CN104881031A - Power system track type automatic inspection robot - Google Patents
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Abstract
本发明提出一种电力系统轨道式自动巡检机器人。包括运行轨道、在运行轨道上运行的机器人本体、搭载在机器人本体上的多个检测传感器；所述机器人本体包括轨道小车、第一同步带线性模组、第二同步带线性模组；所述轨道小车吊装在运行轨道上；所述第一同步带线性模组安装在轨道小车并垂直与地面；所述第二同步带线性模组安装在第一同步带线性模组上。本发明运动方位精确，可以实现前后、上下和左右三个方向上自由运动；检测范围广，可完成包括局部放电信息在内的检测信息；可以将自身运动信息以及被测设备的监控信息实时传送给PC终端。
The invention proposes a rail-type automatic inspection robot for a power system. It includes a running track, a robot body running on the running track, and a plurality of detection sensors mounted on the robot body; the robot body includes a track trolley, a first synchronous belt linear module, and a second synchronous belt linear module; the The track car is hoisted on the running track; the first synchronous belt linear module is installed on the track car and perpendicular to the ground; the second synchronous belt linear module is installed on the first synchronous belt linear module. The invention has precise movement orientation and can realize free movement in front, back, up and down and left and right directions; it has a wide detection range and can complete the detection information including partial discharge information; it can transmit its own movement information and the monitoring information of the tested equipment in real time to the PC terminal.
Description
技术领域technical field
本发属于电力技术领域，具体涉及一种电力系统轨道式自动巡检机器人。The invention belongs to the technical field of electric power, and in particular relates to a rail-type automatic inspection robot for electric power systems.
背景技术Background technique
随着我国用电用户数量的不断增加，用户对用电质量的要求不断提升，保证用电设备的正常运行至关重要。配电是电力系统中直接与用户相连并向用户分配电能的环节。由于配电系统作为电力系统的最后一个环节直接面向终端用户，它的完善与否直接关系着广大用户的用电可靠性和用电质量。因此，配电房内的设备，如开关柜等的巡检工作是保证配电设备安全运行，提高供电可靠性的一项基础工作。With the continuous increase of the number of electricity users in our country, the user's requirements for the quality of electricity consumption are constantly improving, and it is very important to ensure the normal operation of electrical equipment. Power distribution is the link in the power system that is directly connected to users and distributes electric energy to users. As the last link of the power system, the power distribution system directly faces the end users, and its perfection is directly related to the reliability and quality of power consumption of the majority of users. Therefore, the inspection of equipment in the power distribution room, such as switch cabinets, is a basic task to ensure the safe operation of power distribution equipment and improve the reliability of power supply.
随着电力系统自动化水平的提高以及无人值守的普及，设备运行的安全性受到更加严格的考验，配电房巡检也就受到了更大的重视。目前，国内大多数配电房均采用传统的人工巡检方式，由于受巡检人员劳动强度、业务水平、责任心和精神状态等诸多因素的制约，漏检、误检情况时有发生，严重时会造成重大经济损失。因此，传统的人工巡检已经不能满足不了电力系统现代化发展的要求，人工巡检逐步由巡检机器人代替。With the improvement of the automation level of the power system and the popularization of unattended operation, the safety of equipment operation is subject to more stringent tests, and the inspection of power distribution rooms has also received greater attention. At present, most power distribution rooms in China adopt the traditional manual inspection method. Due to the constraints of many factors such as labor intensity, professional level, responsibility and mental state of the inspectors, missed inspections and false inspections occur from time to time, which is serious. would cause significant economic losses. Therefore, the traditional manual inspection can no longer meet the requirements of the modern development of the power system, and the manual inspection is gradually replaced by inspection robots.
现有的巡检机器人多采用轮式或履带式驱动，通过云台携带检测装置，以自主或遥控的方式，在无人值守或少人值守的电力设备区域进行巡检。它可以通过携带的各种传感器，完成电力设备的图像巡视、红外检测等。操作人员只需通过后台计算机收到的数据、图像等信息，即可完成电力设备的巡检工作。目前，已有应用在变电站等室外场所的电力设备巡检机器人，而应用在配电房等室内场所的巡检机器人则还没有，且在巡检时存在以下缺点：Most of the existing inspection robots are driven by wheels or crawlers, and carry detection devices through the pan/tilt, and conduct inspections in unattended or few-attended power equipment areas in an autonomous or remote manner. It can complete the image inspection and infrared detection of power equipment through various sensors carried. Operators only need to use the data, images and other information received by the background computer to complete the inspection of power equipment. At present, there are power equipment inspection robots used in outdoor places such as substations, but there are no inspection robots used in indoor places such as power distribution rooms, and there are the following shortcomings in inspections:
现有的巡检机器人多采用轮式或履带式驱动，由于配电房内电力设备布局及空间限制，不方便运行到达待检测的设备，也不方便开展检测工作；由于开关柜等电力设备上的仪器仪表数量众多，都处在不同的位置，要对这些仪器的信息进行检测，需要巡检机器人能够实现前后、上下和左右三个方向全方位的运行，以便精确到达相应的仪器仪表正前方以完成检测，而现有的巡检机器人只能在某一固定的高度通过云台调节俯仰角进行检测，检测的数据范围有限；现有的巡检机器人功能单一，只能完成照片及视频的采集，无法对开关柜等电力设备内部的局部放电现象进行检测；现有的巡检机器人不具有与PC终端进行实时通信的功能，自身的运动状态和采集到的数据不能得到及时监控和处理并反馈给工作人员。Most of the existing inspection robots are driven by wheels or crawlers. Due to the layout and space constraints of the power equipment in the power distribution room, it is inconvenient to run to the equipment to be tested, and it is also inconvenient to carry out inspection work; There are a large number of instruments and meters in different positions. To detect the information of these instruments, it is necessary for the inspection robot to be able to realize all-round operation in three directions, front and rear, up and down, and left and right, so as to accurately reach the front of the corresponding instruments and meters. In order to complete the inspection, the existing inspection robot can only perform inspection at a fixed height by adjusting the pitch angle of the pan/tilt, and the detection data range is limited; the existing inspection robot has a single function and can only complete photo and video collection, it is impossible to detect the partial discharge phenomenon inside the switchgear and other power equipment; the existing inspection robot does not have the function of real-time communication with the PC terminal, and its own motion status and collected data cannot be monitored and processed in time. Feedback to staff.
发明内容Contents of the invention
本发明的目的在于克服上述现有技术的不足，提供一种电力系统轨道式自动巡检机器人，运动方位精确，可以实现前后、上下和左右三个方向上自由运动；检测范围广，可完成包括局部放电信息在内的检测信息；巡检时，机器人可以将自身运动信息以及被测设备的监控信息通过无线方式实时传送给PC终端。The purpose of the present invention is to overcome the above-mentioned deficiencies in the prior art, and provide a track-type automatic inspection robot for electric power system, which has precise motion orientation and can realize free movement in three directions: front and rear, up and down, and left and right; it has a wide detection range and can complete Detection information including partial discharge information; during inspection, the robot can transmit its own motion information and monitoring information of the equipment under test to the PC terminal in real time through wireless means.
为了解决上述技术问题，本发明提供一种电力系统轨道式自动巡检机器人，包括运行轨道、在运行轨道上运行的机器人本体、搭载在机器人本体上的多个检测传感器；所述运行轨道安装在配电房顶部位于待检测设备的斜上方，为机器人本体提供运行轨迹；所述机器人本体包括轨道小车、第一同步带线性模组、第二同步带线性模组；所述轨道小车吊装在运行轨道上，将机器人本体运送到待检测设备的前方；所述第一同步带线性模组安装在轨道小车并垂直与地面，用于在上下方向移动其搭载的检测传感器；所述第二同步带线性模组安装在第一同步带线性模组上，且与第一同步带线性模组垂直，用于在水平方向内移动其搭载的检测传感器；所述多个检测传感器分别搭载在第一同步带线性模组和第二同步带线性模组上。In order to solve the above technical problems, the present invention provides a rail-type automatic inspection robot for electric power system, which includes a running track, a robot body running on the running track, and a plurality of detection sensors mounted on the robot body; the running track is installed on The top of the power distribution room is located obliquely above the equipment to be tested, providing a running track for the robot body; the robot body includes a rail trolley, a first synchronous belt linear module, and a second synchronous belt linear module; the rail trolley is hoisted in operation On the track, the robot body is transported to the front of the equipment to be tested; the first synchronous belt linear module is installed on the track trolley and perpendicular to the ground, and is used to move the detection sensor carried by it in the up and down direction; the second synchronous belt The linear module is installed on the first synchronous belt linear module, and is perpendicular to the first synchronous belt linear module, and is used to move the detection sensors carried by it in the horizontal direction; the plurality of detection sensors are respectively carried on the first synchronous belt linear module. Belt linear module and second timing belt linear module.
进一步，所述轨道小车包括底板、一对或多对车轮、直流电机；所述车轮安装在运行轨道上，其转动轴通过连接件固定在所述底板上；所述直流电机用于驱动所述车轮转动。Further, the track trolley includes a base plate, one or more pairs of wheels, and a DC motor; the wheels are installed on the running track, and their rotating shafts are fixed on the base plate through a connecting piece; the DC motor is used to drive the The wheels turn.
进一步，所述第一同步带线性模组包括第一直杆、第一步进电机、第一传送带和第一同步带线性模组滑块；所述第一直杆的一端与所述轨道小车固定，用于为所述第一同步带线性模组滑块提供在垂直方向上进行上下运动的路径；所述第一同步带线性模组滑块与第一传送带相连并套在第一直杆上，所述第一传送带两端固定在第一直杆上；所述第一步进电机安装在第一直杆的一端用于带动所述第一传送带运动；所述搭载在第一同步带线性模组上的检测传感器固定在第一同步带线性模组滑块上。Further, the first synchronous belt linear module includes a first straight rod, a first stepping motor, a first conveyor belt, and a first synchronous belt linear module slider; one end of the first straight rod is connected to the track trolley fixed, used to provide a path for the first synchronous belt linear module slider to move up and down in the vertical direction; the first synchronous belt linear module slider is connected to the first conveyor belt and set on the first straight rod Above, the two ends of the first conveyor belt are fixed on the first straight rod; the first stepper motor is installed on one end of the first straight rod to drive the first conveyor belt to move; The detection sensor on the linear module is fixed on the slide block of the first synchronous belt linear module.
进一步，所述第二同步带线性模组包括第二直杆、第二步进电机、第二传送带和第二同步带线性模组滑块；所述第二直杆固定在所述第一同步带线性模组滑块上，用于给第二同步带线性模组滑块在水平面内的运动提供路径；所述第二同步带线性模组滑块与第二传送带相连并套在第二直杆上，所述第二传送带两端固定在第二直杆上；所述第二步进电机安装在第二直杆的一端，用于带动所述第二传送带运动；所述搭载在第二同步带线性模组上的检测传感器固定在第二同步带线性模组滑块上。Further, the second synchronous belt linear module includes a second straight rod, a second stepper motor, a second conveyor belt, and a second synchronous belt linear module slider; the second straight rod is fixed on the first synchronous The belt linear module slider is used to provide a path for the movement of the second synchronous belt linear module slider in the horizontal plane; the second synchronous belt linear module slider is connected with the second conveyor belt and set on the second straight On the rod, the two ends of the second conveyor belt are fixed on the second straight rod; the second stepping motor is installed on one end of the second straight rod to drive the movement of the second conveyor belt; The detection sensor on the synchronous belt linear module is fixed on the slider of the second synchronous belt linear module.
进一步，所述的轨道小车还包括第一编码器、两个第一限位开关；所述两个第一限位开关一前一后安装在轨道小车外壳表面上，用于给所述第一编码器提供清零信号；所述第一编码器与直流电机同轴安装，随着轨道小车的运动而转动，将转动的角度转化为脉冲数并反馈给单片机，单片机对脉冲数处理后获得轨道小车当前的位置和速度信息，并根据该位置和速度信息发送控制信号给直流电机，控制直流电机完成启动、停止、加速、减速动作从而实现轨道小车精确定位；所述第一同步带线性模组还包括第二编码器和两个第二限位开关；所述两个第二限位开关分别安装在第一直杆的两端，用于给所述第二编码器提供清零信号；所述第二编码器与第一步进电机同轴安装，随着第一步进电机转动而转动，将转动的角度转化为脉冲数并反馈给所述单片机，所述单片机对脉冲数进行处理后获得第一同步带线性模组滑块当前的位置和速度信息，并根据该位置和速度信息发送控制信号给第一步进电机，控制第一步进电机完成启动、停止、加速、减速动作从而实现第一滚珠丝杠线性模组滑块精确定位；所述第二同步带线性模组还包括第三编码器和两个第三限位开关；所述两个第三限位开关分别安装在第二直杆的两端，用于给所述第三编码器提供清零信号；所述第三编码器与第二步进电机同轴安装，随着第二步进电机转动而转动，将转动的角度转化为脉冲数并反馈给所述单片机，所述单片机对脉冲数进行处理后获得第二同步带线性模组滑块当前的位置和速度信息，并根据该位置和速度信息发送控制信号给第二步进电机，控制第二步进电机完成启动、停止、加速、减速动作从而实现第一滚珠丝杠线性模组滑块精确定位。Further, the track trolley also includes a first encoder and two first limit switches; the two first limit switches are installed on the shell surface of the track trolley one after the other, for giving the first The encoder provides a clearing signal; the first encoder is coaxially installed with the DC motor, and rotates with the movement of the rail trolley, and converts the rotation angle into pulse numbers and feeds them back to the single-chip microcomputer, and the single-chip microcomputer processes the pulse numbers to obtain the track The current position and speed information of the trolley, and send a control signal to the DC motor according to the position and speed information, and control the DC motor to complete the start, stop, acceleration, and deceleration actions so as to realize the precise positioning of the track trolley; the first synchronous belt linear module It also includes a second encoder and two second limit switches; the two second limit switches are respectively installed at both ends of the first straight rod, and are used to provide the second encoder with a reset signal; the The second encoder is coaxially installed with the first stepping motor, rotates with the rotation of the first stepping motor, converts the angle of rotation into pulse numbers and feeds them back to the single-chip microcomputer, and the single-chip microcomputer processes the pulse numbers Obtain the current position and speed information of the slider of the first synchronous belt linear module, and send a control signal to the first stepping motor according to the position and speed information, and control the first stepping motor to complete the start, stop, acceleration and deceleration actions so as to Realize the precise positioning of the slider of the first ball screw linear module; the second synchronous belt linear module also includes a third encoder and two third limit switches; the two third limit switches are respectively installed on The two ends of the second straight rod are used to provide the reset signal to the third encoder; the third encoder is coaxially installed with the second stepper motor, and rotates with the rotation of the second stepper motor, and the The angle of rotation is converted into the number of pulses and fed back to the single-chip microcomputer, and the single-chip microcomputer processes the pulse number to obtain the current position and speed information of the second synchronous belt linear module slider, and sends a control signal according to the position and speed information For the second stepper motor, control the second stepper motor to complete the start, stop, acceleration and deceleration actions so as to realize the precise positioning of the slider of the first ball screw linear module.
进一步，所述巡检机器人还包括控制箱，所述控制箱内安装有绝缘板、由单片机构成的控制电路板、三个电机驱动器；所述控制电路板、三个电机驱动器都安装在绝缘板上；所述单片机用于根据各编码器提供的信息控制巡检机器人运动，根据各检测传感器提供的信息完成检测数据的采集与分析；所述三个电机驱动器，在所述单片机的控制下分别驱动所述的直流电机、第一步进电机和第二步进电机。Further, the inspection robot also includes a control box, and an insulating board, a control circuit board composed of a single-chip microcomputer, and three motor drivers are installed in the control box; the control circuit board and the three motor drivers are all installed on the insulating board. above; the single-chip microcomputer is used to control the movement of the inspection robot according to the information provided by each encoder, and complete the collection and analysis of detection data according to the information provided by each detection sensor; the three motor drivers are respectively under the control of the single-chip microcomputer Drive the DC motor, the first stepping motor and the second stepping motor.
进一步，还包括为巡检机器人提供电能的电池；所述控制箱的绝缘板上还安装有电压传感器，用于监测电池的电压。Further, it also includes a battery that provides electric energy for the inspection robot; a voltage sensor is also installed on the insulating plate of the control box for monitoring the voltage of the battery.
进一步，所述控制箱的绝缘板上还安装有通信协议转换器，将控制电路板上的串行接口通信协议转换为以太网通信协议。Further, a communication protocol converter is installed on the insulating board of the control box to convert the serial interface communication protocol on the control circuit board into the Ethernet communication protocol.
进一步，好包括PC终端，用来实时监控巡检机器人当前的运行状态并控制机器人的运行，分析和存储巡检机器人采集到的数据信息。Further, it is better to include a PC terminal, which is used to monitor the current running status of the inspection robot in real time and control the operation of the robot, and analyze and store the data information collected by the inspection robot.
进一步，还安装有无线路由器，用于实现巡检机器人与PC终端之间的无线通信。Further, a wireless router is also installed to realize the wireless communication between the inspection robot and the PC terminal.
本发明与现有技术相比，其显著优点在于，本发明电力系统轨道式自动巡检机器人，可以在电力系统，如配电房等内前后、上下和左右三个方向上自由运动，前后方向的运动由轨道小车带动机器人本体在预设轨道方向上平移，上下和左右两个方向上的运动由机器人本体的上下和左右两轴运动机构完成，通过控制系统的精确控制，可将机器人准确定位到每一个被测设备前；巡检机器人通过携带的多种检测传感器，可准确完成对被测设备上柜体号、指示灯、开关按钮、仪表示数、设备本体温度、局部放电等信息的自动提取以及故障预判和报警等任务；PC终端获得巡检机器人上传的信息后，可以进一步进行预处理及存储备份后通过电力系统的内网传送到后台控制中心，以便运维人员及时掌握巡检现场的情况并采取有效措施，进而完成整个巡检任务。Compared with the prior art, the present invention has the remarkable advantage that the track-type automatic inspection robot of the electric power system of the present invention can move freely in the three directions of front, back, up and down, and left and right in the electric power system, such as a power distribution room. The movement of the robot body is driven by the track trolley to translate in the preset track direction, and the movement in the up and down and left and right directions is completed by the up and down and left and right two-axis motion mechanisms of the robot body. Through the precise control of the control system, the robot can be accurately positioned Before each device under test; the inspection robot can accurately complete the information on the cabinet number, indicator light, switch button, instrument display number, temperature of the device body, partial discharge and other information on the device under test through the various detection sensors it carries. Tasks such as automatic extraction, fault prediction, and alarm; after the PC terminal obtains the information uploaded by the inspection robot, it can be further pre-processed, stored and backed up, and then sent to the background control center through the internal network of the power system, so that the operation and maintenance personnel can grasp the information of the inspection robot in a timely manner. Check the situation on the spot and take effective measures to complete the entire inspection task.
附图说明Description of drawings
图1是本发明电力系统轨道式自动巡检机器人一侧的结构示意图。Fig. 1 is a schematic structural view of one side of the track-type automatic inspection robot of the power system of the present invention.
图2是本发明电力系统轨道式自动巡检机器人另一侧的结构示意图。Fig. 2 is a structural schematic diagram of the other side of the track-type automatic inspection robot of the power system of the present invention.
图3是本发明电力系统轨道式自动巡检机器人的轨道小车结构示意图。Fig. 3 is a structural schematic diagram of a rail trolley of a rail-type automatic inspection robot for a power system according to the present invention.
图4是本发明电力系统轨道式自动巡检机器人的控制箱内部组成示意图。Fig. 4 is a schematic diagram of the internal composition of the control box of the track-type automatic inspection robot of the power system of the present invention.
图5是本发明电力系统轨道式自动巡检机器人的充电盒示意图。Fig. 5 is a schematic diagram of the charging box of the track-type automatic inspection robot of the electric power system according to the present invention.
图6是本发明电力系统轨道式自动巡检机器人系统构成的模块结构框图。Fig. 6 is a block diagram of the module structure of the track-type automatic inspection robot system of the power system of the present invention.
图7是本发明电力系统轨道式自动巡检机器人运动控制系统的结构框图。Fig. 7 is a structural block diagram of the motion control system of the track-type automatic inspection robot of the electric power system of the present invention.
图8是本发明电力系统轨道式自动巡检机器人PC终端监控软件界面的示意图。Fig. 8 is a schematic diagram of the PC terminal monitoring software interface of the power system track-type automatic inspection robot of the present invention.
图9是本发明电力系统轨道式自动巡检机器人PC终端的示意图。Fig. 9 is a schematic diagram of a PC terminal of a track-type automatic inspection robot for a power system according to the present invention.
具体实施方式Detailed ways
容易理解，依据本发明的技术方案，在不变更本发明的实质精神的情况下，本领域的一般技术人员可以想象出本发明电力系统轨道式自动巡检机器人的多种实施方式。因此，以下具体实施方式和附图仅是对本发明的技术方案的示例性说明，而不应当视为本发明的全部或者视为对本发明技术方案的限制或限定。It is easy to understand that, according to the technical solution of the present invention, without changing the essence of the present invention, those skilled in the art can imagine various implementations of the power system track-type automatic inspection robot of the present invention. Therefore, the following specific embodiments and drawings are only exemplary descriptions of the technical solution of the present invention, and should not be regarded as the entirety of the present invention or as a limitation or limitation on the technical solution of the present invention.
结合图1，在本实施例中包括机器人运行轨道1、在运行轨道上运行的机器人本体、机器人本体搭载的检测传感器和PC终端48。所述运行轨道1用来实现机器人本体在电力系统如配电房等内设备的前后方向上运行，使所述的机器人本体能够沿运行轨道到达待检测检测的设备柜体位置。这样，机器人本体就将其搭载的检测传感器运送到待待检测设备柜体正前方。Referring to FIG. 1 , this embodiment includes a robot running track 1 , a robot body running on the running track, detection sensors mounted on the robot body, and a PC terminal 48 . The running track 1 is used to realize that the robot body runs in the front and back directions of the equipment in the power system such as a power distribution room, so that the robot body can reach the position of the equipment cabinet to be detected along the running track. In this way, the robot body transports the detection sensor carried by it to the front of the cabinet of the equipment to be detected.
如图1所示，所述机器人本体包括轨道小车2、第一同步带线性模组3、第二同步带线性模组4和背板5。所述第二同步带线性模组4安装在第一同步带线性模组3上，所述第一同步带线性模组3通过背板5固定在轨道小车2上，使巡检机器人构成一个整体。As shown in FIG. 1 , the robot body includes a track trolley 2 , a first synchronous belt linear module 3 , a second synchronous belt linear module 4 and a backplane 5 . The second synchronous belt linear module 4 is installed on the first synchronous belt linear module 3, and the first synchronous belt linear module 3 is fixed on the track trolley 2 through the back plate 5, so that the inspection robot forms a whole .
所述轨道小车2套在运行轨道1上，从轨道小车2内部穿过。如图3所示，所述轨道小车2包括底板6、四个车轮、两个直流电机7、第一编码器8、两个第一限位开关9、轨道小车电极11和吊环螺钉14，其中，底板6、四个车轮、两个直流电机7、第一编码器8、两个第一限位开关9安装在轨道小车2的外壳内，底板6也可以是外壳的一部分。所述四个车轮包括两个主动轮12和两个从动轮13，其通过支架固定在所述的底板6上，分居运行轨道1左右两侧，运行轨道1正好可以从两对车轮中间穿过，四个车轮紧贴在工字钢下表面上，所述的四个车轮转动以使轨道小车2运动。所述两个直流电机7分别与两个主动轮12相连接，用来提供动力。所述的第一编码器8通过支架固定在底板6上，随所述轨道小车2车轮的转动而转动，用于记录下轨道小车2车轮转动的角度和圈数，并反馈给单片机30，所述单片机30处理后获得轨道小车2当前的运行位置和速度，并根据当前的运行位置和速度控制直流电机7完成启动、停止、加速、减速动作从而实现轨道小车2的精确定位。所述两个第一限位开关9一前一后安装在轨道小车2外壳上表面，在需要检测的设备柜体前布置金属片用以触发所述第一限位开关9，用来给所述第一编码器8提供清零信号以从零开始记录轨道小车2车轮转动的角度和圈数。The track trolley 2 is set on the running track 1 and passes through the track trolley 2 inside. As shown in Figure 3, described track trolley 2 comprises base plate 6, four wheels, two DC motors 7, first encoder 8, two first limit switches 9, track trolley electrode 11 and eyebolt 14, wherein , the base plate 6, four wheels, two DC motors 7, the first encoder 8, and the two first limit switches 9 are installed in the shell of the track car 2, and the base plate 6 can also be a part of the shell. The four wheels include two driving wheels 12 and two driven wheels 13, which are fixed on the base plate 6 through brackets, separated from the left and right sides of the running track 1, and the running track 1 can just pass through the middle of the two pairs of wheels , the four wheels are close to the lower surface of the I-beam, and the four wheels rotate to make the track trolley 2 move. The two DC motors 7 are respectively connected with two driving wheels 12 to provide power. The first encoder 8 is fixed on the base plate 6 by a bracket, and rotates with the rotation of the 2 wheels of the rail car, and is used to record the rotation angle and the number of turns of the 2 wheels of the rail car, and feeds back to the single-chip microcomputer 30. The single-chip microcomputer 30 obtains the current operating position and speed of the rail car 2 after processing, and controls the DC motor 7 to complete the start, stop, acceleration, and deceleration actions according to the current operating position and speed so as to realize the precise positioning of the rail car 2. The two first limit switches 9 are installed one after the other on the upper surface of the shell of the rail trolley 2, and a metal sheet is arranged in front of the equipment cabinet to be detected to trigger the first limit switch 9, which is used to provide The first encoder 8 provides a reset signal to record the angle and the number of turns of the wheel of the track car 2 from zero.
所述轨道小车2上还安装有锂电池10，所述锂电池10放置在电池盒内为整个巡检机器人提供电能，所述的电池盒安装在轨道小车2外壳的侧面。所述轨道小车2外壳表面布置有与锂电池10正负极相连的轨道小车电极11，便于所述轨道小车电极11与充电盒40上的充电盒电极41对接充电。所述吊环螺钉14安装在底板6下方，当所述巡检机器人由于各种故障原因无法自主运行时，工作人员可以用绳子穿过所述的吊环螺钉14，手动拉动轨道小车2，将所述机器人移动至检修地点检修。A lithium battery 10 is also installed on the rail trolley 2, and the lithium battery 10 is placed in a battery box to provide electric energy for the entire inspection robot, and the battery box is installed on the side of the rail trolley 2 shell. The surface of the trolley 2 casing is provided with a trolley electrode 11 connected to the positive and negative electrodes of the lithium battery 10 , so that the trolley electrode 11 is connected to the charging box electrode 41 on the charging box 40 for charging. The eyebolt 14 is installed below the base plate 6. When the inspection robot cannot run autonomously due to various faults, the staff can use a rope to pass through the eyebolt 14, manually pull the track trolley 2, and move the The robot moves to the maintenance site for maintenance.
如图1和图2所示，第一同步带线性模组3通过螺钉固定在背板5上，所述的背板5竖直安装在轨道小车2的底板6下方，从而使所述的第一同步带线性模组3竖直。所示第一同步带线性模组3用来带动检测传感器实现上下方向的运动，从而对待检测设备柜体上位于不同高度的仪器仪表进行检测。As shown in Figures 1 and 2, the first synchronous belt linear module 3 is fixed on the backboard 5 by screws, and the backboard 5 is vertically installed below the bottom plate 6 of the track trolley 2, so that the first synchronous belt A synchronous belt linear module 3 is vertical. The shown first synchronous belt linear module 3 is used to drive the detection sensor to move up and down, so as to detect instruments and meters at different heights on the cabinet of the equipment to be detected.
所述第一同步带线性模组3包括第一直杆15、第一步进电机16、第二编码器17、两个第二限位开关18、第一传送带19和第一同步带线性模组滑块20。所述第一同步带线性模组3通过所述第一直杆15固定在背板5上。所述第一直杆15构成第一同步带线性模组3的主体，用来给所述第一同步带线性模组滑块20提供上下运动的路径。所述第一同步带线性模组滑块20与第一传送带19相连并套在第一直杆15上，所述第一传送带19两端固定在第一直杆15上，所述第一步进电机16安装在第一直杆15上端用于带动所述第一传送带19运动。所述第一同步带线性模组滑块20在所述第一传送带19的拖动实现上下方向的运动。所述检测传感器固定在第一同步带线性模组滑块20上。所述第一步进电机16采用带抱闸的步进电机，具有断电抱死的功能，能在当巡检机器人系统突然断电后，所述第一步进电机16失去保持力矩时抱死，所述抱闸安装在第一步进电机16的尾端，防止所述第一同步带线性模组滑块20沿第一直杆15自由下落从而受损。当所述第一步进电机16正常运行时，所述抱闸处于通电打开状态，当突然出现故障而导致断电时，所述抱闸可以立即抱死，牢牢锁住所述第一步进电机16，避免所述第一同步带线性模组滑块20自由下落，从而保护了其所携带的检测传感器等设备。所述的抱闸由继电器32中的一个控制。所述第二编码器17与第一步进电机16同轴安装在其对侧，随所述第一同步带线性模组滑块20运动而转动，记录下第一步进电机16转动的角度和圈数并反馈给所述单片机30，所述单片机30处理后获得第一同步带线性模组滑块20的运行位置和速度，并根据当前的运行位置和速度控制第一步进电机16电机完成启动、停止、加速、减速动作从而实现第一同步带线性模组滑块20的精确定位。所述两个第二限位开关18一上一下安装在第一直杆15的两端，限制所述第一同步带线性模组滑块20的运动范围并用来给所述第二编码器17提供清零信号以从零开始记录第一步进电机16转动的角度和圈数。如图2所示，第一同步带线性模组3上还安装有第一拖链42，用于走线。所述第一拖链42一端固定在背板5上，另一端固定在所述第二同步带线性模组4上。所述第二同步带线性模组4中所有跟第一同步带线性模组3相联系的需要上下移动的线缆都进入第一拖链42。The first synchronous belt linear module 3 includes a first straight rod 15, a first stepper motor 16, a second encoder 17, two second limit switches 18, a first conveyor belt 19 and a first synchronous belt linear module. Group Slider 20. The first synchronous belt linear module 3 is fixed on the back plate 5 through the first straight rod 15 . The first straight bar 15 constitutes the main body of the first synchronous belt linear module 3 and is used to provide a path for the slider 20 of the first synchronous belt linear module to move up and down. The first synchronous belt linear module slider 20 is connected to the first conveyor belt 19 and is set on the first straight rod 15, and the two ends of the first conveyor belt 19 are fixed on the first straight rod 15. The first step The feeding motor 16 is installed on the upper end of the first straight rod 15 to drive the first conveyor belt 19 to move. The dragging of the first synchronous belt linear module slider 20 on the first conveyor belt 19 can move up and down. The detection sensor is fixed on the slider 20 of the first synchronous belt linear module. The first stepper motor 16 adopts a stepper motor with a brake, which has the function of power-off lock, and can be locked when the first stepper motor 16 loses its holding torque when the inspection robot system suddenly loses power. Dead, the brake is installed at the tail end of the first stepper motor 16 to prevent the first synchronous belt linear module slider 20 from falling freely along the first straight rod 15 and being damaged. When the first stepping motor 16 is in normal operation, the brake is in the power-on and open state. When a failure occurs suddenly and the power is cut off, the brake can be locked immediately to firmly lock the first step. Into the motor 16 to prevent the first synchronous belt linear module slider 20 from falling freely, thereby protecting equipment such as detection sensors carried by it. The brake is controlled by one of the relays 32 . The second encoder 17 is coaxially installed on the opposite side with the first stepper motor 16, and rotates with the movement of the first synchronous belt linear module slider 20, and records the angle at which the first stepper motor 16 rotates and the number of turns and fed back to the single-chip microcomputer 30, the single-chip microcomputer 30 obtains the operating position and speed of the first synchronous belt linear module slide block 20 after processing, and controls the first stepper motor 16 motor according to the current operating position and speed The actions of start, stop, acceleration and deceleration are completed to realize the precise positioning of the first synchronous belt linear module slider 20 . The two second limit switches 18 are mounted up and down at both ends of the first straight bar 15 to limit the range of motion of the first synchronous belt linear module slider 20 and to provide the second encoder 17 The clear signal is provided to start recording the angle and number of turns of the first stepper motor 16 from zero. As shown in FIG. 2 , a first drag chain 42 is installed on the first synchronous belt linear module 3 for wiring. One end of the first drag chain 42 is fixed on the back plate 5 , and the other end is fixed on the second synchronous belt linear module 4 . All cables in the second synchronous belt linear module 4 that are connected with the first synchronous belt linear module 3 and need to move up and down enter the first drag chain 42 .
如图1和图2所示，所述第二同步带线性模组4安装在第一同步带线性模组滑块20上，并与所述第一同步带线性模组3垂直，用来带动检测传感器在待检测设备柜体前实现左右方向的运动，可以实现对被测设备柜体内局部放电现象的检测，以及位于设别柜体左右不同位置上的仪器仪表的检测。所述第二同步带线性模组4包括第二直杆21、第二步进电机22、第三编码器23、两个第三限位开关24、第二传送带25和第二同步带线性模组滑块26。所述第二直杆21固定在所述第一同步带线性模组滑块20上，构成第二同步带线性模组4的主体，用来给第二同步带线性模组滑块26的左右运动提供路径。所述第二同步带线性模组滑块26与第二传送带25相连并套在第二直杆21上，所述第二传送带25两端固定在第二直杆21上。所述第二步进电机22安装在第二直杆21远离被测设备柜体表面端一侧，用于带动所述第二传送带25运动。所述第二同步带线性模组滑块26在第二传送带25的拖动下实现左右方向的运动。所述检测传感器固定在第二同步带线性模组滑块26上。所述第三编码器23与第二步进电机22同轴安装在其对侧，随所述第二同步带线性模组滑块26运动而转动，记录下第二步进电机22转动的角度和圈数反馈给所述的单片机30，所述的单片机30处理后控制第二步进电机22完成相应的动作从而实现第二同步带线性模组滑块26的精确定位。所述两个第三限位开关24一左一右安装在第二直杆21的两端，用于限制所述第二同步带线性模组滑块26的运动范围并用来给所述第三编码器23提供清零信号以从零开始记录转动的角度和圈数。如图1所示，第二同步带线性模组4上还安装有第二拖链43，用于走线。局部放电检测器46的电源线和信号线进入第二拖链43。As shown in Figures 1 and 2, the second synchronous belt linear module 4 is installed on the first synchronous belt linear module slider 20, and is perpendicular to the first synchronous belt linear module 3 to drive The detection sensor realizes the movement in the left and right direction in front of the equipment cabinet to be tested, which can realize the detection of the partial discharge phenomenon in the equipment cabinet under test, and the detection of instruments and meters located at different positions on the left and right of the equipment cabinet. The second synchronous belt linear module 4 includes a second straight rod 21, a second stepper motor 22, a third encoder 23, two third limit switches 24, a second conveyor belt 25 and a second synchronous belt linear module. Group slider 26. The second straight bar 21 is fixed on the first synchronous belt linear module slider 20, which constitutes the main body of the second synchronous belt linear module 4, and is used for the left and right sides of the second synchronous belt linear module slider 26. Movement provides the path. The second synchronous belt linear module slide block 26 is connected with the second conveyor belt 25 and sleeved on the second straight rod 21 , and both ends of the second conveyor belt 25 are fixed on the second straight rod 21 . The second stepper motor 22 is installed on the side of the second straight rod 21 away from the surface end of the cabinet of the equipment under test, and is used to drive the second conveyor belt 25 to move. The slider 26 of the second synchronous belt linear module is dragged by the second conveyor belt 25 to move left and right. The detection sensor is fixed on the second synchronous belt linear module slider 26 . The third encoder 23 is coaxially installed on the opposite side with the second stepping motor 22, and rotates with the movement of the second synchronous belt linear module slider 26, and records the rotation angle of the second stepping motor 22 and the number of turns are fed back to the single-chip microcomputer 30, and after the processing, the single-chip microcomputer 30 controls the second stepper motor 22 to complete corresponding actions so as to realize the precise positioning of the second synchronous belt linear module slider 26. The two third limit switches 24 are installed on the two ends of the second straight bar 21, one left and one right, for limiting the range of motion of the second synchronous belt linear module slider 26 and for giving the third Encoder 23 provides a reset signal to record the angle and number of turns from zero. As shown in FIG. 1 , a second drag chain 43 is also installed on the second synchronous belt linear module 4 for wiring. The power lines and signal lines of the partial discharge detector 46 enter the second drag chain 43 .
如图1和图2，所述背板5用来连接轨道小车2和第一同步带线性模组3，所述的第一同步带线性模组3通过螺钉固定到背板5上，所述的背板5再通过螺钉固定到轨道小车2的底板6上，从而使所述的机器人成为一个整体。所述背板5安装在竖直方向上，与地面垂直。As shown in Fig. 1 and Fig. 2, the back plate 5 is used to connect the track trolley 2 and the first synchronous belt linear module 3, and the first synchronous belt linear module 3 is fixed to the back plate 5 by screws, and the The back plate 5 is fixed to the base plate 6 of the rail trolley 2 by screws, so that the robot becomes a whole. The backboard 5 is installed in a vertical direction, perpendicular to the ground.
如图1和图2所示，所述检测传感器包括高清摄像机44、红外热像仪45、温湿度传感器39和局部放电检测器46。所述高清摄像机44和红外热像仪45通过支架安装在第一同步带线性模组滑块20上，所述支架可以任意调节，改变其俯仰角度。所述高清摄像机44通过拍摄照片和录制视频采集设备柜体号、指示灯、开关按钮、仪表示数等信息。所述高清摄像机44还配备有LED补光灯，当周围环境亮度下降时可自动打开以补光。所述红外热像仪45用来检测设备本体的温度。所述温湿度传感器39安装在机器人本体上，例如可以安装在控制箱27底面上，用来检测周围室内环境的温度和湿度。所述局部放电检测器46安装在第二同步带线性模组滑块26上，用来检测设备柜体内部有无局部放电现象。所述局部放电检测器46通过支架安装在第二同步带线性模组滑块26上，能实现靠近和远离被测设备柜体表面。当所述局部放电检测器46贴到被测设备柜体表面时，通过其前端的磁铁吸住被测设备柜体金属表面，内部发射超声波和瞬态地电波，结合其设定的检测方案以检测被测设备柜体内部有无漏电现象。As shown in FIGS. 1 and 2 , the detection sensors include a high-definition camera 44 , an infrared camera 45 , a temperature and humidity sensor 39 and a partial discharge detector 46 . The high-definition camera 44 and the thermal imaging camera 45 are installed on the first synchronous belt linear module slider 20 through a bracket, and the bracket can be adjusted arbitrarily to change its pitch angle. The high-definition camera 44 collects information such as equipment cabinet number, indicator lights, switch buttons, instrument indication numbers, etc. by taking photos and recording videos. The high-definition camera 44 is also equipped with an LED supplementary light, which can be automatically turned on to supplement the light when the brightness of the surrounding environment drops. The thermal imaging camera 45 is used to detect the temperature of the device body. The temperature and humidity sensor 39 is installed on the robot body, for example, can be installed on the bottom surface of the control box 27 to detect the temperature and humidity of the surrounding indoor environment. The partial discharge detector 46 is installed on the slider 26 of the second synchronous belt linear module, and is used to detect whether there is a partial discharge inside the equipment cabinet. The partial discharge detector 46 is installed on the second synchronous belt linear module slider 26 through a bracket, so as to be close to and away from the surface of the tested equipment cabinet. When the partial discharge detector 46 is attached to the surface of the cabinet body of the device under test, the magnet at the front end will hold the metal surface of the cabinet body of the device under test, and internally emit ultrasonic waves and transient ground waves. Detect whether there is any leakage inside the cabinet of the equipment under test.
所述机器人本体上还安装有无线路由器盒47，其中安装有无线路由器，实现巡检机器人与PC终端48之间的通信。所述的高清摄像机44、红外热像仪45都通过网线连接至无线路由器的LAN口上，利用以太网实现控制和数据的收发。A wireless router box 47 is also installed on the robot body, wherein a wireless router is installed to realize the communication between the inspection robot and the PC terminal 48 . The high-definition camera 44 and the thermal imaging camera 45 are all connected to the LAN port of the wireless router through a network cable, and the control and data transmission and reception are realized by using Ethernet.
所示PC终端48用来实时监控巡检机器人当前的运行状态并可以控制机器人的运行，同时还能分析和存储所采集到的数据信息，将分析得到的结果发送给工作人员。同时通过以太网接收机器人运行时的状态并发送命令控制机器人的动作。The PC terminal 48 shown is used to monitor the current running state of the inspection robot in real time and can control the running of the robot. At the same time, it can also analyze and store the collected data information, and send the analyzed results to the staff. At the same time, it receives the running state of the robot through Ethernet and sends commands to control the robot's actions.
所述巡检机器人运行轨道1可采用工字钢，所述工字钢水平安装在配电房内所要检测的设备柜体斜上方，能使所述机器人本体沿运行轨道1到达所有需检测设备柜体的前方位置。The running track 1 of the inspection robot can use I-beams, and the I-beams are installed horizontally above the equipment cabinets to be detected in the power distribution room, so that the robot body can reach all the equipment to be tested along the running track 1 The front position of the cabinet.
如图3所示，轨道小车2的四个车轮，与所述的直流电机7相连接的两个车轮为主动轮12，另外两个车轮为所述的从动轮13。所述的主动轮12和从动轮13分别通过支架安装于所述的工字钢左右两侧。所述的轨道小车2在运行时，左右两侧的车轮分别紧贴在所述的工字钢下表面。采用两个所述的主动轮12一前一后的结构，可以在一个车轮失去动力，如悬空或经过弯道憋住时，另一个车轮可以及时提供动力，驱动所述轨道小车2继续运行。所述的轨道小车2车身材料采用表面处理过的钢材料，具有耐磨、防腐蚀、承重能力强、不易变形的优点。所述轨道小车2外围还有外壳，所述外壳采用烤漆铁板制成，较好地保护了内部的部件，并且美观。As shown in FIG. 3 , among the four wheels of the track trolley 2 , the two wheels connected with the DC motor 7 are driving wheels 12 , and the other two wheels are the driven wheels 13 . The driving wheel 12 and the driven wheel 13 are respectively installed on the left and right sides of the I-beam through brackets. When the track trolley 2 is running, the wheels on the left and right sides are respectively attached to the lower surface of the I-beam. Adopt the structure of two described driving wheels 12 one behind the other, when one wheel loses power, such as hanging in the air or holding back through a curve, the other wheel can provide power in time to drive the rail trolley 2 to continue running. The body material of the track trolley 2 adopts surface-treated steel material, which has the advantages of wear resistance, corrosion resistance, strong load-bearing capacity, and not easily deformed. There is also a shell on the periphery of the track trolley 2, and the shell is made of painted iron plate, which better protects the internal parts and is beautiful.
如图1所示，所述巡检机器人还包括控制箱27，控制箱27包含了控制系统的主体，为了不影响传感器工作，控制箱27可以安装在背板5等位置。控制箱27包括绝缘板28、控制电路板29、单片机30、电机驱动器31、继电器32、电压传感器33、通信协议转换器34、电源模块35、航空插头36、总开关37和急停开关38。所述的控制电路板29、电机驱动器31、继电器32、电压传感器33、通信协议转换器34、电源模块35都安装在绝缘板28上，起到了绝缘的作用并方便拆卸。所述控制电路板29控制机器人的运动并完成数据的采集与分析。所述单片机30布置在控制电路板29上，其可以进行数据的高速处理与分析，使整个机器人控制系统有条不紊的运行。所述单片机30接收PC终端48、各个编码器和限位开关等发送过来的数据信息，具体包括所述PC终端13-1发送的目标设备的位置信息，包括前后、上下、左右的位置坐标，所述各个编码器反馈的脉冲数，所述各个限位开关发送的触发信号，所述单片机30对数据信息进行处理后可以控制各电机完成启动、停止、加速、减速动作，将所述机器人运动至目标设备正前方，实现了所述机器人的通信、运动控制和精确定位。所述电机驱动器31有三个，用来接收所述单片机30发送的控制信号从而分别驱动直流电机7、第一步进电机16和第二步进电机22。所述继电器32有三个，分别用来控制所述电机驱动器31的电路、第一步进电机16的抱闸电路和充电电路的通断。所述电压传感器33用来实时监测锂电池10的电压情况，防止其电压过低或过高。所述通信协议转换器34用来将串口通信协议和以太网通信协议进行相互装换，实现所述巡检机器人与PC终端48的实时通信。所述电源模块35将锂电池10的电压转换为其他部件需要的不同电压。所述航空插头36安装在控制箱27顶面，所述总开关37和急停开关38安装在控制箱27底面。所述航空插头36用来连接控制箱27内部部件与外部部件，通过插拔方式和螺纹方式，方便快捷，而且牢固。所述的总开关37控制巡检机器人的总供电电路，其直接与所述的锂电池10相串联，当切断所述总开关37时，即切断了所述锂电池10供给机器人的电路，机器人将无法工作，只有打开所述总开关37时，所述机器人才有可能正常工作。所述急停开关38具有遇突发情况紧急停止机器人运行的功能。当所述巡检机器人在运行过程中出现异常状况需要及时停止时，工作人员可以立即拍下所述的急停开关38，此时所述的机器人可以立即停止运行。As shown in FIG. 1 , the inspection robot also includes a control box 27, which contains the main body of the control system. In order not to affect the work of the sensors, the control box 27 can be installed on the backplane 5 and other positions. Control box 27 comprises insulating board 28, control circuit board 29, single-chip microcomputer 30, motor driver 31, relay 32, voltage sensor 33, communication protocol converter 34, power supply module 35, aviation plug 36, master switch 37 and emergency stop switch 38. The control circuit board 29 , motor driver 31 , relay 32 , voltage sensor 33 , communication protocol converter 34 and power module 35 are all installed on the insulating board 28 , which plays the role of insulation and facilitates disassembly. The control circuit board 29 controls the movement of the robot and completes data collection and analysis. The single-chip microcomputer 30 is arranged on the control circuit board 29, which can perform high-speed data processing and analysis, so that the entire robot control system can run in an orderly manner. The single-chip microcomputer 30 receives the data information sent by the PC terminal 48, various encoders and limit switches, etc., specifically including the position information of the target device sent by the PC terminal 13-1, including the position coordinates of front and back, up and down, left and right, The number of pulses fed back by each of the encoders, the trigger signal sent by each of the limit switches, the single-chip microcomputer 30 can control each motor to complete the start, stop, acceleration, and deceleration actions after processing the data information, and the robot will move To the front of the target device, the communication, motion control and precise positioning of the robot are realized. There are three motor drivers 31, which are used to receive the control signals sent by the single-chip microcomputer 30 to drive the DC motor 7, the first stepping motor 16 and the second stepping motor 22 respectively. There are three relays 32, which are respectively used to control the on-off of the circuit of the motor driver 31, the brake circuit of the first stepping motor 16 and the charging circuit. The voltage sensor 33 is used to monitor the voltage of the lithium battery 10 in real time to prevent the voltage from being too low or too high. The communication protocol converter 34 is used to replace the serial port communication protocol and the Ethernet communication protocol, so as to realize the real-time communication between the inspection robot and the PC terminal 48 . The power module 35 converts the voltage of the lithium battery 10 into different voltages required by other components. The aviation plug 36 is installed on the top surface of the control box 27, and the main switch 37 and the emergency stop switch 38 are installed on the bottom surface of the control box 27. The aviation plug 36 is used to connect the internal components and external components of the control box 27 through plugging and threading, which is convenient, quick and firm. Described main switch 37 controls the total power supply circuit of inspection robot, and it is directly connected in series with described lithium battery 10, when cutting off described main switch 37, promptly cut off the circuit that described lithium battery 10 supplies robot, robot Can't work, only when opening described master switch 37, described robot just may work normally. Described emergency stop switch 38 has the function of running into an emergency to stop the robot in an emergency. When the inspection robot needs to stop in time when there is an abnormal situation in the running process, the staff can immediately take a picture of the emergency stop switch 38, and now the robot can stop running immediately.
所述直流电机7采用带减速箱的有刷直流电机。所述的减速箱选用行星减速箱，可以增大所述的直流电机7的力矩，使其能带动更重的负载。The DC motor 7 adopts a brushed DC motor with a reduction box. The planetary gear box is selected as the gear box, which can increase the torque of the DC motor 7 so that it can drive a heavier load.
所述控制电路板29为PCB板。根据巡检机器人需要实现的功能，选取合适电子元器件，设计所述的控制电路板29的原理图和PCB图，从而制作出所述的控制电路板29。The control circuit board 29 is a PCB board. According to the functions to be realized by the inspection robot, suitable electronic components are selected, and the schematic diagram and PCB diagram of the control circuit board 29 are designed, so as to manufacture the control circuit board 29 .
所述单片机30中下载有实现机器人基本功能的程序和智能控制机器人运动的程序。所述实现机器人基本功能的程序包括实现机器人正常运行、停止、数据采集与发送、充电的程序。所述智能控制机器人运动的程序采用智能控制算法编写，可以智能控制所述的直流电机7、第一步进电机16和第二步进电机22。所述直流电机7采用积分分离的分段式PID闭环算法控制，同时还带有饱和限幅环节。通过选取合适的参数，结合所述的第一编码器8和第一限位开关9，能控制所述的轨道小车2平稳、快速启动，运行过程中能智能控制速度。所述第一步进电机16和第二步进电机22采用梯形加减速控制算法控制，结合所述第二编码器17、第二限位开关18、第三编码器23和第三限位开关24，可以使所述的第一步进电机16和第二步进电机22平稳启动和停止，有较好的控制效果。The single-chip microcomputer 30 is downloaded with a program for realizing the basic functions of the robot and a program for intelligently controlling the motion of the robot. The programs for realizing the basic functions of the robot include the programs for realizing the normal operation, stopping, data collection and sending, and charging of the robot. The program for intelligently controlling the movement of the robot is written using an intelligent control algorithm, which can intelligently control the DC motor 7 , the first stepping motor 16 and the second stepping motor 22 . The DC motor 7 is controlled by a segmented PID closed-loop algorithm with integral separation, and also has a saturation limiting link. By selecting appropriate parameters, combined with the first encoder 8 and the first limit switch 9, the rail trolley 2 can be controlled to start smoothly and quickly, and the speed can be intelligently controlled during operation. The first stepper motor 16 and the second stepper motor 22 are controlled by a trapezoidal acceleration and deceleration control algorithm, combined with the second encoder 17, the second limit switch 18, the third encoder 23 and the third limit switch 24. The first stepping motor 16 and the second stepping motor 22 can be started and stopped smoothly, which has better control effect.
所述电机驱动器31有三个，分别驱动所述的直流电机7、第一步进电机16和第二步进电机22。所述直流电机7的驱动器可以将所述单片机30产生的电机控制方波信号转换成波形较好的PWM波，控制所述的直流电机7的运行；还可以通过不同的使能信号、方向信号、再生制动信号控制所述的直流电机7进行不同的动作。所述第一步进电机16的驱动器和第二步进电机22的驱动器只在驱动功率上有差别，均具有状态指示灯，可以指示当前驱动器与电机电路状态。所述电机驱动器31还可以调节电机的运行电流和细分，细分设置为256。通过所述的单片机30提供的脉冲信号、方向信号、使能信号，可以控制所述的第一步进电机16和第二步进电机22的运行。There are three motor drivers 31, which drive the DC motor 7, the first stepping motor 16 and the second stepping motor 22 respectively. The driver of the DC motor 7 can convert the motor control square wave signal generated by the single-chip microcomputer 30 into a better PWM wave to control the operation of the DC motor 7; 1. The regenerative braking signal controls the DC motor 7 to perform different actions. The driver of the first stepping motor 16 and the driver of the second stepping motor 22 are only different in driving power, and both have status indicator lights, which can indicate the current status of the driver and the motor circuit. The motor driver 31 can also adjust the running current and subdivision of the motor, and the subdivision is set to 256. The operation of the first stepper motor 16 and the second stepper motor 22 can be controlled by the pulse signal, direction signal and enable signal provided by the single chip microcomputer 30 .
所示的继电器32采用直流控制直流的固态继电器，通过所述单片机30给出的控制信号，可以控制所述电机驱动器31电路、第一步进电机16的抱闸电路和充电电路的通断。The shown relay 32 adopts a DC-controlled solid-state relay, and the control signal given by the single-chip microcomputer 30 can control the on-off of the motor driver 31 circuit, the brake circuit of the first stepping motor 16 and the charging circuit.
所述电压传感器33采用霍尔电压传感器，可以实时检测所述的锂电池10的电压，将所测得的电压值及时反馈给所述的单片机30，所述的单片机30对电压值进行处理后，可以判断所述的锂电池10电压是否过低或过高：若过低，则说明所述的锂电池10电量已不足，需要充电，会控制所述的机器人进行充电；若过高，说明所述的锂电池10已过度充电，需要停止充电。The voltage sensor 33 adopts a Hall voltage sensor, which can detect the voltage of the lithium battery 10 in real time, and feed back the measured voltage value to the single-chip microcomputer 30 in time, and the single-chip microcomputer 30 processes the voltage value. , it can be judged whether the voltage of the lithium battery 10 is too low or too high: if it is too low, it means that the power of the lithium battery 10 is insufficient and needs to be charged, and it will control the robot to charge; if it is too high, it means The lithium battery 10 is overcharged and needs to be stopped.
所述通信协议转换器34将控制电路板29上的串行接口通信协议转换为以太网通信协议，将通过串行接口传输的信息转换为通过以太网传输的信息。所述的通信协议转换器34具有双向转换能力，也可以将以太网通信协议转换为串行接口通信协议。The communication protocol converter 34 converts the serial interface communication protocol on the control circuit board 29 into the Ethernet communication protocol, and converts the information transmitted through the serial interface into the information transmitted through the Ethernet. The communication protocol converter 34 has bidirectional conversion capability, and can also convert the Ethernet communication protocol into a serial interface communication protocol.
所述电源模块35的作用是将锂电池10提供的电压24VDC转换为其他设备需要的不同电压值，如12VDC。The function of the power module 35 is to convert the voltage 24VDC provided by the lithium battery 10 into different voltage values required by other devices, such as 12VDC.
所述充电盒40安装在机器人运行轨道1起点处的墙壁上，其高度与所述的机器人运行轨道1的高度一致。所述的充电盒40中布置有锂电池10的充电器，其正负极分别与所述的充电盒铜质电极41的正负极相连。所述的机器人要进行充电时，运行至所述的起点处，所述的轨道小车电极11刚好可以与充电盒电极41对接，在所述的继电器32控制下实现充电。所述电压传感器33实时检测锂电池10的电压，当电压达到一定值时，会发送给所述单片机30一个信号，所述单片机30会相应地控制继电器32断开充电电路，停止充电过程。The charging box 40 is installed on the wall at the starting point of the robot running track 1 , and its height is consistent with the height of the robot running track 1 . A charger for the lithium battery 10 is arranged in the charging box 40 , the positive and negative poles of which are respectively connected to the positive and negative poles of the copper electrode 41 of the charging box. When the robot is about to be charged, it runs to the starting point, and the electrode 11 of the rail trolley can just dock with the electrode 41 of the charging box, and the charging is realized under the control of the relay 32 . The voltage sensor 33 detects the voltage of the lithium battery 10 in real time, and when the voltage reaches a certain value, it will send a signal to the single-chip microcomputer 30, and the single-chip microcomputer 30 will correspondingly control the relay 32 to disconnect the charging circuit and stop the charging process.
所述PC终端48采用一体机的形式，即为一台功能齐全的电脑，内部带有无线网卡。所述PC终端具有PC终端显示屏49、PC终端鼠标50和PC终端键盘51。所述的PC终端显示屏49可以将PC终端48接收到的机器人的运行状态和采集到的被测设备柜体有关的数据信息实时显示在屏幕上，供工作人员及时查看。所述的PC终端鼠标50和PC终端键盘51可以供工作人员操作PC终端48，给所述机器人发送特定的命令以执行特定的动作。所述PC终端48放置在配电房的中间位置，此处可以较好地完成对配电房各个位置数据的传输。同时，此处应留有电源插座和网口插座，能为所述PC终端48供电并与电力系统的后台控制中心实现通信。The PC terminal 48 is in the form of an all-in-one machine, that is, a fully functional computer with a wireless network card inside. The PC terminal has a PC terminal display screen 49 , a PC terminal mouse 50 and a PC terminal keyboard 51 . The PC terminal display screen 49 can display on the screen in real time the operating status of the robot received by the PC terminal 48 and the collected data information related to the cabinet of the tested equipment for the staff to check in time. The PC terminal mouse 50 and PC terminal keyboard 51 can be used by staff to operate the PC terminal 48 and send specific commands to the robot to perform specific actions. The PC terminal 48 is placed in the middle of the power distribution room, where data transmission to each location of the power distribution room can be better completed. At the same time, there should be a power socket and a network port socket here, which can supply power for the PC terminal 48 and realize communication with the background control center of the power system.
所述PC终端监控软件界面52，所述PC终端软件基于Windows操作系统开发，结合视频传输、图像识别、网络通讯、计算机控制等技术，实现信息采集、传输、控制、管理和储存。所述PC终端软件界面52上反映的信息有：设备状态显示、速度信息、位置信息、高清摄像机画面、红外热像仪画面、局部放电检测器检测数据、温湿度信息、设备识别结果、巡检模式选择、补光灯开关和急停开关按钮。所述PC终端监控软件界面52通过设备状态显示可以实时显示当前机器人本体的运动状态：显示当前所述的机器人运行到哪个被测设备柜体前，实时监控所述的机器人速度和位置。工作人员可以通过所述的PC终端鼠标50和PC终端键盘51发送命令以控制机器人的运动。所述的PC终端监控软件界面52可以对前端检测传感器进行控制和管理，实时显示当前检测对象，进行状态评估，工作人员同样可以发出相应指令以控制所述的传感器进行相应动作。所述的PC终端监控软件还可以建立数据库，记录并为工作人员提供相关的历史数据，对潜在的危险进行预估判断。所述的巡检模式有例行巡检、特巡巡检、危机巡检等多种巡检模式。The PC terminal monitoring software interface 52, the PC terminal software is developed based on the Windows operating system, combined with video transmission, image recognition, network communication, computer control and other technologies to realize information collection, transmission, control, management and storage. The information reflected on the PC terminal software interface 52 includes: equipment status display, speed information, location information, high-definition camera picture, infrared thermal imager picture, partial discharge detector detection data, temperature and humidity information, equipment identification result, patrol inspection Mode selection, fill light switch and emergency stop switch button. The PC terminal monitoring software interface 52 can display the motion status of the current robot body in real time through the device status display: display the current robot running in front of the tested equipment cabinet, and monitor the robot speed and position in real time. Workers can send commands through the PC terminal mouse 50 and PC terminal keyboard 51 to control the movement of the robot. The PC terminal monitoring software interface 52 can control and manage the front-end detection sensors, display the current detection objects in real time, and perform status evaluation. The staff can also issue corresponding instructions to control the sensors to perform corresponding actions. The PC terminal monitoring software can also establish a database, record and provide relevant historical data for staff, and estimate and judge potential dangers. The inspection modes include routine inspection, special inspection, crisis inspection and other inspection modes.
本发明电力系统轨道式自动巡检机器人开始工作前停止在机器人运行轨道1起点的充电盒40处，此时锂电池10电量处于充满状态，轨道小车铜质电极11和充电盒铜质电极41分开。打开控制箱27上的总开关37和急停开关38，机器人控制电路接通，控制电路板29、电机驱动器31均上电，第一步进电机16的抱闸关闭，等待接收巡检任务命令。打开PC终端监控软件界面52，用PC终端鼠标50和PC终端键盘51设定相关参数，选择巡检模式，给机器人发送控制命令。机器人的无线路由器接收到通过以太网发送过来的命令后，通过通信协议转换器34将以太网信息转换为串口信息，以供单片机30接收并处理。单片机30根据命令控制机器人运行。通过直流电机驱动器驱动直流电机7，带动轨道小车2在机器人运行轨道1上运动。通过单片机30中下载的智能控制算法程序，结合第一编码器8和第一限位开关9可以实现对直流电机7的闭环智能控制，使机器人能克服运行时的一些干扰，如轨道不平造成的速度下降等，稳定、快速、准确地到达需要被测设备柜体前方。采用积分分离的分段式PID闭环算法，同时还带有饱和限幅环节，通过选取合适的参数，能控制轨道小车2平稳、快速启动。在轨道小车2运行过程中可以智能控制速度，当遇到轨道不平处或弯道阻力较大导致速度降低时，第一编码器8能及时将记录转动的角度和圈数反馈给单片机30，单片机30接收并处理后，可以增大输出方波的占空比，从而增大直流电机7的转速。在快要到某一需要检测设备柜体前的轨道上布置铁片，以触发第一限位开关9，当检测到铁片时，第一编码器开始8清零并开始记录转动的角度和圈数，直到记录转动的角度和圈数到一定值后停止记录转动的角度和圈数并控制直流电机7停止转动，此时机器人正好运动到需要检测的位置，从而实现了机器人的精确定位。第一步进电机16和第二步进电机22采用梯形加减速控制算法控制，结合第二编码器17、第二限位开关18、第三编码器23和第三限位开关24，启动和停止过程平稳，定位精确，有较好的控制效果。当直流电机7工作时，第一步进电机16和第二步进电机22不工作。当机器人运动至某一需要被检测设备柜体前方时停止，第一步进电机16开始工作，带动第一同步带线性模组滑块20从上到下运行，在柜体号、指示灯、开关按钮、仪器仪表前停止，由高清摄像机44和红外热像仪45抓图或拍摄视频。当第一步进电机16完成从上到下的工作后停止，第二步进电机22开始工作，带动局部放电检测器46向被测设备柜体表面靠近直至完全贴住，进行局部放电现象的检测。当机器人完成当前柜体的检测任务后，会继续向下一个需要检测的设备柜体运行，继续巡检任务。控制箱27内的电压传感器33能实时监测锂电池10的电压，当出现电压过低时，会控制机器人前往充电盒40处进行充电。当电压传感器33监测到电压足够高后，又会控制机器人停止充电。机器人在运行过程中实时将自身的运动状态，如位置信息和速度信息等、传感器所检测到的结果通过以太网发送给PC终端48，PC终端监控软件界面52可以实时显示这些信息，PC终端48将所接收到的信息进行预处理及存储备份后通过电力系统的内网传送到后台控制中心，以便运维人员及时掌握现场情况并采取有效措施。The track-type automatic inspection robot of the power system of the present invention stops at the charging box 40 at the starting point of the robot running track 1 before starting to work. At this time, the lithium battery 10 is in a fully charged state, and the copper electrode 11 of the rail trolley is separated from the copper electrode 41 of the charging box. . Open the main switch 37 and the emergency stop switch 38 on the control box 27, the robot control circuit is connected, the control circuit board 29, the motor driver 31 are all powered on, the brake of the first stepping motor 16 is closed, and waiting to receive the inspection task order . Open the PC terminal monitoring software interface 52, use the PC terminal mouse 50 and the PC terminal keyboard 51 to set relevant parameters, select the inspection mode, and send control commands to the robot. After the wireless router of the robot receives the command sent through the Ethernet, the Ethernet information is converted into serial port information through the communication protocol converter 34 for the single-chip microcomputer 30 to receive and process. The single-chip microcomputer 30 controls the operation of the robot according to the command. The DC motor 7 is driven by a DC motor driver to drive the track trolley 2 to move on the robot running track 1 . Through the intelligent control algorithm program downloaded in the single-chip microcomputer 30, combined with the first encoder 8 and the first limit switch 9, the closed-loop intelligent control of the DC motor 7 can be realized, so that the robot can overcome some disturbances during operation, such as those caused by uneven tracks. The speed drops, etc., and it can reach the front of the cabinet of the equipment under test stably, quickly and accurately. The segmented PID closed-loop algorithm with integral separation is adopted, and at the same time, it also has a saturation limiting link. By selecting appropriate parameters, the rail car 2 can be controlled to start smoothly and quickly. The speed can be intelligently controlled during the operation of the track car 2. When the speed is reduced due to the unevenness of the track or the large resistance of the curve, the first encoder 8 can timely feed back the recorded rotation angle and the number of turns to the single-chip microcomputer 30, the single-chip microcomputer 30 after receiving and processing, the duty ratio of the output square wave can be increased, thereby increasing the rotational speed of the DC motor 7 . Arrange iron sheets on the track before the cabinet of a certain equipment that needs to be detected to trigger the first limit switch 9. When the iron sheet is detected, the first encoder starts to clear 8 and starts to record the angle and circle of rotation. Count until the recorded angle of rotation and the number of turns reach a certain value and stop recording the angle of rotation and the number of turns and control the DC motor 7 to stop rotating. At this time, the robot just moves to the position that needs to be detected, thereby realizing the precise positioning of the robot. The first stepping motor 16 and the second stepping motor 22 adopt trapezoidal acceleration and deceleration control algorithm control, in conjunction with the second encoder 17, the second limit switch 18, the third encoder 23 and the third limit switch 24, start and The stopping process is stable, the positioning is precise, and the control effect is good. When the DC motor 7 works, the first stepper motor 16 and the second stepper motor 22 do not work. When the robot moves to the front of a certain equipment cabinet that needs to be detected, it stops, and the first stepper motor 16 starts to work, driving the first synchronous belt linear module slide block 20 to run from top to bottom, and the cabinet number, indicator light, Stop before switch button, instrumentation, by high-definition camera 44 and thermal imager 45 capture picture or take video. When the first stepper motor 16 finishes working from top to bottom, it stops, and the second stepper motor 22 starts to work, driving the partial discharge detector 46 to approach the surface of the cabinet body of the device under test until it is completely attached to detect the partial discharge phenomenon. detection. When the robot completes the detection task of the current cabinet, it will continue to run to the next equipment cabinet that needs to be detected, and continue the inspection task. The voltage sensor 33 in the control box 27 can monitor the voltage of the lithium battery 10 in real time, and when the voltage is too low, it will control the robot to go to the charging box 40 for charging. When the voltage sensor 33 detects that the voltage is high enough, it will control the robot to stop charging. The robot sends its own motion state in real time during operation, such as position information and speed information, and the results detected by the sensor to the PC terminal 48 through Ethernet, and the PC terminal monitoring software interface 52 can display these information in real time. The PC terminal 48 The received information is preprocessed, stored and backed up, and then transmitted to the background control center through the intranet of the power system, so that the operation and maintenance personnel can grasp the on-site situation in time and take effective measures.
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