CN207096814U - Transformer station's master control room long-distance intelligent inspecting robot - Google Patents
Transformer station's master control room long-distance intelligent inspecting robot Download PDFInfo
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- CN207096814U CN207096814U CN201721149816.6U CN201721149816U CN207096814U CN 207096814 U CN207096814 U CN 207096814U CN 201721149816 U CN201721149816 U CN 201721149816U CN 207096814 U CN207096814 U CN 207096814U
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- 230000000875 corresponding effect Effects 0.000 claims description 5
- 229910052744 lithium Inorganic materials 0.000 claims description 5
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Abstract
Transformer station's master control room long-distance intelligent inspecting robot, including one-chip computer module, power module, sound ranging obstacle avoidance module, sensor assembly, photographing module, drive module, WIFI digital transmission modules, cradle head control module, buzzer warning module, lighting module.Sound ranging obstacle avoidance module, for the control by adjusting the distance, adjust the direction of steering wheel；Sensor assembly is connected with single-chip microcomputer, is tracked for robot track；Photographing module is connected with cradle head control module, by cradle head control photographing module orientation angle, focal length, and view data is uploaded into head；Drive module is connected with one-chip computer module, for receiving startup/halt instruction of one-chip computer module transmission；Cradle head control module is connected with one-chip computer module, WIFI digital transmission modules respectively, for by data and graphics collection between the two, being uploaded to head and showing.The utility model inspecting robot, there is the advantages of easy to carry, cheap；Improve the operating efficiency and abnormality processing efficiency maked an inspection tour；Reduce the danger of work.
Description
Technical field
A kind of transformer station's master control room long-distance intelligent inspecting robot of the utility model, it is related to power industry and makes an inspection tour field.
Background technology
Nowadays, China's power industry continues to use consistent manual patrol power equipment mode, by master control room is manually entered, leads to
Cross using the supplementary instruments such as thermometric, human ear listen abnormal noise and human eye verification switch division position, pressing plate throws/moved back and plant running
The information such as abnormality lamp are whether there is to judge to complete the tour of whole master control room.Which not only wastes time and energy, and leak also be present
May.It is mainly manifested in：
1st, because existing transformer station personnel way to manage uses unattended operation transformer station, the spatial extent between standing and standing
Greatly, the working time that the time consumed on road in tour work makes an inspection tour considerably beyond master control room, cause to make an inspection tour operating efficiency
Lowly.
2nd, master control room is after unexpected abnormality alarm signal and normal tripping operation in standing, and due to distance problem, operations staff can not
It is in time, lacks the efficiency for the swiftness of the special tour of master control room equipment, reducing processing tripping operation and abnormality alarming.
3rd, existing substation inspection means are single, rely primarily on the working experience of operations staff, lack the judgement ginseng of system
The analyses and comparison of number and historical data, can also there is a situation where to fail to judge Lou to see.
The content of the invention
For ensure power equipment safety stable operation, for manual patrol mode time-consuming efficiency it is low the problem of.This reality
With a kind of transformer station's master control room long-distance intelligent inspecting robot of new offer, there is the advantages of easy to carry, cheap；Improve
The operating efficiency and abnormality processing efficiency of tour；Reduce the danger of work.
The technical scheme that the utility model is taken is：
Transformer station's master control room long-distance intelligent inspecting robot, including one-chip computer module, power module, sound ranging avoidance mould
Block, sensor assembly, photographing module, drive module, WIFI digital transmission modules, cradle head control module, buzzer warning module, illumination
Module；
One-chip computer module, for data processing and computing and communicate and send instruction；
Power module is connected with one-chip computer module, for providing power supply；
Sound ranging obstacle avoidance module, for the control by adjusting the distance, adjust the direction of steering wheel；
Sensor assembly is connected with single-chip microcomputer, is tracked for robot track；
Photographing module is connected with cradle head control module, by cradle head control photographing module orientation angle, focal length, and will figure
As data are uploaded to head；
Drive module is connected with one-chip computer module, for receiving startup/halt instruction of one-chip computer module transmission；
WIFI digital transmission modules are connected with one-chip computer module, for by the data signal transmission that one-chip computer module detects to cloud
Platform；
Cradle head control module is connected with one-chip computer module, WIFI digital transmission modules respectively, for by data between the two
And graphics collection, it is uploaded to head and shows；
Buzzer warning module, for timely reminding alarm；
Lighting module, for night illumination or for night work.
The one-chip computer module uses Arduino UNO R3 single-chip microcomputers.
The power module is by 2200mAh, 12V protection board lithium battery group；+5V（VCC）Circuit module；-5V（VEE）Circuit
Module；3.3V（VDD）Circuit module forms.
The sound ranging obstacle avoidance module includes two cylindric sound wave module KS103.
The sensor assembly is technical grade infrared following line sensors, and infrared following line sensors are separately positioned on robot
Lower left and lower right, each corner sets 1 infrared following line sensors, for detecting black and white line.
The photographing module includes steering wheel, camera, and camera uses ROBOT-EYES high-definition cameras.
The drive module uses L298N two-way heavy-duty motor driving chips.
The cradle head control module includes console, remote communication unit, cradle head controllor；Console, it is a PC；
Remote communication unit, for realizing the communication between head and console；Cradle head controllor is arranged on head, is used
Decoded in by the console instruction received, be converted to the control signal of controlled motor operation；According to control signal, driving
Motor on head carries out corresponding actions.
A kind of transformer station's master control room long-distance intelligent inspecting robot of the utility model, technique effect are as follows：
1：The inspecting robot is feature-rich, practical, compared to the large-scale inspecting robot of transformer station, have it is easy to carry,
It is cheap.
2：The inspecting robot flexible operation mode, can solve the problems, such as distance with remote control, so as to improve
The operating efficiency and abnormality processing efficiency of tour.
3：The inspecting robot replaces manual patrol, shortens operation maintenance personnel in the hyperbaric chamber holdup time, reduces the danger of work
It is dangerous.
4：The inspecting robot remote data transmission, protect pressing plate and protection device signal to check whenever and wherever possible with
And verification.
5：Each functional module of the inspecting robot can both be controlled by the switch of robot body, and pass through cloud
The mode remote control of platform control module.
6：The ultrasonic ranging obstacle avoidance module of the inspecting robot, directly over present position and front can be detected in real time
The distance of barrier, and alarm can be sent according to distance, prevent robot from touching barrier by mistake, ensure that robot can pacify
Full stable operation.
Brief description of the drawings
Fig. 1 is illustrative view of functional configuration of the present utility model.
Fig. 2 is power module VCC circuit diagrams of the present utility model.
Fig. 3 is power module VEE circuit diagrams of the present utility model.
Fig. 4 is power module VDD circuit diagrams of the present utility model.
Fig. 5 is sound ranging obstacle avoidance module circuit diagram of the present utility model.
Fig. 6 is lighting module circuit diagram of the present utility model.
Fig. 7 is buzzer warning module circuit diagram of the present utility model.
Embodiment
Transformer station's master control room long-distance intelligent inspecting robot, it is by one-chip computer module, power module, sound ranging avoidance mould
Block, sensor assembly, photographing module, drive module, WIFI digital transmission modules, cradle head control module, buzzer module, illuminate mould
Block.Functional structure chart is as shown in Figure 1.
One-chip computer module is used for the processing of data and computing and communicates and send instruction；Power module and monolithic
Machine module is connected, and gives robot strong impetus, persistently continuation of the journey；Sound ranging obstacle avoidance module passes through the control adjusted the distance, adjustment
The direction of steering wheel, so as to reach the purpose of avoiding obstacles；Sensor assembly uses the infrared avoidance sensor that tracks of technical grade, with
Single-chip microcomputer connects, and is tracked for robot track；Photographing module is connected with cradle head control module, can be imaged by cradle head control
Head orientation angle and focal length, and view data is uploaded to head；Drive module is arranged on the bottom of robot, with single-chip microcomputer
Connection, for receiving startup/halt instruction of single-chip microcomputer transmission；WIFI digital transmission modules are connected with one-chip computer module, single for inciting somebody to action
The data signal transmission that piece machine examination measures is to head；Cradle head control module is connected with single-chip microcomputer, WIFI digital transmission modules, for inciting somebody to action
Data and graphics collection between the two, are uploaded to head and show.The timely reminding alarm of buzzer warning module, it is ensured that robot
Can safe and stable operation.Lighting module can be used for night illumination or for night work.
Operation principle：
The model Arduino UNO R3 of described one-chip computer module.
Described power module is mainly by 2200mAh, 12V protection board lithium battery groups ,+5V（VCC）Circuit module, -5V
（VEE）Circuit module, 3.3V（VDD）Circuit module forms.The power input of long-distance intelligent inspecting robot is using 7.4V lithiums electricity
Pond group power supply.Due to needing that analog signal is amplified, amplifier needs+5V and -5V power supplys.Digital circuit needs+5V and
3.3V power supply.+5V（VCC）Circuit module uses TPS76850 voltage-stablizers, and the voltage-stablizer has that transient response is fast, quiescent operation
The low excellent properties of electric current.Circuit diagram is as shown in Figure 2.The π type low pass filters of L1, C13, C14 composition, are carried out to input voltage
LPF, output voltage also pass through C15, C16, C17 filtering, reduce power supply ripple, keep the stabilization of output voltage.-5V
（VEE）Circuit module uses TPS60400DBVT voltage inverters, and the chip also has high conversion efficiency, the low spy of quiescent current
Point.Its circuit is extremely simple, as shown in Figure 3.Several capacity cells are only needed, are made an uproar for reducing voltage ripple and suppressing high frequency
Sound.3.3V（VDD）Circuit module uses AMS1117 voltage-stablizers, as shown in Figure 4.
Described sound ranging obstacle avoidance module is made up of 2 cylindric sound wave modules, by the pin of HC-SR04 ultrasonic waves
Echo is connected to the A0 interfaces of arduino single-chip microcomputer plates, and Trig is connected to A1 interfaces VCC and connects 5v interfaces, and GND meets GND.One of them
It is that transmitting sound wave one is to receive sound wave, ultrasonic wave will reflect when running into barrier, and we are by calculating from sound wave
The time can for being transmitted into reception calculates the distance that itself arrives barrier, and calculation is：Speed（340m/s）* time/2
=distance, the speed propagated in atmosphere of sound are 340m/s, divided by 2 be because the time of test is the round time, this
Sample we just obtained distance.The computational methods of single-chip microcomputer are by the way of timer count：When giving ultrasonic wave Trig（Transmitting
End）One high level starts counting up, when Echo（Receiving terminal）Stop counting when receiving high level signal, after obtaining count value
Calculating the time brings above formula into, as shown in Figure 5.
The sensor assembly that described long-distance intelligent inspecting robot is selected is technical grade infrared following line sensors, infrared to seek
Mark sensor is separately positioned on the lower left and lower right of robot, and each corner sets 1 infrared following line sensors, detects black
White line.Three pins of left side infrared sensor are connected to the A2 interfaces of arduino single-chip microcomputer plates, the right is connected to A3 interfaces
（Infrared sensor has blue three lines of black palm fibre, and black is to meet IO, and brown is 5V, and blueness is GND）.Headstock install two vertically to
Under infrared obstacle avoidance module, as detection black line sensor, when sensor return level be 0 when, be shown to be normal ground,
When the level that sensor returns is 1, black line is shown to be.So as to the state according to two infrared probes, to judge the shape of headstock
State is which kind of position in black line, then vehicle body travel direction is calibrated that each secondary program circulation can all carry out direction school
Standard, up to the consistent holding of the dolly state parallel with black line and then sensor will not be triggered.
Described photographing module uses ROBOT-EYES high-definition cameras, highest branch by steering wheel, camera composition, camera
Hold 480P image quality focal length and manually adjustable.Steering wheel is a kind of driver of position servo, mainly by shell, circuit board,
Seedless core motor, gear and position detector are formed.Its operation principle is：Rudder is signaled to by receiver or single-chip microcomputer
Machine, there is a reference circuit inside it, the generation cycle is 20ms, and width is 1.5ms reference signal, and the direct current of acquisition is inclined
The voltage ratio of voltage and potentiometer is put compared with acquisition voltage difference output.Judge rotation direction via the IC on circuit board, then drive
Seedless core motor starts to rotate, and power is reached into swing arm through reduction gearing, while sends signal back to by position detector, and judgement is
It is no to have arrived at positioning.The control system that angle constantly changes and can keep is needed suitable for those.When motor speed is certain
When, drive potentiometer to rotate by cascading reduction gearing so that voltage difference 0, motor stalls.The angle of general steering wheel rotation
It is 0 degree to 180 degree to spend scope.Its angle is by adjusting PWM（Pulse width modulation）The dutycycle of signal is marked come what is realized
Quasi- PWM（Pulse width modulation）The cycle of signal is fixed as 20ms（50Hz）, in theory pulsewidth distribution should 1ms to 2ms it
Between, still, in fact pulsewidth can be by between 0.5ms to 2.5ms, 0 °~180 ° of the corner of pulsewidth and steering wheel be corresponding.Finally,
The vision signal of single-chip microcomputer acquisition camera shooting, is then transferred to head by WIFI module and shows, and remote controlled take the photograph
As head turns to.
Described drive module uses imported with original packaging L298N two-way heavy-duty motor driving chips, this TT reducing motors
Using extremely simple, the motor has two terminals, and it is to rotate forward to access the voltage differences of this two terminals as timing, voltage difference
It is to invert when to bear（Voltage difference is greater than operating voltage）.2 TT motors are coupled with arduino single-chip microcomputer plates
Motor 1 and the interface of motor 2, motor can be with adjustment direction orders regardless of positive and negative, access, host computer.
The cradle head control module is made up of console, remote communication unit and cradle head controllor.Console is used
Family inputs the control instruction to head, such as carries out the traveling action of upper and lower, left and right all directions.Console of the present utility model
It is a PC for being mounted with corresponding software systems.Remote communication unit is used to realizing communication between head and console, one
The instruction that aspect sends console is transferred to head, and the data of head also on the other hand are reacted into console.Cradle head control
Device is most crucial, is typically mounted on head, it is necessary to realize two main functions：The console instruction received is carried out
Decoding, be converted to the control signal of controlled motor operation；According to control signal, the motor on head is driven to carry out corresponding actions.
The WIFI module is that serial ports is switched into the flush bonding module that meets WIFI infinite network communication standards, built-in unlimited
Procotol IEEE802.11b.g.n protocol stacks and ICP/IP protocol stack.Instruction is sent with head to transmit by WIFI module
To motor control signal USB port.
The buzzer warning module is mainly formed with buzzer BUZ1 and triode Q1.As shown in Figure 6.Single-chip microcomputer passes through
Timer produces the square wave of different frequency, and driving buzzer pronunciation is amplified by triode.When operating personnel present position electricity
Field intensity exceedes threshold values field strength, or the distance that ultrasonic distance measuring module detects is less than threshold values distance, and single-chip microcomputer will produce one
Determine the square wave driving buzzer pronunciation of frequency, and the frequency for producing sound is directly proportional to electric-field intensity, is inversely proportional with distance, electric field
Intensity is higher or apart from smaller, and caused sound frequency is faster, can reach preferable forewarning function.
The LED illumination module, mainly by illuminating LED, triode, relay, hand switch S1,74ls373 lock
Storage and protection diode composition.As shown in Figure 7.Lighting module is by Body switch S1 or Control, i.e. lighting module
It can control, can also be controlled by Bluetooth terminal equipment in the body of safety cap.S1 is the switch of double-contact, and all functions
Switch is all arranged on the outside of safety cap.When S1 is switched to contact 1, lighting loop is powered, and lights LED；S1 is switched to contact 2
When, lighting loop disconnects, and LED extinguishes.Control LED can also be passed through.When one-chip computer module is received far by bluetooth
During Fang Qidong illumination LEDs, single-chip microcomputer sends high level, while the LE of single-chip microcomputer control latch, and control signal is output into lock
Storage 74ls373 QO ends are simultaneously latched, triode saturation conduction, and colelctor electrode becomes low level, and relay coil is powered, and contact is closed
Close, lighting loop is connected；Single-chip microcomputer sends low level, latched device output latch, and triode ends, relay coil dead electricity,
Contact discharges, and lighting loop disconnects.Whole LED illumination functions of modules is independent, and its mains lighting supply is directly by input power lithium battery
Power supply, control signal latch by 74ls373, it is ensured that after starting LED illumination module by bluetooth approach, even if now single
Piece machine module is closed or is reset, and because control signal is latched by latch, now LED illumination remains unaffected, can be with
Ensure LED illumination functional independence, the control signal of relay folding has self-retaining function after latches.
Claims (9)
1. transformer station's master control room long-distance intelligent inspecting robot, including one-chip computer module, power module, sound ranging avoidance mould
Block, sensor assembly, photographing module, drive module, WIFI digital transmission modules, cradle head control module, buzzer warning module, illumination
Module；It is characterized in that：
One-chip computer module, for data processing and computing and communicate and send instruction；
Power module is connected with one-chip computer module, for providing power supply；
Sound ranging obstacle avoidance module, for the control by adjusting the distance, adjust the direction of steering wheel；
Sensor assembly is connected with single-chip microcomputer, is tracked for robot track；
Photographing module is connected with cradle head control module, by cradle head control photographing module orientation angle, focal length, and by picture number
According to being uploaded to head；
Drive module is connected with one-chip computer module, for receiving startup/halt instruction of one-chip computer module transmission；
WIFI digital transmission modules are connected with one-chip computer module, for by the data signal transmission that one-chip computer module detects to head；
Cradle head control module is connected with one-chip computer module, WIFI digital transmission modules respectively, for by data between the two and figure
Shape is collected, and is uploaded to head and is shown；
Buzzer warning module, for timely reminding alarm；
Lighting module, for night illumination or for night work.
2. transformer station's master control room long-distance intelligent inspecting robot according to claim 1, it is characterised in that：The single-chip microcomputer mould
Block uses Arduino UNO R3 single-chip microcomputers.
3. transformer station's master control room long-distance intelligent inspecting robot according to claim 1, it is characterised in that：The power module
By 2200mAh, 12V protection board lithium battery group；+5V（VCC）Circuit module；-5V（VEE）Circuit module；3.3V（VDD）Circuit mould
Block forms.
4. transformer station's master control room long-distance intelligent inspecting robot according to claim 1, it is characterised in that：The sound ranging
Obstacle avoidance module includes two cylindric sound wave module KS103.
5. transformer station's master control room long-distance intelligent inspecting robot according to claim 1, it is characterised in that：The sensor die
Block is technical grade infrared following line sensors, and infrared following line sensors are separately positioned on the lower left and lower right of robot, each
Corner sets 1 infrared following line sensors, for detecting black and white line.
6. transformer station's master control room long-distance intelligent inspecting robot according to claim 1, it is characterised in that：The photographing module
Including steering wheel, camera, camera uses ROBOT-EYES high-definition cameras.
7. transformer station's master control room long-distance intelligent inspecting robot according to claim 1, it is characterised in that：The drive module
Using L298N two-way heavy-duty motor driving chips.
8. transformer station's master control room long-distance intelligent inspecting robot according to claim 1, it is characterised in that：The cradle head control
Module includes console, remote communication unit, cradle head controllor；
Console, it is a PC；
Remote communication unit, for realizing the communication between head and console；
Cradle head controllor is arranged on head, for the console instruction received to be decoded, is converted to controlled motor fortune
Capable control signal；According to control signal, the motor on head is driven to carry out corresponding actions.
9. transformer station's master control room long-distance intelligent inspecting robot according to claim 1, it is characterised in that：The electricity of lighting module
Source is directly derived from lithium battery, and the power supply independence, and the control signal of lighting module passes through latch mutually of other functional modules
Latch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721149816.6U CN207096814U (en) | 2017-09-08 | 2017-09-08 | Transformer station's master control room long-distance intelligent inspecting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721149816.6U CN207096814U (en) | 2017-09-08 | 2017-09-08 | Transformer station's master control room long-distance intelligent inspecting robot |
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| Publication Number | Publication Date |
|---|---|
| CN207096814U true CN207096814U (en) | 2018-03-13 |
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ID=61539174
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721149816.6U Expired - Fee Related CN207096814U (en) | 2017-09-08 | 2017-09-08 | Transformer station's master control room long-distance intelligent inspecting robot |
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| Country | Link |
|---|---|
| CN (1) | CN207096814U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109904926A (en) * | 2019-02-27 | 2019-06-18 | 国网福建省电力有限公司漳州供电公司 | The intelligent robot and its control method maked an inspection tour suitable for unusual condition in substation room |
| CN110045731A (en) * | 2019-03-26 | 2019-07-23 | 深圳先进技术研究院 | A kind of paths planning method, electronic device and computer readable storage medium |
-
2017
- 2017-09-08 CN CN201721149816.6U patent/CN207096814U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109904926A (en) * | 2019-02-27 | 2019-06-18 | 国网福建省电力有限公司漳州供电公司 | The intelligent robot and its control method maked an inspection tour suitable for unusual condition in substation room |
| CN110045731A (en) * | 2019-03-26 | 2019-07-23 | 深圳先进技术研究院 | A kind of paths planning method, electronic device and computer readable storage medium |
| CN110045731B (en) * | 2019-03-26 | 2022-04-12 | 深圳市中科晟达互联智能科技有限公司 | Path planning method, electronic device and computer readable storage medium |
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