7 to descend. Automatic door control module 2 inquires the position of automatic door rolling shutter 7 by constantly detecting switch 4, and position information is passed to industrial computer 9 through wireless communication module II 3 through wireless communication module I 8. When the automatic door roller shutter 7 is completely closed, when meeting the requirements of patrol robot protection and anti-theft, the automatic door control module 2 controls the automatic door motor 6 to stop rotating by the relay, and the automatic door roller shutter 7 stops descending. After the industrial computer 9 obtains the information that the automatic door rolling shutter is completely closed, it updates the status information. the

Before the substation inspection robot mobile platform 10 leaves the charging room to perform the inspection task, it is the same as the workflow of opening the automatic door roller shutter 7 before the substation inspection robot mobile platform 10 completes the inspection task and enters the charging room. After the substation inspection robot mobile platform 10 leaves the charging room, it needs to close the charging room automatic door shutter 7 before performing inspection tasks, which is the same as the workflow of closing the automatic door shutter 7 before the substation inspection robot mobile platform enters the charging room.

Although the utility model has been described in detail above, the utility model is not limited thereto, and those skilled in the art can make various formal modifications according to the principle of the utility model. Therefore, all modifications made according to the principle of the utility model should be understood as falling into the protection scope of the utility model.

Claims (6)

1. a kind of substation inspection robot automatic door control system based on door magnetic switch, it is characterized in that: it comprises substation inspection robot mobile platform, is provided with industrial computer on mobile platform, industrial computer is connected with wireless communication module 1, wireless The communication module I communicates with the wireless communication module II of the base station, and connects with the automatic door control module through the wireless communication module II; The automatic door control module is a drive control board with a single-chip microcomputer as the core, and it is connected with the wireless communication module II, the automatic door position detection device, the automatic door motor and the access controller respectively; the automatic door control module passes through the wireless communication module II Receive the door opening and closing and status query commands sent by the industrial computer through the wireless communication module I; control the forward and reverse rotation of the automatic door motor through the relay to drive the automatic door roller shutter to rise or fall; obtain the position status of the automatic door roller shutter through the position detection device ; Receive manual door opening and closing instructions through the access controller. 2. The automatic door control system of substation inspection robot based on door magnetic switch according to claim 1, characterized in that: the automatic door position detection device is a door magnetic switch, which is divided into two parts: a switch and a door magnetic switch, wherein the switch Installed on the wall next to the automatic door shutter, the door sensor is installed on the automatic door shutter, and judges the state of the automatic door shutter by the switch state. 3. The substation inspection robot automatic door control system based on the door magnetic switch according to claim 1, characterized in that: the access controller is an electronic control device for verifying fingerprints or passwords, and after verification, the access controller uses a switch The quantity signal sends the door opening and closing command to the automatic door control module. 4. The automatic door control system of substation inspection robot based on door magnetic switch according to claim 1, characterized in that: the automatic door motor is a special tubular motor or an industrial motor with a limit protection and thermal protection device . 5. The automatic door control system of substation inspection robot based on door magnetic switch according to claim 1 or 2, characterized in that: the automatic door shutter is connected in series by multi-joint movable door pieces, Inside the road, it rotates around the scroll above the door. 6. the substation inspection robot automatic door control system based on door magnetic switch according to claim 1, is characterized in that: industrial computer and wireless communication module I communicate by serial port; wireless communication module I and wireless communication module II are zigbee communication module, the industrial computer communicates with the automatic door control module through the wireless communication module I and the wireless communication module II.

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