CN214151455U - Transformer substation inspection robot control system - Google Patents
Transformer substation inspection robot control system Download PDFInfo
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- CN214151455U CN214151455U CN202120474498.0U CN202120474498U CN214151455U CN 214151455 U CN214151455 U CN 214151455U CN 202120474498 U CN202120474498 U CN 202120474498U CN 214151455 U CN214151455 U CN 214151455U
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Abstract
The utility model relates to a transformer substation patrols and examines robot control system, including ground station system, mobile station system, motion control system and wireless communication system, mobile station system carries out the data interaction through wireless communication system and ground station system, mobile station headtotail motion control system, mobile station system are used for detecting and patrol and examine robot surrounding environment and acquire environmental information and convey ground station system, motion control system is used for controlling the motion state of patrolling and examining the robot. The intelligent control system can be used for accurately monitoring the indoor surrounding environment of the transformer substation, avoiding obstacles in front, increasing the safety and reliability of inspection work, promoting the popularization and application of intelligent and unmanned transformer substations, and obviously improving the accuracy, real-time performance and reliability of state detection of transformer substation equipment.
Description
Technical Field
The utility model relates to an intelligent robot equipment technical field especially relates to a transformer substation patrols and examines robot control system.
Background
Along with the rapid development of economy in China, the living standard of people is remarkably improved, and a large amount of electrical equipment is widely used at home, so that the power demand is increased more and more. And thus, there is an urgent need for the development of power systems. The power system is forced to develop towards the directions of high intelligence, high power, high reliability and the like, higher requirements are put on the operation and maintenance of the daily substation, and more difficulties are brought. To date, most transformer substations in China all adopt a manual inspection mode to overhaul possible faults of the transformer substations, and the mode has great disadvantages in modern social life: higher intensity of labour, patrol and examine inefficiency, have the potential safety hazard, patrol and examine the quality and receive staff's mood and physical influence, weather factor to patrolling and examining the quality influence great, only rely on staff's experience and sense organ to judge, it is difficult to accomplish objective, accurate judgement, this will leave a great deal of potential safety hazard for the facility. The quality of the overhaul will depend to a large extent on the subjective judgment of the substation workers, whose data is lack of authority. Meanwhile, due to a plurality of factors such as climate and environment, the safety of transformer substation workers is threatened to a certain extent. Therefore, developing a transformer substation intelligent inspection robot which can replace transformer substation workers to a certain extent becomes a hot spot problem in the recent power industry.
Disclosure of Invention
An object of the utility model is to provide a transformer substation of mainly used outdoor transformer substation patrols and examines robot intelligence control system, and it carries multiple environmental sensor and camera, can monitor the inside field device of transformer substation and surrounding environment, has reduced the personal risk when fortune dimension personnel come the on-the-spot processing trouble.
In order to realize the above-mentioned purpose, the utility model discloses a technical scheme do, a transformer substation patrols and examines robot control system, including ground station system, mobile station system, motion control system and wireless communication system, the mobile station system passes through wireless communication system with the ground station system carries out data interaction, mobile station headtotail motion control system, ground station system is used for realizing the remote monitoring of ground terminal pair removal end and through the ground station system to mobile station system sends control command, mobile station system is used for detecting and patrols and examines robot surrounding environment and acquire environmental information and convey ground station system, motion control system is used for controlling the motion state of patrolling and examining the robot.
As an improvement of the utility model, the ground station system adopts a computer, the wireless communication system adopts a wireless Wi-Fi communication module, the mobile station system comprises a power module, an MSP432 main control board, a sensor module, a camera, a serial port, an I2C communication module and an A/D conversion module, the motion control system comprises a mechanical arm module, a motor driver and a steering engine, the computer is connected with the wireless Wi-Fi communication module, the power module supplies power for the wireless communication system, the mobile station system and the motion control system, the sensor module is connected with the MSP432 main control board through the A/D conversion module or the I2C communication module in sequence, the camera is connected with the wireless Wi-Fi communication module, the wireless Wi-Fi communication module is connected with the MSP432 main control board through the serial port, the motor is connected with the MSP432 main control board through the motor driver C, the steering engine is connected with the MSP432 main control board, and the steering engine is connected with the mechanical arm module in a transmission mode and drives the mechanical arm module to move.
As an improvement of the utility model, the sensor module includes but is not limited to ambient light sensor, warm and humid acidimeter sensor, baroceptor, infrared non-contact temperature sensor, ultrasonic ranging sensor and alcohol detection sensor.
As an improvement of the utility model, environment light sensor adopts the OPT3001 device, the warm and humid acidimeter sensor adopts HDC1080, baroceptor adopt BMP280, infrared non-contact temperature sensor adopts TMP006, alcohol detects the sensor and adopts MQ-3.
As an improvement of the utility model, MSP432 main control board adopts MSP-EXP432P401R microcontroller design to realize, wireless Wi-Fi communication module adopts CC3200 network processor design to realize.
As an improvement of the utility model, power module adopts the battery power supply board, be equipped with board battery case, lithium cell, battery charge and discharge control chip, the input of charging and external power supply line on the battery power supply board, the lithium cell is installed in board battery case, and battery charge and discharge control chip is all connected to lithium cell, charge input and external power supply line.
As an improvement of the utility model, the battery charge and discharge control chip adopts the design of BQ24133 chip to realize.
As an improvement of the utility model, power module still includes voltage stabilizing circuit, voltage stabilizing circuit adopts switching voltage regulator LM2596 design to realize.
As an improvement of the utility model, the steering wheel includes steering wheel driver and five way digital steering wheel, and all digital steering wheel pass through the steering wheel driver and connect MSP432 main control board, the quantity of motor is two, is speed motor and direction motor respectively, and two motors all adopt direct current gear motor.
As an improvement of the utility model, the motor driver adopts the design of DRV8848 chip to realize.
Compared with the prior art, the system of the utility model has the advantages of ingenious design of the whole structure, easy realization and low manufacturing cost, and the inspection robot utilizing the system can shoot the front environment through the high-definition color camera at the front end, and the generated image is transmitted back to the computer in a wireless mode; the MSP432 main control board is designed and realized by adopting an MSP-EXP432P401R microcontroller, and the MSP432 main control board uses the MSP-EXP432P401R microcontroller as a main control chip to control a motor, a mechanical arm steering engine and various sensors; the wireless Wi-Fi communication module is designed and realized by adopting a CC3200 network processor, realizes a wireless Wi-Fi communication function by using a CC3200 wireless MCU, realizes communication with a computer by the chip, and transmits mobile station data to a ground station. Meanwhile, the intelligent unmanned substation has various environment sensors, can accurately monitor the surrounding environment, can avoid obstacles in front, improves the safety and reliability of inspection work, promotes the popularization and application of intelligent and unmanned substations, and obviously improves the accuracy, real-time performance and reliability of substation equipment state detection.
Drawings
Fig. 1 is a block diagram of the intelligent control system of the substation inspection robot provided by the utility model;
fig. 2 is a schematic diagram of a minimum system of the MSP-EXP432P401R master control chip of the MSP432 master control board in the system of the present invention;
fig. 3 is a diagram of the communication wiring between the sensor module and the MSP432 main control board in the system proposed by the present invention;
fig. 4 is a schematic circuit diagram of a sensor OPT3001 of a sensor module in the system of the present invention;
fig. 5 is a schematic diagram of a sensor HDC1080 circuit of a sensor module in the system of the present invention;
fig. 6 is a schematic circuit diagram of a sensor BMP280 of a sensor module in the system according to the present invention;
fig. 7 is a schematic circuit diagram of a sensor TMP006 of a sensor module in the system according to the present invention;
fig. 8 is a schematic diagram of a sensor MQ-3 circuit of a sensor module in the system of the present invention;
fig. 9 is a circuit diagram of the application of the main control chip DRV8848 of the motor driver in the system proposed by the present invention.
Detailed Description
For the purposes of promoting an understanding and appreciation of the invention, the invention will be further described and illustrated in connection with the accompanying drawings.
With the development of the detection work of the transformer substation in the power industry in China toward automation and the rapid development of the mobile robot technology, the inspection robot is used for completely replacing workers or partially replacing workers in the transformer substation to complete the inspection work, and the development trend of field inspection of the automatic transformer substation in future is certainly reached.
As shown in fig. 1, a transformer substation inspection robot control system includes a ground station system, a mobile station system, a motion control system and a wireless communication system, where the mobile station system performs data interaction with the ground station system through the wireless communication system, and the ground station system can display state information and image information transmitted back by a robot, so as to realize remote monitoring of a mobile terminal at the ground terminal, and simultaneously send an instruction to the mobile station through the ground station system, so as to control the mobile station to a certain extent. The mobile station system is connected with the motion control system, the mobile station system is used for detecting the surrounding environment of the inspection robot and acquiring environmental information to be transmitted to the ground station system, the motion control system is used for controlling the motion state of the inspection robot, and different motion states of the intelligent inspection robot, such as straight line walking, turning and the like, are realized through the motion control system.
The ground station system adopts a computer, the wireless communication system adopts a wireless Wi-Fi communication module, the mobile station system comprises a power module, an MSP432 main control board, a sensor module, a camera, a serial port, an I2C communication module and an A/D conversion module, and the motion control system comprises a mechanical arm module, a motor driver and a steering engine. The computer is connected with the wireless Wi-Fi communication module, the power supply module supplies power to the wireless communication system, the mobile station system and the motion control system, the power supply module adopts 12V direct current voltage input to stabilize and filter the voltage, 3.3V direct current voltage and 5V direct current voltage are provided for the whole system, and 9V direct current voltage is provided for the motor. The sensor module is connected with the MSP432 main control board through an A/D conversion module or an I2C communication module in sequence, and the A/D conversion module receives sensor data of transmission analog quantity and converts the sensor data into digital signals for processing by the MSP432 main control board. The camera is connected with the wireless Wi-Fi communication module, is arranged at the top end of the front part of the robot and is used for capturing visual information of the environment around the robot. The wireless Wi-Fi communication module is connected with the MSP432 main control board through a serial port, the motor is connected with the MSP432 main control board through a motor driver, the steering engine is connected with the MSP432 main control board, the steering engine is in transmission connection with the mechanical arm module and drives the mechanical arm module to move, the mechanical arm has six-direction movement characteristics, and the operation on a target in a specified direction can be realized. The MSP432 main control board can carry out drive control to the motor and the steering engine of arm to accomplish various actions.
The MSP432 main control board is designed and realized by adopting an MSP-EXP432P401R microcontroller, and the MSP432 main control board uses the MSP-EXP432P401R microcontroller as a main control chip to control a motor, a steering engine of a mechanical arm and various sensors; the wireless Wi-Fi communication module is designed and realized by adopting a CC3200 network processor, realizes a wireless Wi-Fi communication function by using a CC3200 wireless MCU, realizes communication with a computer by the chip, and transmits mobile station data to a ground station. And the control of the mechanical arm module is realized by controlling the steering engine.
As shown in fig. 2, the MSP432 main control board is composed of a minimum system of the MSP-EXP432P401R main control chip and necessary peripheral circuits, and can complete the functions of driving the motor and the steering engine and reading data of each sensor.
The wireless Wi-Fi communication module is composed of a CC3200-LAUNCHXL chip, an S-Flash chip and necessary peripheral circuits, and functions of camera image acquisition, communication between the robot and a computer and the like are achieved. The CC3200 is a wireless Wi-Fi module integrated with an ARM Cortex-M4 MCU with the running frequency of 80MHz and high performance, and the device further comprises a plurality of peripheral devices: fast parallel camera interface, I2C, SD/MMC, UART, etc. In addition, an additional dedicated MCU is included in the subsystem of the CC3200 network processor, and the MCU is used to completely eliminate the operation burden of the application MCU. This subsystem contains 802.11 b/g/n rf, baseband and MAC with powerful encryption engine to achieve 256 bit encrypted secure internet connection. The CC3200 device supports base station, access point and Wi-Fi direct mode. This device also supports WPA2 personal and enterprise security and WPS 2.0. The Wi-Fi on-chip Internet includes embedded TCP/IP and TLS/SSL stacks, an HTTP server, and multiple Internet protocols.
The sensor module integrates an ambient light sensor, an air pressure sensor, a temperature and humidity sensor, an infrared non-contact temperature sensor, an ultrasonic distance measuring sensor and an alcohol detection sensor. Between the sensor module and the main control chip adopts I2C busA message protocol. I is2The C-bus was a serial bus introduced by PHLIPS corporation in the 80's of the 20 th century. The method has the advantages of few pins, simple hardware implementation, strong expandability, support of multiple main controls and the like. I is2And C, communicating with the plurality of slaves through two data lines, wherein the data lines are SDA and SCL respectively, the serial data line SDA and the serial clock line SCL are both bidirectional I/O data lines, and the interface circuit is in an open-drain output mode. The power source VCC needs to be connected through a pull-up resistor. Any device on the bus capable of sending/receiving data can seize the bus. The communication protocol can be divided into two layers: a physical layer and a protocol layer. The physical layer is the guarantee of data transmission in a physical medium; the protocol layer mainly specifies communication logic, and the data packing and unpacking standards of the same transceiver and the transmitter are the same. The communication wiring diagram between the sensor module and the main control chip of the MSP432 main control board is shown in fig. 3.
Preferably, the ambient light sensor is an OPT3001 device, and the OPT3001 is a single-chip illuminometer capable of measuring light intensity like human eyes. The OPT3001 device has both precise frequency spectrum response and strong IR blocking function, so that the light intensity can be accurately lightened like human eyes without being influenced by a light source. The sensor OPT3001 circuit schematic is shown in fig. 4.
The hygrothermograph sensor adopts the HDC1080, and the HDC1080 is a digital humidity sensor with an integrated temperature sensor, which can provide excellent measurement accuracy with ultra-low power consumption, and simultaneously support a wide operating voltage range. The sensor HDC1080 circuit schematic is shown in fig. 5.
The air pressure sensor adopts BMP280, and the BMP280 is an absolute air pressure sensor specially designed for mobile application. Has high precision and linearity, long-term stability and high EMC robustness. The schematic circuit diagram of the sensor BMP280 is shown in fig. 6.
The infrared non-contact temperature sensor adopts TMP006, and the TMP006 is the first monolithic digital wireless infrared MEMS temperature sensor in the world derived from TI, and is mainly applied to portable consumer electronics to realize non-contact temperature measurement. The schematic diagram of the sensor TMP006 circuit is shown in fig. 7.
The alcohol detection sensor adopts MQ-3. MQ-3 is a sensor for detecting alcohol vapor gas, and the detectable concentration range is 0.04-4 mg/L alcohol. The schematic diagram of the sensor MQ-3 circuit is shown in FIG. 8.
The power module adopts a battery power supply board, adopts three 18650 lithium batteries to supply power in series, and the total voltage of the battery power supply is 11.1V. The battery power supply board is provided with an onboard battery box, a lithium battery, a battery charge and discharge control chip, a charge input end and an external power supply line, the lithium battery is installed in the onboard battery box, and the lithium battery, the charge input end and the external power supply line are all connected with the battery charge and discharge control chip.
Preferably, the battery charge and discharge control chip is designed and realized by adopting a BQ24133 chip. BQ24133 is a highly integrated stand-alone lithium ion and lithium polymer switch mode battery charger with two integrated N-channel power MOSFETs to allow fine-grained regulation of input current, charging current and charging voltage.
In addition, the power supply module further comprises a voltage stabilizing circuit which is designed and realized by adopting a switch voltage regulator LM 2596. The LM2596 can output 3A driving current to the maximum, has good linear characteristic and load regulation characteristic, can output 3.3V, 5V, 12V and the like, and can output voltage as high as 37V to the maximum.
The steering wheel includes steering wheel driver and five way digital steering wheel, and all digital steering wheel pass through the steering wheel driver and connect MSP432 main control board, arm module have adopted four digital steering wheel to constitute, possess four degrees of freedom, and four digital steering wheel all adopt metal gear, and moment is big, can accomplish the operation of snatching general object. The camera adopts the camera of at least 200W pixel, can realize the network camera function in the LAN, receives a digital steering engine control can realize pitching the motion. The number of the motors is two, namely a speed motor and a direction motor, the two motors are both direct current speed reduction motors, the motors can be kept stable in low-speed operation, and certain overload capacity is realized.
As shown in fig. 9, the motor driver is implemented by adopting a DRV8848 chip design, and performs speed control and direction control on the two dc speed reduction motors. The DRV8848 chip is a double H bridge motor drive, can be used for driving one or two direct current motors and a bipolar stepping motor, and can be easily connected to a controller circuit by only utilizing a PWM interface.
The intelligent inspection robot of the transformer substation depending on the intelligent control system can shoot the front environment through a high-definition color camera at the front end, and a generated image is transmitted back to a computer in a wireless mode; meanwhile, the mechanical arm at the front end of the robot can process the simple faults and greatly shorten the time for the faults. The robot also has various sensors, can accurately monitor the surrounding environment, can avoid obstacles in front, increases the safety and reliability of inspection work, promotes the popularization and application of intelligent and unmanned transformer substations, and obviously improves the accuracy, real-time performance and reliability of transformer substation equipment state detection.
The technical means disclosed by the scheme of the present invention is not limited to the technical means disclosed by the above embodiments, but also includes the technical scheme formed by the arbitrary combination of the above technical features. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications are also considered as the protection scope of the present invention.
Claims (10)
1. The utility model provides a transformer substation patrols and examines robot control system which characterized in that: including ground station system, mobile station system, motion control system and wireless communication system, the mobile station system passes through wireless communication system with the ground station system carries out data interaction, the mobile station headtotail the motion control system, the ground station system be used for realizing the remote monitoring of moving the end at ground end and through the ground station system to the mobile station system sends control command, the mobile station system is used for detecting patrolling and examining robot surrounding environment and obtains environmental information and convey ground station system, the motion control system is used for controlling the motion state of patrolling and examining the robot.
2. The substation inspection robot control system according to claim 1, wherein the ground station system employs a computer, the wireless communication system employs a wireless Wi-Fi communication module, the mobile station system includes a power supply module, an MSP432 main control board, a sensor module, a camera, a serial port, an I2C communication module, and an a/D conversion module, the motion control system includes a robot arm module, a motor driver, and a steering engine, the computer is connected with the wireless Wi-Fi communication module, the power supply module supplies power to the wireless communication system, the mobile station system, and the motion control system, the sensor module is connected with the MSP432 main control board through the a/D conversion module or the I2C communication module, the camera is connected with the wireless Wi-Fi communication module, the wireless Wi-Fi communication module is connected with the MSP432 main control board through the serial port, the motor is connected with the MSP432 main control board through the motor driver, the steering engine is connected with the MSP432 main control board, and the steering engine is connected with the mechanical arm module in a transmission mode and drives the mechanical arm module to move.
3. The substation inspection robot control system according to claim 2, wherein the sensor modules include, but are not limited to, ambient light sensors, thermo-hygrometer sensors, barometric pressure sensors, infrared non-contact temperature sensors, ultrasonic ranging sensors, and alcohol detection sensors.
4. The substation inspection robot control system according to claim 3, wherein the ambient light sensor is an OPT3001 device, the hygrothermograph sensor is an HDC1080, the barometric sensor is a BMP280, the infrared non-contact temperature sensor is a TMP006, and the alcohol detection sensor is MQ-3.
5. The substation inspection robot control system according to claim 2, wherein the MSP432 master control board is implemented by an MSP-EXP432P401R microcontroller design, and the wireless Wi-Fi communication module is implemented by a CC3200 network processor design.
6. The substation inspection robot control system according to claim 2 or 5, wherein the power module adopts a battery power supply board, an on-board battery box, a lithium battery, a battery charge and discharge control chip, a charge input end and an external power supply line are arranged on the battery power supply board, the lithium battery is installed in the on-board battery box, and the lithium battery, the charge input end and the external power supply line are all connected with the battery charge and discharge control chip.
7. The substation inspection robot control system according to claim 6, wherein the battery charge and discharge control chip is implemented by adopting a BQ24133 chip design.
8. The substation inspection robot control system according to claim 7, wherein the power module further comprises a voltage regulator circuit, and the voltage regulator circuit is implemented by adopting a switching voltage regulator LM2596 design.
9. The substation inspection robot control system according to claim 2, wherein the steering engines comprise steering engine drivers and five-way digital steering engines, all the digital steering engines are connected with the MSP432 main control board through the steering engine drivers, the number of the motors is two, the motors are respectively a speed motor and a direction motor, and both the motors adopt direct-current speed reduction motors.
10. The substation inspection robot control system according to claim 9, wherein the motor driver is implemented using a DRV8848 chip design.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114734467A (en) * | 2022-05-24 | 2022-07-12 | 重庆大学 | Reconfigurable group robot finger control platform and obstacle crossing control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114734467A (en) * | 2022-05-24 | 2022-07-12 | 重庆大学 | Reconfigurable group robot finger control platform and obstacle crossing control method |
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Assignee: JIANGSU LONSON INTELLIGENT TECHNOLOGY CO.,LTD. Assignor: JINLING INSTITUTE OF TECHNOLOGY Contract record no.: X2022320000016 Denomination of utility model: A control system of substation inspection robot Granted publication date: 20210907 License type: Common License Record date: 20220118 |