CN206339855U - Robot used for intelligent substation patrol fence accelerator control system - Google Patents
Robot used for intelligent substation patrol fence accelerator control system Download PDFInfo
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- CN206339855U CN206339855U CN201621469968.XU CN201621469968U CN206339855U CN 206339855 U CN206339855 U CN 206339855U CN 201621469968 U CN201621469968 U CN 201621469968U CN 206339855 U CN206339855 U CN 206339855U
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- door
- lattice door
- fence
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- 230000009286 beneficial effect Effects 0.000 abstract description 2
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- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
The utility model discloses a kind of robot used for intelligent substation patrol fence accelerator control system, including：The lattice door driver element being arranged on robot body and the outdoor fence door control unit being arranged in lattice door control cabinet；Lattice door driver element includes：Laser navigation sensor, industrial computer, lattice door switching board and the first Zigbee wireless modules；Laser navigation sensor and lattice door the switching board is connected with industrial computer respectively, and the first Zigbee wireless modules are connected with lattice door switching board；The utility model beneficial effect：Robot can be made to free in and out lattice door in transformer station, and independent of the control of staff, improve inspection operating efficiency.
Description
Technical field
The utility model is related to robot control field, and in particular to a kind of grid for robot used for intelligent substation patrol
Column accelerator control system.
Background technology
Transformer station is more to be separated using fixed safe fence in order to prevent that unrelated person from entering charging zone from living area,
The region that part needs operating personnel or visit personnel to enter uses lattice door, attached using lattice door when the above persons enter fashionable
Band remote control control lattice door rises or fallen.Equipment routing inspection task, inspection are completed using intelligent inspection robot more than transformer station
When robot passes in and out lattice door, work of transformer substation personnel's remote control lattice door or staff directly keep lattice door always on
State allows robot to pass in and out, this method can not embody lattice door this play the role of prevent unrelated person enter charging zone,
And it is intelligent to embody crusing robot.
Utility model content
The purpose of this utility model is exactly to solve the above problems, it is proposed that a kind of robot used for intelligent substation patrol grid
Column accelerator control system, when the system can need robot turnover lattice door in patrol task, realizes robot to lattice door
Control.
To achieve the above object, concrete scheme of the present utility model is as follows：
A kind of robot used for intelligent substation patrol fence accelerator control system, including：It is arranged on the fence on robot body
Door driver element and the outdoor fence door control unit being arranged in lattice door control cabinet；
The lattice door driver element includes：Laser navigation sensor, industrial computer, lattice door switching board and first
Zigbee wireless modules；Laser navigation sensor and lattice door the switching board is connected with industrial computer respectively, and described first
Zigbee wireless modules are connected with lattice door switching board；
The outdoor fence door control unit includes：2nd Zigbee wireless modules, outdoor lattice door Control card, fence
Door body Control card, door status sensor, photoelectric sensor and motor；The 2nd Zigbee wireless modules, fence
Door body Control card, door status sensor and photoelectric sensor are connected with outdoor lattice door Control card respectively, the lattice door
Body Control card connects motor；
First Zigbee wireless modules and the 2nd Zigbee the wireless modules communication.
Further, the lattice door switching board includes：Single-chip minimum system and respectively with single-chip microcomputer minimum be
Power-supplying circuit, serial communication circuit and the Zigbee wireless module telecommunication circuits of system connection；The serial communication circuit with
Industrial computer is by serial communication, and the Zigbee wireless modules telecommunication circuit communicates with the first Zigbee wireless modules.
Further, the outdoor lattice door Control card includes：Singlechip minimum system circuit and respectively with monolithic
Power-supplying circuit, outputting circuit for relay and the Zigbee wireless module telecommunication circuits of machine minimum system circuit connection；
The output relay has two, respectively connect lattice door body Control card in rise fence door contact and
Close fence door contact.
Further, the door status sensor includes sensor block and signal output block, and the sensor block is arranged on lattice door
Swing leaf top arm's tip, the signal output block is arranged on above lattice door swing leaf support frame；When door leaf is completely closed
When, the sensor block and signal output block are contacted.
Further, the photoelectric sensor is arranged on sensor stand, and the sensor stand is arranged on lattice door
Above control cabinet, when fence door leaf rises completely, door leaf upper arm fully shading light electric transducer probe.
The beneficial effects of the utility model：
The utility model robot used for intelligent substation patrol fence accelerator control system can make robot free in and out power transformation
Lattice door in standing, and independent of the control of staff, improve inspection operating efficiency.
Brief description of the drawings
Fig. 1 is the utility model robot used for intelligent substation patrol lattice door control system architecture schematic diagram；
Fig. 2 is transformer station's lattice door schematic diagram；
Wherein, fence door control unit outside 1. lattice door driver element, Room 2., 3. lattice doors switching board, 4. industrial computers,
5. lattice door control panel outside laser navigation sensor, 6. the oneth Zigbee wireless modules, 7. the 2nd Zigbee wireless modules, Room 8.
Card, 9. lattice door body Control cards, 10. motors, 11. photoelectric sensors, 12. door status sensors, 13. fence gate controls
Case, 14. fence door leafs, 15. sensor blocks, 16. signal output blocks, 17. lattice door support frames.
Embodiment：
The utility model is described in detail below in conjunction with the accompanying drawings：
The utility model discloses a kind of robot used for intelligent substation patrol fence accelerator control system, as shown in figure 1, bag
Include：The lattice door driver element being arranged on robot body and the outdoor fence gate control being arranged in lattice door control cabinet
Unit.
The utility model is divided into two parts, and a part is arranged on inside lattice door control cabinet, and main purpose is realized in machine
The lower lattice door of device people control is opened and closed, and collection sensor information obtains fence door state；Another part is arranged on survey monitor
Device human body, mainly realizes the detection of robot coordinate position, fence gate control and receives outdoor fence door control unit feedback
The processing of information.
Lattice door driver element includes：Laser navigation sensor, industrial computer, lattice door switching board and the first Zigbee
Wireless module；Laser navigation sensor and lattice door switching board be connected respectively with industrial computer, the first Zigbee wireless modules and
Lattice door switching board connection.
Wherein, laser navigation sensor detects crusing robot location coordinate information in space, for positioning, with industry control
Machine passes through serial communication.
Lattice door switching board mainly includes：The singlechip minimum system circuit of STM32F103 models, power supply are powered electricity
Road, serial communication circuit and Zigbee wireless module telecommunication circuits, switching board serial communication circuit pass through serial ports with industrial computer
Communication, the first Zigbee wireless modules are transferred to by the instruction that industrial computer is issued.
Lattice door switching board is arranged on robot body, with industrial computer by serial communication, the instruction that industrial computer is issued
First Zigbee wireless modules are sent to by lattice door switching board.
It should be noted that industrial computer is the original industrial computer being arranged on robot body, the utility model does not have
Make improvements.
Outdoor fence door control unit includes：2nd Zigbee wireless modules, outdoor lattice door Control card, lattice door sheet
Body Control card, door status sensor, photoelectric sensor and motor；2nd Zigbee wireless modules, lattice door body control
Making sheet card, door status sensor and photoelectric sensor are connected with outdoor lattice door Control card respectively, lattice door body Control card
Connect motor.
Outdoor lattice door Control card mainly includes：The singlechip minimum system circuit of ATMEGA128A models, power supply are supplied
Circuit, outputting circuit for relay and Zigbee wireless module telecommunication circuits.Output relay has two, and fence is connected respectively
Rise fence door contact and closing fence door contact in door body Control card.
As shown in Fig. 2 outdoor lattice door Control card, lattice door body Control card and motor, being installed in grid
In column gate control case, motor driving fence door leaf rises or fallen.Door status sensor includes signal output block and sensor block,
For detecting that fence door leaf closes situation, when door leaf is closed, fence door leaf is ridden over after falling on lattice door support frame, sensor block
Close to signal output block, signal output block will close the door feedback of the information to outdoor lattice door Control card.Photoelectric sensor is by passing
Sensor bracket is arranged on above lattice door control cabinet, for detecting that fence door leaf rises situation, when door leaf rises completely, door leaf
Upper arm blocks photoelectric sensor probe, and door leaf opening imformation is fed back to outdoor lattice door Control card by sensor.
It should be noted that lattice door body Control card and motor are the control that lattice door manufacturer designs
The device of lattice door lifting, the utility model does not make improvements.
Operation principle of the present utility model is as follows：
Crusing robot determines oneself co-ordinate position information by laser navigation sensor, matches somebody with somebody when robot reaches backstage
When putting the lattice door position in task, unlatching lattice door anchor point is gone to, industrial computer sends instructions to lattice door pinboard, transfers
The instruction is communicated to the 2nd Zigbee wireless modules by the first Zigbee wireless modules on plate, and the 2nd Zigbee wireless modules will
Command information conveys to outdoor lattice door Control card, and outdoor lattice door Control card is controlled by lattice door body Control card
Motor realizes that door leaf rises.
After fence door leaf rises completely, the photoelectric sensor probe shown in Fig. 2 detects fence upper arm, has represented door
Through fully opening, door leaf opening imformation can pass through lattice door by being wirelessly transferred arrival industrial computer, expression；Crusing robot is complete
After lattice door, reach and close fence door leaf anchor point, transmit this information to industrial computer, fence door leaf can be entered
Row door-closing operation, industrial computer issues the door leaf instruction of closing fence, and closing process is consistent with opening process instruction transmission means；Work as grid
When column door leaf is completely closed, the shutdown signal of outdoor lattice door Control card feedback is by being wirelessly transmitted to industrial computer, robot
Continue executing with patrol task.
System of the present utility model can be such that the entirely autonomous realization of robot is patrolled by transformer station's lattice door to complete planning
Inspection task, stable and raising inspection operating efficiency.
It is not new to this practicality although above-mentioned embodiment of the present utility model is described with reference to accompanying drawing
The limitation of type protection domain, one of ordinary skill in the art should be understood that on the basis of the technical solution of the utility model, ability
Field technique personnel need not pay the various modifications that creative work can make or deform still in protection model of the present utility model
Within enclosing.
Claims (5)
1. a kind of robot used for intelligent substation patrol fence accelerator control system, it is characterized in that, including：It is arranged on robot body
Lattice door driver element and the outdoor fence door control unit that is arranged in lattice door control cabinet；
The lattice door driver element includes：Laser navigation sensor, industrial computer, lattice door switching board and the first Zigbee
Wireless module；The laser navigation sensor and lattice door switching board are connected with industrial computer respectively, the first Zigbee without
Wire module is connected with lattice door switching board；
The outdoor fence door control unit includes：2nd Zigbee wireless modules, outdoor lattice door Control card, lattice door sheet
Body Control card, door status sensor, photoelectric sensor and motor；The 2nd Zigbee wireless modules, lattice door sheet
Body Control card, door status sensor and photoelectric sensor are connected with outdoor lattice door Control card respectively, the lattice door body
Control card connects motor；
First Zigbee wireless modules and the 2nd Zigbee the wireless modules communication.
2. a kind of robot used for intelligent substation patrol fence accelerator control system as claimed in claim 1, it is characterized in that, the grid
Column door switching board includes：Single-chip minimum system and the power-supplying circuit being connected respectively with single-chip minimum system, string
Port communications circuit and Zigbee wireless module telecommunication circuits；The serial communication circuit and industrial computer are described by serial communication
Zigbee wireless modules telecommunication circuit communicates with the first Zigbee wireless modules.
3. a kind of robot used for intelligent substation patrol fence accelerator control system as claimed in claim 1, it is characterized in that, the room
Outer lattice door Control card includes：Singlechip minimum system circuit and the power supply being connected respectively with singlechip minimum system circuit
Power supply circuit, outputting circuit for relay and Zigbee wireless module telecommunication circuits；
The output relay has two, and rise fence door contact and closing in lattice door body Control card are connected respectively
Fence door contact.
4. a kind of robot used for intelligent substation patrol fence accelerator control system as claimed in claim 1, it is characterized in that, the door
Magnetic Sensor includes sensor block and signal output block, and the sensor block is arranged on lattice door swing leaf top arm's tip, the letter
Number IOB is arranged on above lattice door swing leaf support frame；When door leaf is completely closed, the sensor block and signal output
Block is contacted.
5. a kind of robot used for intelligent substation patrol fence accelerator control system as claimed in claim 1, it is characterized in that, the light
Electric transducer is arranged on sensor stand, and the sensor stand is arranged on above lattice door control cabinet, when fence door leaf is complete
At height-rise, door leaf upper arm fully shading light electric transducer probe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621469968.XU CN206339855U (en) | 2016-12-29 | 2016-12-29 | Robot used for intelligent substation patrol fence accelerator control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621469968.XU CN206339855U (en) | 2016-12-29 | 2016-12-29 | Robot used for intelligent substation patrol fence accelerator control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206339855U true CN206339855U (en) | 2017-07-18 |
Family
ID=59303951
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621469968.XU Active CN206339855U (en) | 2016-12-29 | 2016-12-29 | Robot used for intelligent substation patrol fence accelerator control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206339855U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109445431A (en) * | 2018-10-30 | 2019-03-08 | 深圳供电局有限公司 | Crusing robot enters chamber system |
-
2016
- 2016-12-29 CN CN201621469968.XU patent/CN206339855U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109445431A (en) * | 2018-10-30 | 2019-03-08 | 深圳供电局有限公司 | Crusing robot enters chamber system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Co-patentee after: State Grid Shandong Electric Power Company Patentee after: National Network Intelligent Technology Co., Ltd. Co-patentee after: State Grid Co., Ltd. Address before: 250101 Shandong city of Ji'nan province high tech Zone (Lixia District) Xinluo Avenue No. 2008 silver bearing building B block 626 Co-patentee before: State Grid Shandong Electric Power Company Patentee before: Shandong Luneng Intelligent Technology Co., Ltd. Co-patentee before: State Grid Corporation |
|
| CP03 | Change of name, title or address | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201105 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee before: National Network Intelligent Technology Co.,Ltd. Patentee before: STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: STATE GRID CORPORATION OF CHINA |
|
| TR01 | Transfer of patent right |