CN203499429U - Transformer substation inspection robot automatic door control system based on inductance approach switch - Google Patents
Transformer substation inspection robot automatic door control system based on inductance approach switch Download PDFInfo
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- CN203499429U CN203499429U CN201320662241.3U CN201320662241U CN203499429U CN 203499429 U CN203499429 U CN 203499429U CN 201320662241 U CN201320662241 U CN 201320662241U CN 203499429 U CN203499429 U CN 203499429U
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- 238000009434 installation Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract 2
- 239000000428 dust Substances 0.000 abstract 1
- 239000007769 metal material Substances 0.000 abstract 1
- 230000007423 decrease Effects 0.000 description 6
- 238000005096 rolling process Methods 0.000 description 4
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- 229910052755 nonmetal Inorganic materials 0.000 description 2
- 150000002843 nonmetals Chemical class 0.000 description 2
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Abstract
The utility model relates to a transformer substation inspection robot automatic door control system based on an inductance approach switch. The transformer substation inspection robot automatic door control system comprises a transformer substation inspection robot mobile platform and an automatic door control module. An industrial personal computer is arranged on the mobile platform and connected with a second wireless communication module, and the second wireless communication module communicates with a first wireless communication module. The automatic door control module is connected with an access controller, a position detection device, the first wireless communication module and a motor. The position detection device comprises the inductance approach switch and a metal approach sheet, the inductance approach switch is arranged on a wall beside an automatic door roller shutter, the metal approach sheet is installed on the automatic door roller shutter, and the motor controls the automatic door roller shutter to open. The transformer substation inspection robot automatic door control system based on the inductance approach switch is not affected by light conditions, insensitive to dust and other non-metallic materials, safe and reliable, and low in cost.
Description
Technical field
The utility model relates to a kind of automatic door control system, specifically a kind of Intelligent Mobile Robot automatic door control system based on inductance approach switch.
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, its Patent (application number is 201120189698.8), name is called robot used for intelligent substation patrol accumulator plant automatic door control system, has proposed a kind of automatic door control system that carries out position probing based on reflective sensor.There is following problem in this 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.
Utility model content
The utility model, for the defect of technique scheme, proposes a kind of Intelligent Mobile Robot automatic door control system based on inductance approach switch, and this system is not affected by illumination condition, and insensitive to nonmetals such as dusts, safe and reliable, cost is lower.
For achieving the above object, the technical solution adopted in the utility model is:
Intelligent Mobile Robot automatic door control system based on inductance approach switch, it comprises Intelligent Mobile Robot mobile platform and automatic door control module, on mobile platform, be provided with Industrial Personal Computer (IPC), Industrial Personal Computer (IPC) is connected with wireless communication module I, and wireless communication module I communicates by letter with wireless communication module II; Automatic door control module is connected with motor with access controller, position detecting device, wireless communication module I respectively; Described position detecting device comprises inductance approach switch and metal approach sheet, and described inductance approach switch is contained on the other body of wall of automatic door roller shutter, and metal approach sheet is arranged on automatic door roller shutter, the unlatching of described Electric Machine Control automatic door roller shutter.
Described Industrial Personal Computer (IPC) and wireless communication module I pass through serial communication.
Described 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.
Described 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.
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, with position limitation protection and heat protection.
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.
Intelligent Mobile Robot automatic door control system workflow based on inductance approach switch 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 constantly detecting inductance approach 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 constantly detecting inductance approach 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 before accumulator plant and enters before accumulator plant, and the workflow of opening automatic door roller shutter is the same.Intelligent Mobile Robot mobile platform goes out behind accumulator plant and enters behind accumulator plant, and the workflow of closing automatic door roller shutter is the same.
The beneficial effects of the utility model are:
Intelligent Mobile Robot automatic door control system based on inductance approach switch is not affected by illumination condition, and insensitive to nonmetals such as dusts, safe and reliable, cost is lower.
Accompanying drawing explanation
Fig. 1 is the structure chart of the Intelligent Mobile Robot automatic door control system of the utility model based on inductance approach switch.
In figure: 1, access controller, 2, automatic door control module, 3, wireless communication module II, 4, inductance approach switch, 5, metal approach sheet, 6, automatic door motor, 7, automatic door roller shutter, 8, wireless communication module I, 9, Industrial Personal Computer (IPC), 10 mobile platforms.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment, the utility model is described further.
Intelligent Mobile Robot automatic door control system based on inductance approach switch, it comprises Intelligent Mobile Robot mobile platform and automatic door control module, on mobile platform, be provided with Industrial Personal Computer (IPC) 9, Industrial Personal Computer (IPC) 9 is connected with wireless communication module I8, and wireless communication module I8 communicates by letter with wireless communication module II3; Automatic door control module 2 is connected with access controller 1, position detecting device, wireless communication module II3 and motor 6 respectively; Described position detecting device comprises inductance approach switch 4 and metal approach sheet 5, and described inductance approach switch 4 is contained on the other body of wall of automatic door roller shutter, and metal approach sheet 5 is arranged on automatic door roller shutter.The unlatching of described Electric Machine Control automatic door roller shutter.Industrial Personal Computer (IPC) 9 passes through serial communication with wireless communication module I8.Wireless communication module I8 and wireless communication module II3 are zigbee communication module, and Industrial Personal Computer (IPC), by wireless communication module I8 and wireless communication module II3, is communicated by letter with automatic door control module 2.Automatic door control module 2 receives by wireless communication module II3 switch gate and the status inquiry command that Industrial Personal Computer (IPC) sends through wireless communication module I8; By 6 rotatings 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 1, receive manually-operated switch gate instruction.Access controller 1 is the electronic-controlled installation of checking fingerprint or password, and after checking, access controller 1 use switching value signal is to the 2 transmit button door orders of automatic door control module.Automatic door motor 6 is special-purpose tube shaped electric machine or industrial motor, with position limitation protection and heat protection.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.
Intelligent Mobile Robot automatic door control system workflow based on inductance approach switch 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 constantly detecting inductance approach 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 constantly detecting inductance approach 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.
Before Intelligent Mobile Robot mobile platform 10Chu accumulator plant and enter before accumulator plant, the workflow of opening automatic door roller shutter 7 is the same.Behind Intelligent Mobile Robot mobile platform 10Chu accumulator plant and enter behind accumulator plant, the workflow of closing automatic door roller shutter 7 is the same.
Claims (5)
1. the Intelligent Mobile Robot automatic door control system based on inductance approach switch, it comprises Intelligent Mobile Robot mobile platform and automatic door control module, on mobile platform, be provided with Industrial Personal Computer (IPC), Industrial Personal Computer (IPC) is connected with wireless communication module I, and wireless communication module I communicates by letter with wireless communication module II; Automatic door control module is connected with motor with access controller, position detecting device, wireless communication module II respectively, the unlatching of described Electric Machine Control automatic door roller shutter, it is characterized in that: described position detecting device comprises inductance approach switch and metal approach sheet, described inductance approach switch is contained on the other body of wall of automatic door roller shutter, and metal approach sheet is arranged on automatic door roller shutter.
2. control system as claimed in claim 1, is characterized in that: described Industrial Personal Computer (IPC) and wireless communication module I pass through serial communication.
3. control system as claimed in claim 1, is characterized in that: described 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.
4. control system as claimed in claim 1, is characterized in that: described access controller is the electronic-controlled installation of checking fingerprint or password.
5. control system as claimed in claim 1, is characterized in that: described automatic door roller shutter comprises the door sheet of the multi-joint activity being cascaded, and in fixing slideway, centered by the spool of door top, rotates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320662241.3U CN203499429U (en) | 2013-10-25 | 2013-10-25 | Transformer substation inspection robot automatic door control system based on inductance approach switch |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320662241.3U CN203499429U (en) | 2013-10-25 | 2013-10-25 | Transformer substation inspection robot automatic door control system based on inductance approach switch |
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| CN203499429U true CN203499429U (en) | 2014-03-26 |
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| CN201320662241.3U Expired - Lifetime CN203499429U (en) | 2013-10-25 | 2013-10-25 | Transformer substation inspection robot automatic door control system based on inductance approach switch |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106313114A (en) * | 2016-08-30 | 2017-01-11 | 四川超影科技有限公司 | Door-passing system and method for indoor inspection robot |
| 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 |
| CN108019137A (en) * | 2016-11-03 | 2018-05-11 | 国家电网公司 | Roller shutter door automatic control device and system |
-
2013
- 2013-10-25 CN CN201320662241.3U patent/CN203499429U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106313114A (en) * | 2016-08-30 | 2017-01-11 | 四川超影科技有限公司 | Door-passing system and method for indoor inspection robot |
| CN106313114B (en) * | 2016-08-30 | 2018-08-21 | 四川超影科技有限公司 | Indoor crusing robot is moved into one's husband's household upon marriage system and method |
| CN108019137A (en) * | 2016-11-03 | 2018-05-11 | 国家电网公司 | Roller shutter door automatic control device and system |
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| GR01 | Patent grant | ||
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| CP01 | Change in the name or title of a patent holder |
Address after: No. 15 city in Yunnan province Simao District Road 665000 Co-patentee after: National Network Intelligent Technology Co.,Ltd. Patentee after: PU'ER POWER SUPPLY BUREAU OF YUNAN GRID Co.,Ltd. Address before: No. 15 city in Yunnan province Simao District Road 665000 Co-patentee before: SHANDONG LUNENG INTELLIGENCE TECHNOLOGY Co.,Ltd. Patentee before: PU'ER POWER SUPPLY BUREAU OF YUNAN GRID Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: No. 15 Chacheng Avenue, Simao District, Yunnan Province, 665000 Patentee after: PUER SUPPLY POWER BUREAU OF YUNNAN POWER GRID Co.,Ltd. Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: No. 15 Chacheng Avenue, Simao District, Yunnan Province, 665000 Patentee before: PU'ER POWER SUPPLY BUREAU OF YUNAN GRID Co.,Ltd. Patentee before: National Network Intelligent Technology Co.,Ltd. |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230728 Address after: No.15 Chacheng Avenue, Simao District, Pu'er City, Yunnan Province Patentee after: PUER SUPPLY POWER BUREAU OF YUNNAN POWER GRID Co.,Ltd. Address before: No. 15 Chacheng Avenue, Simao District, Yunnan Province, 665000 Patentee before: PUER SUPPLY POWER BUREAU OF YUNNAN POWER GRID Co.,Ltd. Patentee before: National Network Intelligent Technology Co.,Ltd. |
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| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20140326 |