CN208188681U - A kind of electric line inspection, which is used, rides line robot control system for unmanned plane - Google Patents
A kind of electric line inspection, which is used, rides line robot control system for unmanned plane Download PDFInfo
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- CN208188681U CN208188681U CN201820585778.7U CN201820585778U CN208188681U CN 208188681 U CN208188681 U CN 208188681U CN 201820585778 U CN201820585778 U CN 201820585778U CN 208188681 U CN208188681 U CN 208188681U
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- 238000007689 inspection Methods 0.000 title claims abstract description 27
- 238000004891 communication Methods 0.000 claims abstract description 38
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Abstract
It is used the utility model relates to a kind of electric line inspection and rides line robot control system for unmanned plane, belong to electric wire inspection device technical field.Wherein the executing agency of Qi Xian robot connect with unmanned plane, control system includes processor, sensor, external isolation input module, communication module and execution unit, the flight controller serial ports of the processor and unmanned plane connects both-way communication, and the processor passes through communication module and execution unit communication connection.The utility model makes Qi Xian robot cross complicated obstacle by unmanned plane, and unmanned plane is stopped on electric wire by Qi Xian robot, guarantees work cruise duration, facilitates the progress of inspection work.
Description
Technical field
It is used the present invention relates to a kind of electric line inspection and rides line robot control system for unmanned plane, belong to electric wire inspection
Equipment technical field.
Background technique
Since the present most area high-voltage line inspection in China still relies on manpower to carry out inspection work, but traditional people
Power inspection work large labor intensity, and it is very dangerous, and some remote regional inspection workers are also difficult to reach, and inspection also needs
Want the material resources cost and human cost of great number.
With the development of China's automatic technology, automation equipment covers more and more fields.Robot technology and nothing
The development of man-machine technology provides new technology platform for electric inspection process.In recent years, the research of crusing robot has become machine
One of the research hotspot of people's research field.But previous electric inspection process robot is only to rely on own mechanical arm obstacle detouring,
Leap is unable to complete under complex barrier, and unmanned plane inspection can not also be stopped on electric wire, be continued a journey when working long hours
It is unable to get guarantee, brings inconvenience for inspection work.
Summary of the invention
In view of the above defects of the prior art, a kind of electric line inspection of the present invention, which is used, rides line machine for unmanned plane
Unmanned plane and Qi Xian robot are combined together by control system, can both make Qi Xian robot by device people's control system
Complicated obstacle is crossed by unmanned plane, unmanned plane is stopped on electric wire by Qi Xian robot, guarantees work cruise duration, side
Inspection work progress.
The present invention is achieved by the following technical solution: a kind of electric line inspection, which is used, rides line machine for unmanned plane
The executing agency of people's control system, Qi Xian robot connect with unmanned plane, control system include processor, sensor, it is external every
From input module, communication module and execution unit, the flight controller serial ports of the processor and unmanned plane connects two-way
News, for the processor by communication module and execution unit communication connection, the communication module includes RS232 module, CH340 mould
Block and ADDA conversion module, the execution unit include relay circuit, brushless gearless hub motor and brushless motor driver,
The external isolation input module is effective when sensor has signal and is low and level is pulled low to 0V, enables processor
It receives low level signal and prevents processor superpressure from burning；
The flight controller of the processor and unmanned plane is communicated using Transistor-Transistor Logic level, controls unmanned plane by communication data
Movement；
It is communicated between the RS232 module and processor using Transistor-Transistor Logic level；
It is communicated between the CH340 module and processor using Transistor-Transistor Logic level, CH340 module realizes processor and computer
Communication；
The ADDA module receives processor signal and generates analog output to nothing by IIC and processor communication
Brush motor driver；
Processor controls the switching value of brushless motor driver, the brushless motor by the on-off of control relay circuit
Driver is connect with the brushless hub electric motor.
It is further preferred that the processor uses mainstream embedded microprocessor.
Further, STC32F407ZG chip can be selected in the processor.
In the use of the present invention, the switching value that analog quantity and relay circuit that processor control ADDA module generates generate
Brushless motor driver is controlled, realizes that main story, reversion, acceleration, deceleration, brake of brushless hub electric motor etc. act；By outer
Portion's isolation input module comes disturbance in judgement and ambient enviroment to receive external sensor low level signal；Pass through RS232 module
It extends third party device abundant, makes robot that there is scalability；By between processor and UAV Flight Control device
The serial communication of Transistor-Transistor Logic level acts to control unmanned plane, and it is dynamic that Qi Xian robot carries out crossing pole, barrier, online, offline etc.
Make.
By the communication protocol that is provided according to unmanned plane and format using ARM chip and unmanned plane carry out communication control nobody
The flare maneuver of machine, and then Qi Xian robot is assisted to carry out online across barrier, Qi Xian robot is realized using the execution unit of itself
The online inspection of electric wire.
To sum up, Qi Xian robot carries out online inspection in such a way that unmanned plane cooperates and crosses over the obstacle on high-voltage line,
Unmanned plane is stopped on high-voltage line when along line data-logging to save electricity, realizes the effect for extending continuation of the journey, and
By unmanned plane portable people's leaping over obstacles, the obstacle climbing ability of robot is improved.
Detailed description of the invention
Fig. 1 is the module diagram of control system described in the embodiment of the present invention；
Fig. 2 is the module slot circuit diagram of processor chips STC32F407ZG in the embodiment of the present invention；
Fig. 3 is the schematic diagram of relay circuit in the embodiment of the present invention；
Fig. 4 is IIC communication port circuit diagram in the embodiment of the present invention；
Fig. 5 is the circuit diagram of external isolation input module；
Fig. 6 is the circuit diagram of CH340 module；
Fig. 7 is the circuit diagram of RS232 module；
Fig. 8 is that 5V turns 3.3V power supply module circuit diagram.
Specific embodiment
Below by non-limiting embodiment and in conjunction with attached drawing, the present invention is further illustrated:
As shown, the embodiment of the invention provides a kind of Qi Xian robot control of electric line inspection for unmanned plane
The executing agency of system, Qi Xian robot connect with unmanned plane, and control system includes processor, sensor, external isolation input
The flight controller serial ports of module, communication module and execution unit, the processor and unmanned plane connects both-way communication, described
Processor passes through communication module and execution unit communication connection.
The communication module includes RS232 module, CH340 module and ADDA conversion module, the execution unit include after
Appliance circuit, brushless gearless hub motor and brushless motor driver, the external isolation input module have signal in sensor
And it is effective and level is pulled low to 0V when being low, so that processor is received low level signal and prevent processor superpressure
It burns；
The flight controller of the processor and unmanned plane is communicated using Transistor-Transistor Logic level, controls unmanned plane by communication data
Movement；It is communicated between the RS232 module and processor using Transistor-Transistor Logic level；It is used between the CH340 module and processor
Transistor-Transistor Logic level communication, CH340 module communicate processor with computer realization；The ADDA module passes through IIC and processor communication,
It receives processor signal and generates analog output to brushless motor driver；Processor passes through the logical of control relay circuit
The switching value of disconnected control brushless motor driver, the brushless motor driver are connect with the brushless hub electric motor.
The processor uses mainstream embedded microprocessor.STC32F407ZG can be selected in processor in the present embodiment
Chip.
When Qi Xian robot carry unmanned plane carries out online inspection, Qi Xian robot passes through the control of STC32F407ZG chip
Relay circuit processed switchs to be closed the advance of brushless motor driver, and disconnects the brake function of brushless motor driver,
STC32F407ZG chip, which is communicated by IIC with ADDA module, generates one 0 to 5V incremental analog quantity to brushless motor driver
Achieve the effect that an E-Gas, so that brushless gearless hub motor reaches suitable revolving speed, enables a device to load nobody
Machine advances along electric wire.
When Qi Xian robot needs online, offline, leaping over obstacles, STC32F407ZG chip follows fixation by serial ports
Protocol format send instructions to the flight controller of unmanned plane, so that the control unmanned plane completion of UAV Flight Control device is taken off,
The movements such as flight, landing.
Qi Xian robot can be extended as needed by RS232 module, CH340 module, such as extension is supported
The equipment such as bridge, infrared range-measurement system, the GPS locator of RS232 communication, make robot that there are more functions to carry out hoisting machine people
Performance.
Qi Xian robot whole process receives the signal from external isolation input module, external isolation input module when operating
It can connect such as infrared sensor, contact-making switch, limit switch, surrounding is judged by the signal of external isolation input module
Whether environment such as high pressure line position is detached from high-voltage line, whether touches the information such as obstacle.
By the communication protocol that is provided according to unmanned plane and format using ARM chip and unmanned plane carry out communication control nobody
The flare maneuver of machine, and then Qi Xian robot is assisted to carry out online across barrier, Qi Xian robot is realized using the execution unit of itself
The online inspection of electric wire.
It as shown in Fig. 2, is processor ARM Cortex-M4 chip STC32F407ZG module slot circuit diagram, this part
Female by the row of a 17*2 needle, two 20*2 needles rows are female, the row of a 6*2 needle is female, 14*2 needle row's needle is constituted, mating
The ARM Cortex-M4 chip STC32F407ZG core board of original place operating room production, realizes installation, more by way of plug
It changes conveniently.The I/O mouth of matched ARM Cortex-M4 chip STC32F407ZG female to four rows is distributed as follows: B3~B6
It draws spare as PWM delivery outlet；A9 and A10, C10 and C11, C12 and D2, D5 and D6 are respectively as four groups of serial ports and two
RS232 modular circuit is connected；A9 and A10, C10 can draw with C11 in such a way that row's needle of 14*2 needle is by change jumper cap
It out, is the serial ports of Transistor-Transistor Logic level after extraction；D5 and D6 can be connected in such a way that row's needle of 14*2 needle is by change jumper cap
CH340 modular circuit；E0~E6, C13 are connected to relay module circuit, control relay on-off；G2~G7, D8~D15 connect
It is connected to external isolation input modular circuit, receives external low level signal；B8~B9, B10~B11 are connected to IIC communication port electricity
IIC communication is realized with ADDA module in road.
It as shown in Fig. 3, is relay module circuit diagram, this part is made of 8 identical relay circuits, on 3.3V
Power supply is drawn to connect an electric capacity of voltage regulation and a resistance, for signal control one LED light of termination to prompt state, centre is two pole of optocoupler
Pipe, it is logical when control terminal is low level, there is freewheeling diode to release energy by relay, optocoupler leads triode in circuit when logical
The logical actuating of relay.
It as shown in Fig. 4, is IIC communication port circuit diagram, this part includes four pull-up resistors, two pairs of IIC ports, branch
Hold two-way IIC communication.
It as shown in Fig. 5, is external isolation input circuit diagram, this part includes eight groups of identical isolation input circuits, when
External signal becomes making diode current flow when low level, and diode positive direction is pulled low to 0V by 3.3V, receives processor low
Level signal.
As shown in Fig. 6, it is CH340 module circuit diagram, uses the CH340G USB for the SOP-16 encapsulation that WCH company produces
Turn serial port chip, uses a 12MHz crystal oscillator, two 22pF starting of oscillation capacitors.The partial circuit is responsible for logical between processor and PC
Letter.
It as shown in Fig. 7, is RS232 module circuit diagram, the SP3232EEN transceiver encapsulated using SOP-16, the part
Comprising two chips, while supporting four road RS232 communication.
As shown in Fig. 8, turn 3.3V power supply module circuit diagram, AMS1117-3.3 power conversion chip, by 5V power supply for 5V
3.3V power supply is converted to, provides 3.3V power supply and 3.3V pull-up power supply for whole circuit board.
The foregoing is merely a specific embodiment of the invention, are not intended to restrict the invention, for this field
For technical staff, the invention may be variously modified and varied.It is done within the spirit and principles of the present invention any
Modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (3)
1. a kind of electric line inspection, which is used, rides line robot control system for unmanned plane, which is characterized in that Qi Xian robot
Executing agency connect with unmanned plane, control system include processor, sensor, external isolation input module, communication module and
The flight controller serial ports of execution unit, the processor and unmanned plane connects both-way communication, and the processor passes through communication mould
Block and execution unit communication connection, the communication module include RS232 module, CH340 module and ADDA conversion module, described to hold
Row unit includes relay circuit, brushless gearless hub motor and brushless motor driver, and the external isolation input module exists
Sensor has signal and is effective and level is pulled low to 0V, processor is enable to receive low level signal and is prevented when being low
Only processor superpressure is burnt；
The flight controller of the processor and unmanned plane is communicated using Transistor-Transistor Logic level, controls unmanned plane movement by communication data；
It is communicated between the RS232 module and processor using Transistor-Transistor Logic level；
It is communicated between the CH340 module and processor using Transistor-Transistor Logic level, CH340 module communicates processor with computer realization；
The ADDA module receives processor signal and generates analog output to brushless electricity by IIC and processor communication
Machine driver；
Processor controls the switching value of brushless motor driver, the brushless motor driving by the on-off of control relay circuit
Device is connect with the brushless hub electric motor.
2. electric line inspection according to claim 1, which is used, rides line robot control system for unmanned plane, feature exists
In the processor uses mainstream embedded microprocessor.
3. electric line inspection according to claim 2, which is used, rides line robot control system for unmanned plane, feature exists
In the processor uses STC32F407ZG chip.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820585778.7U CN208188681U (en) | 2018-04-24 | 2018-04-24 | A kind of electric line inspection, which is used, rides line robot control system for unmanned plane |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820585778.7U CN208188681U (en) | 2018-04-24 | 2018-04-24 | A kind of electric line inspection, which is used, rides line robot control system for unmanned plane |
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| CN208188681U true CN208188681U (en) | 2018-12-04 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108549405A (en) * | 2018-04-24 | 2018-09-18 | 山东睿朗智能科技有限公司 | A kind of electric line inspection is used rides line robot control system for unmanned plane |
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2018
- 2018-04-24 CN CN201820585778.7U patent/CN208188681U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108549405A (en) * | 2018-04-24 | 2018-09-18 | 山东睿朗智能科技有限公司 | A kind of electric line inspection is used rides line robot control system for unmanned plane |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181204 |
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| CF01 | Termination of patent right due to non-payment of annual fee |