CN210650698U - Power inspection robot distributed framework based on field bus - Google Patents

Power inspection robot distributed framework based on field bus Download PDF

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Publication number
CN210650698U
CN210650698U CN201921416565.2U CN201921416565U CN210650698U CN 210650698 U CN210650698 U CN 210650698U CN 201921416565 U CN201921416565 U CN 201921416565U CN 210650698 U CN210650698 U CN 210650698U
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China
Prior art keywords
module
field bus
inspection robot
control module
power
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CN201921416565.2U
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王秉钧
陈雷动
刘广扩
冯小泽
郎纪成
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Shanghai Rouke Intelligent Technology Co Ltd
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Shanghai Rouke Intelligent Technology Co Ltd
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Abstract

The utility model relates to an electric power patrols and examines robot technical field, in particular to electric power patrols and examines robot distributed architecture based on field bus, including field bus, its characterized in that: the field bus is a high-speed real-time Ethernet field bus arranged in the power inspection robot, and the field bus is connected with a power module, a navigation module, a motion control module, a visible light and infrared detection module, a state indication module, a main control module and a wireless communication module which are arranged in the power inspection robot in a mounting manner. The utility model has the advantages that: the utility model can realize information intercommunication and interoperation of each module; when other functional modules need to be added to the power inspection robot, the power inspection robot can be directly hung on a required module on a field bus, so that the standard modularization degree of a system is greatly improved; when the utility model discloses a power inspection robot goes wrong, can fix a position the problem fast and take place the point, saved the maintenance cost greatly.

Description

Power inspection robot distributed framework based on field bus
Technical Field
The utility model relates to an electric power patrols and examines robot technical field, in particular to electric power patrols and examines robot distributed architecture based on field bus.
Background
The inspection robot is widely applied in the industrial and electric power fields at present, and has the functions of obstacle detection, identification and positioning, autonomous operation planning, autonomous obstacle crossing, autonomous inspection of a power transmission line and a line corridor thereof, automatic storage and remote wireless transmission of a robot body for inspecting images and data, ground remote wireless monitoring and remote control, online real-time supply of electric energy, background inspection operation management, analysis and diagnosis and the like.
The existing electric power inspection robot is designed, developed and expanded according to actually carried products, a centralized control mode of setting an industrial personal computer is adopted, communication interfaces are various, and the interconnection and interoperability of all modules are poor; the centralized control system is easy to be out of control, the reliability is very low, and once the centralized control system is damaged, all the centralized control system needs to be dismantled and the problem points need to be positioned; the centralized control system is complex in wiring, and along with the miniaturization development of the electric power option robot, the centralized control system is not beneficial to simplification of wiring of the robot.
For this reason, it is necessary to design a system that can realize communication control between the respective modules and improve system operability, reliability and maintainability to solve the above problems.
Disclosure of Invention
The utility model discloses a compensate among the prior art various not enough of the inside centralized control system of robot is patrolled and examined to electric power, provide a distributed framework of robot is patrolled and examined to electric power based on field bus.
The utility model discloses a realize through following technical scheme:
the utility model provides a robot distributed architecture is patrolled and examined to electric power based on field bus, includes field bus, its characterized in that:
the field bus is a high-speed real-time Ethernet field bus arranged inside the power inspection robot, and a power module, a navigation module, a motion control module, a visible light and infrared detection module, a state indication module, a main control module and a wireless communication module which are arranged inside the power inspection robot are mounted and connected on the field bus.
Further, for better realization the utility model discloses, power module is through broadcasting the electric quantity information of self in the LAN that field bus belongs to.
Further, for better realization the utility model discloses, motion control module acquires the electric quantity information that power module spreads on field bus, confirms the walking speed that electric power patrolled and examined the robot according to electric quantity information.
Further, for better realization the utility model discloses, main control module acquires the electric quantity information that power module disseminated on field bus, calculates the mileage that can go according to the electric quantity information, confirms whether to go back the charge room and charge.
Further, for better realization the utility model discloses, navigation module sends map information for the motion control module through the point-to-point communication of field bus, and the robot traveles is patrolled and examined to the map information drive electric power that the motion control module obtained according to.
Further, for better realization the utility model discloses, fortune power control module is to the motion state information of field bus broadcast self when driving electric power inspection robot and traveling, and motion state information is monitored by host system.
Further, for better realization the utility model discloses, visible light and infrared detection module are broadcasted the live bus with the real-time image information who gathers, and host system acquires real-time image and carries out mode identification and warning, and host system passes through the live bus communication status indication module after the discernment is reported to the police, and status indication module control status indicator lamp operation suggestion.
Further, for better realization the utility model discloses, wireless communication module acquires field bus's all information to send information all to the distant place backstage.
Further, for better realization the utility model discloses, the distant place backstage is to wireless module issue the instruction, and wireless module passes through field bus with the instruction of acquireing and carries to host system, and host system is to field bus broadcast instruction, hangs all module acquisition instructions on field bus and carries out work.
The utility model has the advantages that: the utility model discloses set up the field bus in the electric power inspection robot, replaced the mode of industrial computer centralized control among the traditional mode, each module in the utility model can realize information intercommunication and interoperation; when other functional modules need to be added to the power inspection robot, the power inspection robot can be directly hung on a required module on a field bus, so that the standard modularization degree of a system is greatly improved; when the utility model discloses a when electric power patrols and examines robot goes wrong, can fix a position the problem fast and take place the point, only need change the module that goes wrong can make electric power patrol and examine robot drop into work again, saved the maintenance cost greatly.
Drawings
Fig. 1 is a schematic diagram of an internal structure of a conventional power inspection robot;
fig. 2 is the utility model discloses electric power inspection robot distributed architecture's based on field bus structure schematic diagram.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only some of the embodiments of the present invention, and not all of them. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiment of the present invention, all other embodiments obtained by the person skilled in the art without creative work belong to the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "middle", "upper", "lower", "horizontal", "inner", "outer", etc. indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which the product of the present invention is usually placed in when in use, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected. Either mechanically or electrically. They may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Some embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Fig. 1 is traditional electric power inspection robot inner structure entity picture, as shown in fig. 1, is provided with the industrial computer as main control module among traditional electric power inspection robot, and other functional module are connected on the industrial computer through various communication structure, and each module all need can operate under the industrial computer intervenes, navigation and motion communication say: the navigation module sends information to the industrial personal computer, the industrial personal computer sends information to the motion module again, the interconnection interoperability among the navigation module and the motion module is basically zero, if the power inspection robot has problems, the power inspection robot is difficult to maintain, all parts need to be dismantled, problem points need to be checked one by one, and the maintenance cost is extremely high.
Fig. 2 is a concrete embodiment of the utility model, this embodiment is a robot distributed architecture is patrolled and examined to electric power based on field bus, and he has replaced traditional electric power and has patrolled and examined the industrial computer centralized control system of robot, sets up high-speed real-time ethernet field bus in the robot is patrolled and examined to electric power, carries power module, navigation module, motion control module, visible light and infrared detection module, status indication module, host system and wireless communication module on the field bus.
The specific principle of the embodiment is as follows:
1) the power supply module broadcasts the electric quantity information of the power supply module on a network of a field bus, and the motion control module determines the walking speed according to the electric quantity information of the power supply module; the main control module calculates the driving mileage according to the electric quantity information, determines whether to charge the charging room, and the wireless module sends the power supply information to a remote background;
2) the navigation module sends map information to the motion control module through point-to-point communication, and the motion control module drives the robot to run according to the map information; meanwhile, the motion control module broadcasts the motion state of the motion control module, the main control module monitors the motion state, and the wireless module sends the motion state information to a remote background;
3) the visible light and infrared detection module is used for sending the sampled real-time image information to a remote background through the wireless module, and sending the image information needing alarm identification to the main control module, and the main control module is used for carrying out mode identification and alarm;
4) after the main control module identifies alarm according to the image information, the main control module communicates with the status indicator lamp to alarm, and sends alarm information to a remote background through the wireless module;
5) the remote background sends commands such as start and stop commands to the main control module through the wireless module, and the main control module broadcasts the commands to command the modules to work.
Through the above manner, the remote background can acquire battery information, motion state information, real-time video information and alarm information at any time; the main control module can directly obtain battery information, motion state information and image information through a field bus, and then directly controls the motion control module and the state indication module through the field bus; the motion control module can acquire map information, electric quantity information and a control command of the main control module through a field bus; the indicating module can acquire battery information and state information sent by the main control module through the field bus.
The field bus in this embodiment has replaced the centralized information processing control mechanism of well control computer among the traditional electric power inspection robot, transfer control ability in the middle of each module, make the control system structure of electric power inspection robot possess high dispersibility, and then promoted the reliability of system, follow-up need increase function module only need hang last corresponding module can, can fix a position the problem point fast when the problem appears, can change the problem module at any time, the maintenance cost of electric power inspection robot has been saved greatly.
Finally, the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and other modifications or equivalent replacements made by the technical solutions of the present invention by those of ordinary skill in the art should be covered within the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solutions of the present invention.

Claims (9)

1. The utility model provides a robot distributed architecture is patrolled and examined to electric power based on field bus, includes field bus, its characterized in that:
the field bus is a high-speed real-time Ethernet field bus arranged inside the power inspection robot, and a power module, a navigation module, a motion control module, a visible light and infrared detection module, a state indication module, a main control module and a wireless communication module which are arranged inside the power inspection robot are mounted and connected on the field bus.
2. The fieldbus-based power inspection robot distributed architecture of claim 1, in which: the power supply module broadcasts the electric quantity information of the power supply module in a local area network where the field bus is located.
3. The fieldbus-based power inspection robot distributed architecture of claim 2, in which: the motion control module acquires electric quantity information diffused by the power supply module on a field bus, and determines the walking speed of the electric power inspection robot according to the electric quantity information.
4. The fieldbus-based power inspection robot distributed architecture of claim 1, in which: the main control module acquires the electric quantity information diffused by the power supply module on a field bus, calculates the driving mileage according to the electric quantity information and determines whether to charge the rechargeable room.
5. The fieldbus-based power inspection robot distributed architecture of claim 1, in which: the navigation module sends the map information to the motion control module through field bus point-to-point communication, and the motion control module drives the power inspection robot to run according to the acquired map information.
6. The fieldbus-based power inspection robot distributed architecture of claim 5, in which: the power transmission control module broadcasts the motion state information of the power transmission inspection robot to the field bus when the power transmission inspection robot is driven to run, and the motion state information is monitored by the main control module.
7. The fieldbus-based power inspection robot distributed architecture of claim 1, in which: the visible light and infrared detection module broadcasts the acquired real-time image information to a field bus, the main control module acquires the real-time image to perform mode identification and alarm, the main control module communicates with the state indicating module through the field bus after identification and alarm, and the state indicating module controls the state indicating lamp to perform operation prompt.
8. The fieldbus based power inspection robot distributed architecture of any one of claims 1 to 7, wherein: the wireless communication module acquires background related information of the field bus and transmits all the information to a remote background.
9. The fieldbus-based power inspection robot distributed architecture of claim 8, in which: the remote background issues an instruction to the wireless module, the wireless module transmits the acquired instruction to the main control module through the field bus, the main control module broadcasts the instruction to the field bus, and all modules hung on the field bus acquire the instruction to work.
CN201921416565.2U 2019-08-29 2019-08-29 Power inspection robot distributed framework based on field bus Active CN210650698U (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110524556A (en) * 2019-08-29 2019-12-03 上海柔克智能科技有限公司 A kind of robot distributed framework of fieldbus based electric inspection process
CN112617695A (en) * 2020-12-21 2021-04-09 正从科技(上海)有限公司 Maintenance method and system suitable for artificial intelligent cleaning robot

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110524556A (en) * 2019-08-29 2019-12-03 上海柔克智能科技有限公司 A kind of robot distributed framework of fieldbus based electric inspection process
CN112617695A (en) * 2020-12-21 2021-04-09 正从科技(上海)有限公司 Maintenance method and system suitable for artificial intelligent cleaning robot

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