CN204557204U - Inspection robot controls base station apparatus - Google Patents
Inspection robot controls base station apparatus Download PDFInfo
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- CN204557204U CN204557204U CN201520271821.9U CN201520271821U CN204557204U CN 204557204 U CN204557204 U CN 204557204U CN 201520271821 U CN201520271821 U CN 201520271821U CN 204557204 U CN204557204 U CN 204557204U
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Abstract
The utility model relates to a kind of inspection robot ground and controls base station apparatus, comprises control system and base station box, and base station box comprises upper box and can the lower box that is connected of folding with upper box, and to accommodate control system, control system comprises: main control unit; Communication unit, is communicatively coupled to main control unit, for sending a control signal to main control unit; Operating unit, is electrically connected on main control unit, for receiving instruction and sending instruction to main control unit; Display unit, is electrically connected on main control unit, for showing the signal that main control unit obtains; Wherein, upper box is located at by display unit, and main control unit, communication unit and operating unit are located at lower box.Above-mentioned inspection robot ground controls base station apparatus, and whole control system is contained in a base station box, therefore without the need to arranging multiple base station, and getting final product complete operation by single, having higher work efficiency.
Description
Technical field
The utility model relates to ultra-high-tension power transmission line control field, particularly relates to a kind of inspection robot and controls base station apparatus.
Background technology
When inspection robot runs on the transmission line of electricity of high-altitude, when the ultra-high-tension power transmission line especially in mountain area, forest zone runs, because robot is overhead distant, the blocking of the thing such as trees in addition, robot can not appear in the range of vision of people always.Therefore, how to realize monitoring in real time the motion of robot, and real-time monitored is carried out to the running status of robot, to ensure that robot security's Effec-tive Function is the problem that must study.
At present, though there is the control mode adopting base station to the control of inspection robot, motion control and image, video control etc. have multiple stage base station jointly to complete, and need many people to coordinate and just can accomplish a task, equipment is numerous and diverse, personnel's redundancy, causes robot work efficiency low.
Utility model content
Based on this, be necessary to need multiple base station for the control of inspection robot, and the problem completed by multi agent cooperation, provide a kind of inspection robot of single control to control base station apparatus.
A kind of inspection robot ground controls base station apparatus, comprises control system and base station box, and described base station box comprises upper box and can the lower box that is connected of folding with described upper box, and to accommodate described control system, described control system comprises:
Main control unit;
Communication unit, is communicatively coupled to described main control unit, for sending a control signal to described main control unit;
Operating unit, is electrically connected on described main control unit, for receiving instruction and sending instruction to described main control unit; And
Display unit, is electrically connected on described main control unit, for showing the signal that described main control unit obtains;
Wherein, described upper box is located at by described display unit, and described main control unit, communication unit and described operating unit are located at described lower box.
Above-mentioned inspection robot ground controls base station apparatus, and receive the signal of inspection robot transmission by communication unit, this signal carries out processing and being sent to display unit by main control unit.Operator is by the working condition of display unit monitoring inspection robot, manipulation operations unit produces the instruction of adjustment inspection robot working condition, this instruction is sent to main control unit, main control unit resolves this instruction, and this instruction is sent to inspection robot by communication unit, thus the monitoring completed inspection robot and control.
Wherein in an embodiment, described main control unit comprises industrial computer and communicates to connect the storage organization of described industrial computer.
Wherein in an embodiment, described communication unit comprises wireless network card and signal amplifier, and described wireless network card is communicatively coupled to described industrial computer, and is connected to described signal amplifier by radio frequency line.
Wherein in an embodiment, described operating unit comprises operating rod and card extender, and described operating rod is electrically connected on described industrial computer by described card extender.
Wherein in an embodiment, described display unit comprises display, and described display connects described industrial computer by video transmission line.
Wherein in an embodiment, described control system also comprises Power Management Unit, described Power Management Unit is electrically connected described main control unit, communication unit, operating unit and described display unit respectively, thinks that described main control unit, communication unit, operating unit and described display unit provide electric energy.
Wherein in an embodiment, described electric power controller comprises electric battery and power module, and described power module is electrically connected on described electric battery by connection terminal.
Wherein in an embodiment, described lower box comprises battery compartment and controls storehouse, and described battery compartment is for holding described electric battery, and described control storehouse comprises control box, and described control box is for holding described communication unit, Power Management Unit and described main control unit.
Wherein in an embodiment, described base station box also comprises heat abstractor, and described heat abstractor comprises the air channel case being positioned at described control storehouse, and is installed on the radiator fan at two ends, described control storehouse, and described air channel case and described control storehouse form heat dissipation wind channel.
Wherein in an embodiment, chain connection between described upper box and described lower box, and by slider-crank mechanism folding.
Accompanying drawing explanation
Fig. 1 is the structural representation of the inspection robot ground control base station apparatus of an embodiment;
Fig. 2 is the lower box general assembly explosive view of the inspection robot ground control base station apparatus shown in Fig. 1;
Fig. 3 is the control box general assembly drawing of the inspection robot ground control base station apparatus shown in Fig. 1;
Fig. 4 is the control Hatch Board general assembly drawing of the inspection robot ground control base station apparatus shown in Fig. 1.
Embodiment
For the ease of understanding the utility model, below with reference to relevant drawings, the utility model is described more fully.Preferred embodiment of the present utility model is given in accompanying drawing.But the utility model can realize in many different forms, is not limited to embodiment described herein.On the contrary, provide the object of these embodiments be make the understanding of disclosure of the present utility model more comprehensively thorough.
It should be noted that, when element is called as " being fixed on " another element, directly can there is element placed in the middle in it on another element or also.When an element is considered to " connection " another element, it can be directly connected to another element or may there is centering elements simultaneously.Term as used herein " vertical ", " level ", "left", "right" and similar statement are just for illustrative purposes.
Unless otherwise defined, all technology used herein and scientific terminology are identical with belonging to the implication that those skilled in the art of the present utility model understand usually.The object of the term used in instructions of the present utility model herein just in order to describe specific embodiment, is not intended to be restriction the utility model.Term as used herein " and/or " comprise arbitrary and all combinations of one or more relevant Listed Items.
As shown in Figure 1, Figure 2 and Figure 3, a kind of inspection robot ground in this preferred embodiment controls base station apparatus 100, comprises control system 20 and base station box 40.Control system 20 comprises main control unit 21, communication unit 23, operating unit 25 and display unit 27, and base station box 40 comprises upper box 42 and can the lower box 44 that is connected of folding with upper box 42, to accommodate control system 20.Upper box 42 is located at by display unit 27, and main control unit 21, communication unit 23 and operating unit 25 are located in lower box 44.
Wherein, communication unit 23 is communicatively coupled to main control unit 21, for sending a control signal to main control unit 21.Operating unit 25 is electrically connected on main control unit 21, for receiving the instruction of control inspection robot and sending instruction to main control unit 21.Display unit 27 is connected to main control unit 21, for showing the signal that main control unit 21 obtains.
Above-mentioned inspection robot ground controls base station apparatus 100, and receive the signal of inspection robot transmission by communication unit 23, this signal carries out processing and is sent to display unit 27 by main control unit 21.Operator monitors the working condition of inspection robot by display unit 27, manipulation operations unit 25 produces the instruction of adjustment inspection robot working condition, this instruction is sent to main control unit 21, main control unit 21 resolves this instruction, and this instruction is sent to inspection robot by communication unit 23, thus the monitoring completed inspection robot and control.
Control system 20 also comprises Power Management Unit 29.Power Management Unit 29 is electrically connected main control unit 21, communication unit 23, operating unit 25 and display unit 27 respectively, thinks that main control unit 21, communication unit 23, operating unit 25 and display unit 27 provide electric energy.
Particularly, refer to Fig. 2 and Fig. 3, Power Management Unit 29 comprises electric battery 292 and power module 294.Electric battery 292 is electrically connected on power module 294 by connection terminal, and power module 294 is connected to main control unit 21, communication unit 23, operating unit 25 and display unit 27 to power by connection terminal.In the present embodiment, electric battery 292 is made up of Large Copacity, rechargeable lithium battery, be full of the long-time use that the electric battery after electricity 292 can meet ground base control 20, also can directly connect external power source and power, to adapt to different working environments.
As shown in Figure 3, main control unit 21 comprises industrial computer 212 and is communicatively coupled to the storage organization 212 of industrial computer 212.Industrial computer 212 is connected to operating unit 25 and communication unit 23, and is electrically connected by power lead with power module 294, and then electric battery 292 is powered to this industrial computer 212.
Industrial computer 212 (Industrial Personal Computer, IPC), i.e. industrial control computer a kind of adopts bus structure, production run and electromechanical equipment, technological equipment carried out to the instrument of Detection & Controling.In the present embodiment, the motor performance program and the screen watchdog routine that control inspection robot have been installed in industrial computer 212, and can the instruction assigned of parse operation unit 25, send instructions by communication unit 23 pairs of inspection robots, realize carrying out real time kinematics control to inspection robot.Industrial computer 212 is also received by communication unit 23, analyze the signal of inspection robot transmission, to inspection robot motion state detection.Further, industrial computer 212 is technical grade industrial computer PCM9363.
Storage organization 212 is serial port hard disk, for storing data.Serial port hard disk is a kind of hard disk adopting serial mode to transmit data, and serial port hard disk transmits data in the mode of sequential serial, once only transmits 1 bit data.So, can reduce the stitch number of interface, stube cable number is tailed off, efficiency also can be higher, can also reduce system energy consumption and reduce system complexity, and having higher data transmission rate.So, storage organization 212 can complete the quick exchange of data between industrial computer 212.
Communication unit 23 comprises wireless network card 232 and signal amplifier 234.Wireless network card 232 is connected to industrial computer 212, and is connected to signal amplifier 234 by radio frequency line, for sending instruction that industrial computer 212 sends to inspection robot, and receives signal that inspection robot sends to industrial computer 212.In the present embodiment, wireless network card 232 is provided with USB (Universal Serial Bus, USB (universal serial bus)) interface, is connected on industrial computer 212, carries out Signal transmissions by this USB interface.Signal amplifier 234 connects antenna to send signal, and in the present embodiment, the antenna that signal amplifier 234 connects comprises remote antenna and short range antenna.
Refer to Fig. 1 and Fig. 4, operating unit 25 comprises operating rod 252, card extender 256 and thin film switch 254.Operating rod 252 is connected to industrial computer 212 by card extender 256.Particularly, operating rod 252 and thin film switch 254 are all provided with extension line, be connected in switch through fishplate bar 256 by this extension line, and card extender 256 is connected on the serial ports of industrial computer 212 by serial communication interface (such as RS232 interface).After the instruction that operator's control operation bar and thin film switch 254 are assigned is resolved by industrial computer 212, industrial computer 212 is sent to by serial ports, by communication unit 23, order is sent to inspection robot again, to control the motion of the cradle head camera that inspection robot is arranged.In the present embodiment, operating rod 252 technical grade three axle Hall operating rod 252.
Please again consult Fig. 1, display unit 27 comprises display, and connects industrial computer 212 by video transmission line.Particularly, display is connected with video transmission line, is electrically connected by the video transmission line of this video transmission line and industrial computer 212.Display can accept the vision signal of industrial computer 212, and present the image of the monopod video camera shooting of inspection robot, to reflect duty and the surrounding environment of inspection robot, convenient operation person monitor inspection robot.
As shown in Figure 1, base station box 40 comprises upper box 42 and lower box 44.Upper box 42 and lower box 44 junction are provided with slider-crank mechanism 46, the folding of 0 ° to 120 ° can be completed by slider-crank mechanism 46, and can, arbitrarily angled fixing, make operator's adjustable operate visual angle, convenient operation inspection robot ground being controlled to base station apparatus 100.Particularly, this slider-crank mechanism 46 comprises slideway 462 and connecting link 464.Slideway 462 is arranged on the sidewall of lower box 44, and extends along its length.Connecting link 464 one end is rotationally connected with upper box 42, and connecting link 464 other end is slidably installed on slideway 462 to slide along slideway 462, completes the folding of base station box 40.
Upper box 42 places display unit 27.Particularly, display unit 27 is embedded at the end face of upper box 42 near the side of lower box 44.
Please again consult Fig. 2, lower box 44 comprises battery compartment 442 and controls storehouse 444.Battery compartment 442 with control storehouse 444 and be located at lower box 44 both sides respectively, between separated by dividing plate.
Particularly, battery compartment 442 comprises battery warehouse and is removably connected to the battery compartment cover plate 4422 of battery warehouse, and the openend of battery compartment cover plate 4422 clad battery warehouse, can be closed in electric battery 292 in battery compartment 442.
Control storehouse 444 and comprise the control Hatch Board 446 controlling warehouse and be removably connected to control warehouse.Control the openend of Hatch Board 446 coverage control warehouse, control box 4442 can be closed in and control in storehouse 444.Communication unit 23, power module 294 and main control unit 21 are integrated in control box 4442.
Control also to be provided with external power source joint, battery charging contacts, extraneous antenna terminal etc. outside storehouse 444, and all employing has Aviation Connector that is rainproof, dust reduction capability, to adapt to multiple environment, increases the service life.
Base station box 40 also comprises heat abstractor (figure does not mark).Heat abstractor comprises the air channel case 4444 being positioned at and controlling storehouse 444, and is installed on the radiator fan 4446 controlling side, storehouse 444.Heat sink (not shown) is provided with, heat sink and be provided with heat dissipation wind channel between controlling bottom storehouse 444 bottom air channel case 4444.The heat that the communication unit 23 installed in control box 4442, power module 294 and main control unit 21 produce in the course of the work discharges control box 4442 by heat dissipation wind channel.
Be arranged at the radiator fan 4446 controlling two ends, storehouse 444 and be positioned at heat dissipation wind channel two ends, the air flowing in heat dissipation wind channel can be accelerated, control storehouse 444 to be discharged by heat.Radiator fan 4446 is connected with temperature controller, to open or to close radiator fan 4446 and to control the rotating speed of radiator fan 4446.In the present embodiment, temperature controller is arranged on control storehouse 444 cover plate in control storehouse 444.So, the heat dispersion that this inspection robot ground controls base station apparatus 100 can be improved, avoid inner member overheated, extend the serviceable life of device, avoid potential safety hazard.
As shown in Fig. 1 and Fig. 4, the operating rod 252 of operating unit 25 and thin film switch 254 are arranged at and control on the cover plate of storehouse 444.In the present embodiment, control accommodation section storehouse 444 cover plate being also provided with depression, to hold operating rod 252, reserve space convenient operation to operating rod 252, and reduce the height of upper box 42.So, reduce the volume of base station box 40, be convenient to carrying of base station box 40.
The course of work that above-mentioned inspection robot ground controls base station apparatus 100 is as follows:
Communication unit 23 receives the signal that inspection robot sends, and this signal is sent to industrial computer 212, and industrial computer 212 is sent to the working condition that display unit 27 shows inspection robot after resolving this signal.According to the environment around the inspection robot that display unit 27 shows and duty, the instruction that operator's manual joystick 252 and thin film switch 254 are assigned, and this instruction is sent to industrial computer 212.After this instruction is resolved by industrial computer 212, sent to the image/video monitoring software that industrial computer 212 is installed by serial ports.Order is sent by communication unit 23 by software again, can control the motion of the cradle head camera on inspection robot.
Above-mentioned inspection robot ground controls base station apparatus 100, comprise the main control unit 21 be integrated in base station box 40, communication unit 23, operating unit 25 and display unit 27, can monitor in real time the motion of inspection robot, and real-time monitored is carried out to the running status of robot, ensure that inspection robot safe and highly efficient operation, and the human resources consumed are less, an operator can complete the operation this inspection robot ground being controlled to base station apparatus 100.Further, control system 20 is contained in base station box 40, rain-proof dust-proof and being easy to carry, and can be used in varying environment, has good adaptability.
Each technical characteristic of the above embodiment can combine arbitrarily, for making description succinct, the all possible combination of each technical characteristic in above-described embodiment is not all described, but, as long as the combination of these technical characteristics does not exist contradiction, be all considered to be the scope that this instructions is recorded.
The above embodiment only have expressed several embodiment of the present utility model, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to utility model patent scope.It should be pointed out that for the person of ordinary skill of the art, without departing from the concept of the premise utility, can also make some distortion and improvement, these all belong to protection domain of the present utility model.Therefore, the protection domain of the utility model patent should be as the criterion with claims.
Claims (10)
1. inspection robot ground controls a base station apparatus, it is characterized in that, comprises control system and base station box, and described base station box comprises upper box and can the lower box that is connected of folding with described upper box, and to accommodate described control system, described control system comprises:
Main control unit;
Communication unit, is communicatively coupled to described main control unit, for sending a control signal to described main control unit;
Operating unit, is electrically connected on described main control unit, for receiving instruction and sending instruction to described main control unit; And
Display unit, is electrically connected on described main control unit, for showing the signal that described main control unit obtains;
Wherein, described upper box is located at by described display unit, and described main control unit, communication unit and described operating unit are located at described lower box.
2. inspection robot ground according to claim 1 controls base station apparatus, and it is characterized in that, described main control unit comprises industrial computer and communicates to connect the storage organization of described industrial computer.
3. inspection robot ground according to claim 2 controls base station apparatus, it is characterized in that, described communication unit comprises wireless network card and signal amplifier, and described wireless network card is communicatively coupled to described industrial computer, and is connected to described signal amplifier by radio frequency line.
4. inspection robot ground according to claim 2 controls base station apparatus, and it is characterized in that, described operating unit comprises operating rod and card extender, and described operating rod is electrically connected on described industrial computer by described card extender.
5. inspection robot ground according to claim 2 controls base station apparatus, and it is characterized in that, described display unit comprises display, and described display connects described industrial computer by video transmission line.
6. inspection robot ground according to claim 1 controls base station apparatus, it is characterized in that, described control system also comprises Power Management Unit, described Power Management Unit is electrically connected described main control unit, communication unit, operating unit and described display unit respectively, thinks that described main control unit, communication unit, operating unit and described display unit provide electric energy.
7. inspection robot ground according to claim 6 controls base station apparatus, and it is characterized in that, described electric power controller comprises electric battery and power module, and described power module is electrically connected on described electric battery by connection terminal.
8. inspection robot ground according to claim 7 controls base station apparatus, it is characterized in that, described lower box comprises battery compartment and controls storehouse, described battery compartment is for holding described electric battery, described control storehouse comprises control box, and described control box is for holding described communication unit, Power Management Unit and described main control unit.
9. inspection robot ground according to claim 8 controls base station apparatus, it is characterized in that, described base station box also comprises heat abstractor, described heat abstractor comprises the air channel case being positioned at described control storehouse, and being installed on the radiator fan at two ends, described control storehouse, described air channel case and described control storehouse form heat dissipation wind channel.
10. inspection robot ground according to claim 1 controls base station apparatus, it is characterized in that, chain connection between described upper box and described lower box, and by slider-crank mechanism folding.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520271821.9U CN204557204U (en) | 2015-04-29 | 2015-04-29 | Inspection robot controls base station apparatus |
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| CN201520271821.9U CN204557204U (en) | 2015-04-29 | 2015-04-29 | Inspection robot controls base station apparatus |
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| CN204557204U true CN204557204U (en) | 2015-08-12 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107310699A (en) * | 2017-08-07 | 2017-11-03 | 西安工业大学 | A kind of underwater robot remote control case |
| CN114905534A (en) * | 2022-05-21 | 2022-08-16 | 石河子大学 | A electric power inspection robot ground station for complex environment |
-
2015
- 2015-04-29 CN CN201520271821.9U patent/CN204557204U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107310699A (en) * | 2017-08-07 | 2017-11-03 | 西安工业大学 | A kind of underwater robot remote control case |
| CN114905534A (en) * | 2022-05-21 | 2022-08-16 | 石河子大学 | A electric power inspection robot ground station for complex environment |
| CN114905534B (en) * | 2022-05-21 | 2023-09-19 | 石河子大学 | A electric power inspection robot ground station for complex environment |
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