CN104959986A - Combined track type automatic inspection robot - Google Patents

Abstract

The invention proposes a combined track type automatic inspection robot. 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 running track includes an upper track and a lower track, and the robot body includes a track trolley, a first synchronous belt linear module , the second synchronous belt linear module; the first synchronous belt linear module is installed between the upper track and the lower track; the second synchronous belt linear module is installed on the first synchronous belt linear module, and with The first synchronous belt linear module is vertical; the plurality of detection sensors are mounted on the first synchronous belt linear module and the second synchronous belt linear module respectively. The invention has precise movement orientation and wide detection range, and can transmit the self-movement information and the monitoring information of the equipment under test to the PC terminal in real time.

Description

A combined track type automatic inspection robot

technical field

The invention belongs to the technical field of electric power, and in particular relates to a combined track type automatic inspection robot.

Background technique

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.

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.

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:

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.

Contents of the invention

The purpose of the present invention is to overcome the above-mentioned deficiencies in the prior art, and to provide a combined track-type automatic inspection robot, 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 parts including Detection information including 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.

In order to solve the above technical problems, the present invention provides a combined track-type automatic inspection robot, 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 includes an upper track and the lower track, the robot body is installed between the upper track and the lower track to provide a running track for the robot body; the robot body includes a track trolley, a first synchronous belt linear module, and a second synchronous belt linear module; One end of the first synchronous belt linear module is fixed to the track trolley, and the other end is installed with auxiliary wheels through a bracket; One cooperation; the first synchronous belt linear module is used to move the detection sensor carried by it in the up and down direction; the second synchronous belt linear module is installed on the first synchronous belt linear module, and is connected with the first synchronous belt The linear module is vertical and is used to move the detection sensors mounted on it in the horizontal direction; the multiple detection sensors are respectively mounted on the first synchronous belt linear module and the second synchronous belt linear module.

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.

Further, the first synchronous belt linear module includes a first straight rod, a first stepping motor, a first conveyor belt, and a slider of the first synchronous belt linear module; one end of the first straight rod is fixed on the track trolley and the other end is equipped with auxiliary wheels, which are 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 with the first conveyor belt and Covered on the first straight rod, the two ends of the first conveyor belt are fixed on the first straight rod; the first stepping motor is installed at one end of the first straight rod to drive the first conveyor belt to move; the The detection sensor mounted on the first synchronous belt linear module is fixed on the slider of the first synchronous belt linear module.

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.

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.

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.

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.

Further, a communication protocol converter is also installed on the insulation board of the control box, which converts the serial interface communication protocol on the control circuit board into an Ethernet communication protocol, and converts the information transmitted through the serial interface into a transmission through Ethernet. Information.

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.

Further, a wireless router is also installed to realize the wireless communication between the inspection robot and the PC terminal.

Compared with the prior art, the present invention has the remarkable advantage that the combined track-type automatic inspection robot of the present invention can move freely in the three directions of front and rear, up and down and left and right in the power system, such as power distribution room, etc. The movement is driven by the track car to translate the robot body in the preset track direction. 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 to In front of each device under test; through the cooperation of the upper and lower tracks, the inspection robot will not swing during operation; the inspection robot can accurately complete the inspection of the upper cabinet of the device under test by carrying a variety of detection sensors. Automatic extraction of information such as signal numbers, indicator lights, switch buttons, meter indications, equipment body temperature, partial discharge, etc., as well as fault prediction and alarm tasks; after the PC terminal obtains the information uploaded by the inspection robot, it can be further preprocessed and stored After the backup, it is transmitted to the background control center through the internal network of the power system, so that the operation and maintenance personnel can grasp the situation of the inspection site in time and take effective measures to complete the entire inspection task.

Description of drawings

Fig. 1 is a schematic structural view of one side of the combined track-type automatic inspection robot of the present invention.

Fig. 2 is a schematic structural view of the other side of the combined track-type automatic inspection robot of the present invention.

Fig. 3 is a structural schematic diagram of a track trolley of the combined track-type automatic inspection robot of the present invention.

Fig. 4 is a schematic diagram of the internal composition of the control box of the combined track-type automatic inspection robot of the present invention.

Fig. 5 is a schematic diagram of the charging box of the combined track-type automatic inspection robot of the present invention.

Fig. 6 is a block diagram of the module structure of the combined track type automatic inspection robot system of the present invention.

Fig. 7 is a structural block diagram of the motion control system of the combined track type automatic inspection robot of the present invention.

Fig. 8 is a schematic diagram of the PC terminal monitoring software interface of the combined track-type automatic inspection robot of the present invention.

Fig. 9 is a schematic diagram of the PC terminal of the combined track-type automatic inspection robot of the present invention.

Detailed ways

It is easy to understand that, according to the technical solution of the present invention, those skilled in the art can imagine various implementations of the combined track-type automatic inspection robot of the present invention without changing the essence 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.

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 includes two parts, an upper track and a lower track. The robot body is vertically installed between the upper and lower tracks, and is used to realize that the robot body runs in the front and rear directions of the equipment in the power system such as a power distribution room, so that the robot The 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. Under the clamping of the upper and lower running tracks, the robot body will not sway during the operation, and the operation will be more stable. The upper track can be fixed on the roof, or fixed in the room higher than the top of the detected equipment through a bracket, and the lower track can be fixed on the ground, or fixed at the bottom of the house and the bottom of the tested equipment through a bracket.

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 one end of the first synchronous belt linear module 3 is fixed on the track trolley 2 through the back plate 5, so that the inspection robot constitutes A whole. Track dolly 2 promptly can be installed on the upper track, also can be installed on the lower track. When the track trolley 2 is installed on the upper track, the upper end of the first synchronous belt linear module 3 is fixed to the track trolley 2, and the lower end of the first synchronous belt linear module 3 is installed with two auxiliary wheels 43 through the bracket 42, and the two auxiliary wheels 43 are located at both sides of the lower track respectively to clamp the track. When the track trolley 2 is installed on the lower track, the lower end of the first synchronous belt linear module 3 is fixed to the track trolley 2, and the upper end of the first synchronous belt linear module 3 is installed with two auxiliary wheels 43 through the bracket 42, and the two auxiliary wheels 43 are positioned at both sides of upper track respectively to clamp track. Certainly, one end of the first synchronous belt linear module 3 of the track trolley is not installed and an auxiliary wheel 43 can be installed through the bracket 42. At this time, the corresponding upper track or lower track adopts a grooved guide rail, and the auxiliary wheel 43 is placed in the guide rail groove to run.

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 as the track, and the four wheels rotate to make the rail 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.

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.

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.

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. One end of the first straight rod 15 is fixed on the trolley 2 through the backboard 5 . 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 first synchronous belt linear module slider 20, and the first synchronous belt linear module slider 20 carries the detection sensor to move up and down, so as to detect instruments of different heights. 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 stepping motor 16, and rotates with the movement of the first synchronous belt linear module slider 20, and records the angle at which the first stepping motor 16 rotates and the number of turns and fed back to the single-chip microcomputer 30, the single-chip microcomputer 30 obtains the running position and speed of the first synchronous belt linear module slide block 20 after processing, and controls the first stepping motor 16 motor according to the current running 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 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 moves left and right in the horizontal direction in front of the cabinet of the equipment to be tested, which can realize the detection of partial discharge in the cabinet of the equipment under test, and the detection of instruments and meters located at different positions on the left and right of the 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 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.

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.

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.

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.

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.

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.

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, fast 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 main 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.

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.

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 .

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.

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 .

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.

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.

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.

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.

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.

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.

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.

The combined track-type automatic inspection robot 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 fully charged, 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, and 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.

Claims (10)

1. a combined track formula automatic crusing robot, is characterized in that, comprises orbit, the robot body that orbit runs, the multiple detecting sensors be mounted on robot body;

Described orbit comprises top track and lower track, and described robot body is arranged between top track and lower track, for robot body provides running orbit;

Described robot body comprises small rail car, the linear module of the first Timing Belt, the linear module of the second Timing Belt; One end and the small rail car of the linear module of described first Timing Belt are fixed, and the other end is by support installing auxiliary wheel; Described small rail car is arranged on in top track and lower track, and auxiliary wheel coordinates with another in top track and lower track; The linear module of described first Timing Belt is used for moving its detecting sensor of carrying at above-below direction; The linear module of described second Timing Belt is arranged on the linear module of the first Timing Belt, and vertical with the linear module of the first Timing Belt, within the horizontal direction, move its detecting sensor of carrying;

Described multiple detecting sensor is mounted on the linear module of the first Timing Belt and the linear module of the second Timing Belt respectively.

2. combined track formula automatic crusing robot as claimed in claim 1, it is characterized in that, described small rail car comprises base plate, one or more pairs of wheel, direct current generator; Described wheel is arranged on orbit, and its turning cylinder is fixed on described base plate by connector; Described direct current generator is for driving described vehicle wheel rotation.

3. combined track formula automatic crusing robot as claimed in claim 2, it is characterized in that, the linear module of described first Timing Belt comprises the linear module slide block of the first straight-bar, the first stepper motor, the first conveyer belt and the first Timing Belt; Described first straight-bar one end is fixed on described small rail car, and the other end installs auxiliary wheel, for being provided in the path of vertical direction being carried out move up and down for the linear module slide block 20 of described first Timing Belt; The linear module slide block of described first Timing Belt is connected with the first conveyer belt and is enclosed within the first straight-bar, and described first conveyer belt two ends are fixed on the first straight-bar; Described first stepper motor is arranged on one end of the first straight-bar for driving described first conveyer belt; The described detecting sensor be mounted on the linear module of the first Timing Belt is fixed on the linear module slide block of the first Timing Belt.

4. combined track formula automatic crusing robot as claimed in claim 3, it is characterized in that, the linear module of described second Timing Belt comprises the linear module slide block of the second straight-bar, the second stepper motor, the second conveyer belt and the second Timing Belt; Described second straight-bar is fixed on the linear module slide block of described first Timing Belt, provides path for giving the motion of the linear module slide block of the second Timing Belt in horizontal plane; The linear module slide block of described second Timing Belt is connected with the second conveyer belt and is enclosed within the second straight-bar, and described second conveyer belt two ends are fixed on the second straight-bar; Described second stepper motor is arranged on one end of the second straight-bar, for driving described second conveyer belt; The described detecting sensor be mounted on the linear module of the second Timing Belt is fixed on the linear module slide block of the second Timing Belt.

5. combined track formula automatic crusing robot as claimed in claim 4, is characterized in that,

Described small rail car also comprises the first encoder, two the first limit switches; Described two the first limit switches are one in front and one in back arranged in small rail car case surface, provide reset signal for giving described first encoder; Described first encoder and direct current generator are coaxially installed;

The linear module of described first Timing Belt also comprises the second encoder and two the second limit switches; Described two the second limit switches are arranged on the two ends of the first straight-bar respectively, provide reset signal for giving described second encoder; Described second encoder and the first stepping motor coaxle are installed;

The linear module of described second Timing Belt also comprises the 3rd encoder and two the 3rd limit switches; Described two the 3rd limit switches are arranged on the two ends of the second straight-bar respectively, provide reset signal for giving described 3rd encoder; Described 3rd encoder and the second stepping motor coaxle are installed.

6. combined track formula automatic crusing robot as claimed in claim 5, it is characterized in that, described crusing robot also comprises control cabinet, is provided with insulation board, the control circuit board be made up of single-chip microcomputer, three motor drivers in described control cabinet; Described control circuit board, three motor drivers are all arranged on insulation board;

The information that described single-chip microcomputer is used for providing according to each encoder controls crusing robot motion, completes according to the information that each detecting sensor provides the gather and analysis detecting data;

Described three motor drivers, drive described direct current generator, the first stepper motor and the second stepper motor respectively under the control of described single-chip microcomputer.

7. combined track formula automatic crusing robot as claimed in claim 6, is characterized in that, also comprises for crusing robot provides the battery of electric energy; The insulation board of described control cabinet is also provided with voltage sensor, for monitoring the voltage of battery.

8. combined track formula automatic crusing robot as claimed in claim 6, it is characterized in that, the insulation board of described control cabinet is also provided with communication protocols converter, is ethernet communication protocol by the serial interface communication protocol conversion on control circuit board.

9. combined track formula automatic crusing robot as claimed in claim 6, is characterized in that, comprise well PC terminal, be used for monitoring the current running status of crusing robot in real time and the operation of control, analyzes and store the data message that crusing robot collects.

10. combined track formula automatic crusing robot as claimed in claim 6, is characterized in that, be also provided with wireless router, for realizing the radio communication between crusing robot and PC terminal.