CN204462774U - The intelligent control system of accumulator plant's door - Google Patents
The intelligent control system of accumulator plant's door Download PDFInfo
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- CN204462774U CN204462774U CN201420872537.2U CN201420872537U CN204462774U CN 204462774 U CN204462774 U CN 204462774U CN 201420872537 U CN201420872537 U CN 201420872537U CN 204462774 U CN204462774 U CN 204462774U
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Abstract
The utility model provides the intelligent control system of a kind of accumulator plant door, room door in order to the accumulator plant to robot used for intelligent substation patrol controls automatically, described room door is by motor driven switch, described crusing robot is connected on the charging pile in accumulator plant and charges, this intelligent control system comprises PLC control subsystem, the automatic door drive device rotated in order to drive the motor of described room door and an air-conditioning, described PLC control subsystem includes PLC mainboard, switch gate button in room, key switch outside room, opening position detecting sensor, to close the door position-detection sensor, temperature sensor and humidity sensor, the input end of described PLC mainboard connects described opening position detecting sensor respectively, to close the door position-detection sensor, temperature sensor, humidity sensor, key switch outside switch gate button and room in room, the output terminal of described PLC mainboard connects the control end of described automatic door drive device and described air-conditioning.
Description
Technical field
The utility model relates to the improvement to Intelligent Mobile Robot accumulator plant, particularly relates to the intelligent control system of a kind of accumulator plant door.
Background technology
The Xun Bian robot of transformer station needs to charge in accumulator plant, and just can make an inspection tour after after charging, described room door is by motor driven switch, and described crusing robot is connected on the charging pile in accumulator plant and charges.
Due to Intelligent Mobile Robot patrol and examine job family full automatic nobody patrol and examine, and robot adopts the mode of portable, battery powered, robot will inevitably occur that after work a period of time electric power deficiency needs to carry out the supplementary demand of electric power, therefore needs to set up special charging device and charges to it.In order to ensure the safety of robot further, making robot round-the-clockly can carry out work, needing the switch of control charging hatch door, need strict control to enter the duration of charging of hatch door charging, the temperature and humidity conditions etc. in accumulator plant.If cannot control effectively to these contents, the work safety of robot and serviceable life can be caused to bring adverse effect
Utility model content
The technical problems to be solved in the utility model is how for robot provides a safety, reliable, adapt circumstance.
In order to solve this technical matters, the utility model provides the intelligent control system of a kind of accumulator plant door, room door in order to the accumulator plant to robot used for intelligent substation patrol controls automatically, described room door is by motor driven switch, described crusing robot is connected on the charging pile in accumulator plant and charges, this intelligent control system comprises PLC control subsystem, the automatic door drive device rotated in order to drive the motor of described room door and an air-conditioning, described PLC control subsystem includes PLC mainboard, switch gate button in room, key switch outside room, opening position detecting sensor, to close the door position-detection sensor, temperature sensor and humidity sensor, the input end of described PLC mainboard connects described opening position detecting sensor respectively, to close the door position-detection sensor, temperature sensor, humidity sensor, key switch outside switch gate button and room in room, the output terminal of described PLC mainboard connects the control end of described automatic door drive device and described air-conditioning.
Optionally, described opening position detecting sensor and position-detection sensor of closing the door all are located on the doorframe of described room door.
Optionally, the state output end of described air-conditioning is also connected with an input end of described PLC mainboard.
Optionally, the intelligent control system of described accumulator plant's door also comprises the DIO control subsystem be located on described crusing robot, first wireless radios and the second wireless radios, described DIO control subsystem at least includes DIO mainboard, described first wireless radios is connected with the output terminal of described DIO mainboard, described first wireless radios is installed on described crusing robot, described second wireless radios is connected with described automatic door drive device or PLC mainboard, by less radio-frequency interaction data between described first wireless radios and the second wireless radios.
Optionally, described DIO control subsystem comprises DIO mainboard and serial port device network server, described DIO mainboard is connected with described serial port device network server, and realizing data interaction by described serial port device network server and LAN, the network port of described PLC mainboard also accesses this LAN.
Optionally, described DIO control subsystem includes DIO mainboard and in order to detect the supersonic detection device whether described room door closes, an input end of described DIO mainboard connects described supersonic detection device.
Optionally, the intelligent control system of described accumulator plant's door also comprises the relay on described charging pile, and described relay is connected with described PLC mainboard or automatic door drive device;
Described relay is configured to:
When described crusing robot is connected on described charging pile, described relay is not triggered;
When described crusing robot departs from described charging pile, described relay is triggered, and feeds back to described PLC mainboard or automatic door drive device.
Optionally, the quantity of described temperature sensor and humidity sensor is two, and a temperature sensor and humidity sensor are located at outside accumulator plant, and a temperature sensor and humidity sensor are located in accumulator plant.
The utility model introduces PLC control subsystem, on the one hand, by the signals collecting of opening position detecting sensor with position-detection sensor of closing the door, the utility model provides hardware foundation for automatically controlling to open the door and close the door, meanwhile, the utility model does not get rid of the means of button enabling and key switch door yet, and it combined with automatic opening and closing door, the accumulator plant for robot provides reliable and secure environment; On the other hand, the control of the control of air-conditioning and the switch of door and temperature humidity links together by the utility model.For robot provides an environment preferably.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the intelligent control system of accumulator plant's door in the utility model one embodiment;
Fig. 2 is the electric hookup of PLC control subsystem in the utility model one embodiment;
Fig. 3 is the electric hookup of DIO control subsystem in the utility model one embodiment.
Embodiment
Below with reference to Fig. 1 to Fig. 3, the intelligent control system of accumulator plant's door that the utility model provides is described in detail, it is the utility model one optional embodiment, can think, those skilled in the art can modify to it and polish in the scope not changing the utility model spirit and content.
Intelligent in order to further hoisting machine people, absolutely realize transformer station nobody patrol and examine, intelligentized design is carried out to charging house.The utility model uses PLC to realize the intellectualized operation of whole accumulator plant.Comprise the control of switch gate and charging indoor temperature and humidity etc., and the automatic charging work of robot.
Please refer to Fig. 1, and composition graphs 2, present embodiments provide the intelligent control system of a kind of accumulator plant door, room door in order to the accumulator plant to robot used for intelligent substation patrol controls automatically, described room door is by motor driven switch, described crusing robot is connected on the charging pile in accumulator plant and charges, this intelligent control system comprises PLC control subsystem, the automatic door drive device rotated in order to drive the motor of described room door and an air-conditioning, described PLC control subsystem includes PLC mainboard, switch gate button in room, key switch outside room, opening position detecting sensor, to close the door position-detection sensor, temperature sensor and humidity sensor, the input end of described PLC mainboard connects described opening position detecting sensor respectively, to close the door position-detection sensor, temperature sensor, humidity sensor, key switch outside switch gate button and room in room, the output terminal of described PLC mainboard connects the control end of described automatic door drive device and described air-conditioning.In the present embodiment, the quantity of described temperature sensor and humidity sensor is two, and a temperature sensor and humidity sensor are located at outside accumulator plant, and a temperature sensor and humidity sensor are located in accumulator plant.
This embodiment introduces PLC control subsystem, on the one hand, by the signals collecting of opening position detecting sensor with position-detection sensor of closing the door, the utility model provides hardware foundation for automatically controlling to open the door and close the door, meanwhile, the utility model does not get rid of the means of button enabling and key switch door yet, and it combined with automatic opening and closing door, the accumulator plant for robot provides reliable and secure environment; On the other hand, the control of the control of air-conditioning and the switch of door and temperature humidity links together by the utility model.For robot provides an environment preferably.
In the present embodiment, described opening position detecting sensor and position-detection sensor of closing the door all are located on the doorframe of described room door.The state output end of described air-conditioning is also connected with an input end of described PLC mainboard.Thus can monitor the operating state of air-conditioning.
In the present embodiment, please refer to Fig. 1 and Fig. 3, and composition graphs 2, described DIO control subsystem comprises DIO mainboard and serial port device network server, described DIO mainboard is connected with described serial port device network server, and realizing data interaction by described serial port device network server and LAN, the network port of described PLC mainboard also accesses this LAN.Described DIO control subsystem includes DIO mainboard and in order to detect the supersonic detection device whether described room door closes, an input end of described DIO mainboard connects described supersonic detection device.
In another optional embodiment of the utility model, the intelligent control system of described accumulator plant's door also comprises the DIO control subsystem be located on described crusing robot, first wireless radios and the second wireless radios, described DIO control subsystem at least includes DIO mainboard, described first wireless radios is connected with the output terminal of described DIO mainboard, described first wireless radios is installed on described crusing robot, described second wireless radios is connected with described automatic door drive device or PLC mainboard, by less radio-frequency interaction data between described first wireless radios and the second wireless radios.
In the present embodiment, the intelligent control system of described accumulator plant's door also comprises the relay on described charging pile, and described relay is connected with described PLC mainboard or automatic door drive device;
Described relay is configured to:
When described crusing robot is connected on described charging pile, described relay is not triggered;
When described crusing robot departs from described charging pile, described relay is triggered, and feeds back to described PLC mainboard or automatic door drive device.Thus realize door opening action.
Be placed in and adopt which kind of relay, how to realize triggering, the present embodiment does not do and specifically enumerates; there is some relays available in this area; the triggering mode of different relay is all different, as long as achieve above function, is exactly that the utility model makes every effort to one of scheme protected.
Furthermore, the present embodiment introduces relay on the one hand, the triggering of Xun Bian robot charging with the action departed from and switch gate is linked together, when departing from described charging pile, described relay is triggered, and feed back to described automatic door drive device or PLC mainboard, thus door opening action can be driven by automatic door drive device, the present embodiment is for herein is provided hardware foundation; On the other hand, in the present embodiment, robot also by serial port device network server access to LAN network, thus can realize the information mutual communication with PLC mainboard, finally can control PLC mainboard.
Specifically set forth a kind of embodiment using the above embodiment of the utility model from two angles below, certainly, adopt device of the present utility model to be not limited to this kind of embodiment.
Angle from PLC control subsystem:
Step 1: the Temperature Humidity Sensor be installed on outside accumulator plant can from testing to the humiture situation of transformer station;
Step 2: set the half an hour before the moment arrival of patrolling and examining in robot, PLC mainboard meeting automatic reception comes from the humiture information of outside humiture collection, if ambient temperature is lower than 0 DEG C, open at automatic control air conditioner, and its target temperature is set to 10 DEG C, the temperature in whole room is controlled the temperature range that can normally start in robot;
Step 3: the data display of monitoring when inner Hygrothermograph, when room temperature reaches the temperature range that robot normally starts, can be powered on to robot by PLC mainboard, robot carries out every preparation of patrolling and examining;
Step 4: wait arrive setting patrol and examine the moment time, PLC mainboard is opened to accumulator plant's door, and assigns to robot and patrol and examine instruction, and robot walks out accumulator plant and patrols and examines to scene;
Step 5: robot walks out accumulator plant, door is closed by PLC mainboard automatically, normal to ensure the humiture in room;
Step 6: robot patrols and examines end and gets back to charging house, can send the instruction that is patrolled and examined end automatically to PLC mainboard, and PLC control center then controls charging door and opens, and allows robot to enter;
Step 7: robot enters in charging house, PLC sends the instruction that door closes to door, and is closed by accumulator plant's door, ensures the safety of robot, and humiture in room is normal.
Angle from DIO control subsystem:
The order that robot patrols and examines is assigned by step 1, control center, the robot and the charging pile that receive instruction are thrown off, enter in front of the door to charging house, after charging pile is thrown off, robot can send an instruction of opening automatically to accumulator plants by the relay of charging pile inside, after obtaining the instruction of opening, charging door is opened automatically, and robot walks out accumulator plant and enters scene and patrol and examine;
Step 2: by ultrasonic, crusing robot judges whether charging door closes, if fail closedowns, then automatic and charging pile is thrown off and is re-started charging, again verifies whether door closes after charging successfully;
Step 3: patrol and examine end, charging house is got back to by robot, successful charging complete, and robot sends an out code to charging door by wireless network, and door is closed, and robot security is in charging house;
Step 4: in order to ensure the inherently safe of robot, charging house has safety door in case of need in addition, can be opened by the artificial private key that uses, enter in charging house and overhaul.
The present embodiment can have the following advantages:
The opening and closing of accurate control accumulator plant hatch door, guarantees the safety of robot.
The conditions such as the humiture in accurate control accumulator plant, guarantee the safety of robot various work;
The automatic charging engineering of accurate control, guarantees that robot 100% can complete charging work, extends the serviceable life of robot battery.
Only have robot can communicate with PLC control center, thus control the switch of charging door by PLC, under the normal prerequisite of guarantee charging indoor temperature and humidity, ensure the safety of robot self;
This way degree of intelligence is high, and reliability is strong
The comprehensive above page that describes can see that the function of PLC mainboard is not limited in the switch gate of the utility model request protection and temperature control etc., can also comprise for robot powers on etc. can pre-conceivable content, can not because of any scheme except the content comprised described by the utility model also comprises other guide, just think that it does not belong to the scheme of the utility model protection, same, although the present embodiment lists DIO mainboard and realizes information mutual communication by LAN and PLC mainboard, do not represent its can not simultaneously also with other sensors, button, the connections such as switch, more do not represent that it cannot realize other functions.Should think, as long as implement the scheme of the utility model description, be exactly one of scheme of request protection of the present utility model.
Claims (8)
1. the intelligent control system of accumulator plant's door, room door in order to the accumulator plant to robot used for intelligent substation patrol controls automatically, described room door is by motor driven switch, described crusing robot is connected on the charging pile in accumulator plant and charges, it is characterized in that: this intelligent control system comprises PLC control subsystem, the automatic door drive device rotated in order to drive the motor of described room door and an air-conditioning, described PLC control subsystem includes PLC mainboard, switch gate button in room, key switch outside room, opening position detecting sensor, to close the door position-detection sensor, temperature sensor and humidity sensor, the input end of described PLC mainboard connects described opening position detecting sensor respectively, to close the door position-detection sensor, temperature sensor, humidity sensor, key switch outside switch gate button and room in room, the output terminal of described PLC mainboard connects the control end of described automatic door drive device and described air-conditioning.
2. the intelligent control system of accumulator plant as claimed in claim 1 door, is characterized in that: described opening position detecting sensor and position-detection sensor of closing the door all are located on the doorframe of described room door.
3. the intelligent control system of accumulator plant as claimed in claim 1 door, is characterized in that: the state output end of described air-conditioning is also connected with an input end of described PLC mainboard.
4. the intelligent control system of accumulator plant as claimed in claim 1 door, it is characterized in that: also comprise the DIO control subsystem be located on described crusing robot, first wireless radios and the second wireless radios, described DIO control subsystem at least includes DIO mainboard, described first wireless radios is connected with the output terminal of described DIO mainboard, described first wireless radios is installed on described crusing robot, described second wireless radios is connected with described automatic door drive device or PLC mainboard, by less radio-frequency interaction data between described first wireless radios and the second wireless radios.
5. the intelligent control system of accumulator plant as claimed in claim 4 door, it is characterized in that: described DIO control subsystem comprises DIO mainboard and serial port device network server, described DIO mainboard is connected with described serial port device network server, and realizing data interaction by described serial port device network server and LAN, the network port of described PLC mainboard also accesses this LAN.
6. the intelligent control system of accumulator plant as claimed in claim 5 door, it is characterized in that: described DIO control subsystem includes DIO mainboard and in order to detect the supersonic detection device whether described room door closes, an input end of described DIO mainboard connects described supersonic detection device.
7. the intelligent control system of accumulator plant as claimed in claim 5 door, it is characterized in that: also comprise the relay on described charging pile, described relay is connected with described PLC mainboard or automatic door drive device;
Described relay is configured to:
When described crusing robot is connected on described charging pile, described relay is not triggered;
When described crusing robot departs from described charging pile, described relay is triggered, and feeds back to described PLC mainboard or automatic door drive device.
8. the intelligent control system of accumulator plant as claimed in claim 1 door, it is characterized in that: the quantity of described temperature sensor and humidity sensor is two, a temperature sensor and humidity sensor are located at outside accumulator plant, and a temperature sensor and humidity sensor are located in accumulator plant.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420872537.2U CN204462774U (en) | 2014-12-31 | 2014-12-31 | The intelligent control system of accumulator plant's door |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420872537.2U CN204462774U (en) | 2014-12-31 | 2014-12-31 | The intelligent control system of accumulator plant's door |
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| CN204462774U true CN204462774U (en) | 2015-07-08 |
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| CN201420872537.2U Active CN204462774U (en) | 2014-12-31 | 2014-12-31 | The intelligent control system of accumulator plant's door |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108501744A (en) * | 2018-03-26 | 2018-09-07 | 中信重工开诚智能装备有限公司 | A kind of explosion-proof charging system and charging method for explosion-proof wheeled crusing robot |
-
2014
- 2014-12-31 CN CN201420872537.2U patent/CN204462774U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108501744A (en) * | 2018-03-26 | 2018-09-07 | 中信重工开诚智能装备有限公司 | A kind of explosion-proof charging system and charging method for explosion-proof wheeled crusing robot |
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