CN109991892A - A kind of transformer internal detection robot control system and control method - Google Patents

Abstract

The present invention relates to a kind of inside transformer detection robot control system and control method, system include robot body control system, robot remote control terminal.Robot body control system includes: robot core control panel, jet pump, jet pump drive module, power module, depth gauge, electronic compass, WiFi communication module, WiFi video camera, and robot remote control terminal is made of wireless router, Industrial PC Computer.Method includes that robot remote control terminal exports control instruction and gives robot body control system, robot body control system controls robot and moves in inside transformer, real-time detection robot inside transformer status information and inside transformer ambient image and be uploaded to robot remote control terminal, realize that robot reconnoitres the failure of inside transformer.The present invention can efficient remote control robot motion, realize robot inside transformer small space observe, help to realize oil-immersed transformer failure detection intelligent.

Description

A kind of transformer internal detection robot control system and control method

technical field

The invention relates to the technical field of transformer internal detection of power grid operation and maintenance equipment, in particular to a transformer internal detection robot control system and a control method.

Background technique

During the operation of the power system, the transformer undertakes the functions of voltage transformation, power distribution and transmission, and plays an important role in maintaining the stability and reliability of the power system. At the same time, transformer failure is also an important hidden danger to the stability of the entire power system. At present, the commonly used fault identification method is to judge the type of fault point according to the internal oil level, oil temperature, dissolved gas and other state quantities of the transformer caused by the fault. These methods are indirect judgment methods. Therefore, there are inaccurate fault type judgment and fault point location. difficulties, etc. At present, in order to accurately determine the fault location, it is usually necessary to drain the transformer insulating oil, and then probe the transformer by lifting the outer cover of the transformer or by inspecting personnel entering the transformer through the manhole. When the inspectors enter the transformer for maintenance, the toxic gas decomposed during the working process of the transformer oil is likely to cause harm to the human body. In order to accurately determine the type and location of transformer fault points, a transformer internal inspection robot is designed by integrating wireless transmission technology, integrated navigation and positioning technology, and underwater sealing technology. The robot adopts the jet drive method, and how to effectively realize the remote control of the robot is an important research direction at present.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide a control system and control method of a robot for detecting the inside of a transformer, which can realize the remote control of the robot in the transformer oil medium.

The technical scheme adopted by the present invention to achieve the above purpose is: a transformer internal detection robot control system, comprising:

The remote control terminal of the robot outputs control instructions to the robot body control system to realize the remote control of the robot inside the transformer;

The robot body control system is wirelessly connected with the remote control terminal of the robot to control the movement of the robot inside the transformer, and detect the position status information of the robot inside the transformer and the image of the internal environment of the transformer in real time, so as to realize the fault investigation inside the transformer by the robot.

The robot body control system includes:

The position detection module detects the position status information of the robot inside the transformer;

WiFi camera module, real-time capture of the internal environment image of the transformer;

The jet pump drive module is connected to the jet pump, and drives the jet pump according to the control instructions of the robot control board, so as to realize the movement of the robot inside the transformer;

The power module provides power for the robot control board;

The robot control board is connected to the jet pump drive module, the position detection module, the WiFi communication module and the WiFi camera module respectively; it is used to collect the position status information of the robot inside the transformer and the internal environment image of the transformer and output it through the WiFi communication module; The power module obtains power and provides it to the above modules;

The WiFi communication module is used for the communication between the robot control board and the remote control terminal of the robot.

The position detection module includes:

The electronic compass detects the attitude information of the robot inside the transformer; the attitude information includes direction angle, roll angle, pitch angle and three-axis acceleration;

Depth meter, which detects the depth information of the robot inside the transformer.

The robot control panel includes:

The single-chip microcomputer adopts the AD acquisition port inside the single-chip microcomputer to connect the depth meter to realize the detection of the depth information of the robot position;

The chip MAX232 is connected to the single-chip microcomputer, receives the control instructions of the single-chip microcomputer and outputs it to the WiFi communication module and the electronic compass through the RC232 port;

The digital-to-analog conversion chip is connected to the single-chip microcomputer, and 6 analog output ports are extended to connect the jet pump drive module to realize the speed control of the single-chip microcomputer to the jet pump.

The robot control board also includes a power conversion module, which directly outputs the 12V voltage provided by the power module to the jet pump drive module or converts it into a 5V voltage to supply power for the depth gauge, electronic compass, WiFi camera, and WiFi communication module, and also integrates 3.3V. The power chip provides power for the microcontroller.

There are 6 jet pump driving modules, which are respectively used to drive 4 horizontal jet pumps and 2 vertical jet pumps; the jet pumps are arranged on the robot to provide power for the movement of the robot.

The robot remote control terminal includes: a wireless router and an industrial PC; the industrial PC outputs motion control instructions to the robot body control system through the wireless router, and also receives and displays the robot state information and the transformer internal environment image uploaded by the robot body control system; The industrial PC is a touch screen.

A control method for a transformer internal detection robot, comprising:

The robot remote control terminal outputs control instructions to the robot body control system, and receives the position status information returned by the robot body control system and the steps of the internal environment image of the transformer;

The robot body control system controls the movement of the robot inside the transformer, and detects the state information of the robot inside the transformer and the steps of the internal environment image of the transformer in real time.

The steps of the robot remote control terminal outputting control instructions to the robot body control system, and receiving the position state information and the transformer internal environment image returned by the robot body control system, include;

Step S1: the robot remote control terminal initializes the control interface, network communication and image;

Step S2: when it is detected that the wireless router has uploaded data that needs to be received, automatically trigger receiving, storing and displaying the data;

Step S3: the remote control terminal of the robot receives in real time the image of the internal environment of the transformer uploaded by the wireless router;

Step S4: The remote control terminal of the robot triggers a timer to periodically send motion control instructions and monitoring instructions to the robot body control system according to the control commands and data on the control interface.

The robot body control system controls the robot to move inside the transformer, and detects the state information of the robot inside the transformer and the environment image inside the transformer in real time, including:

Step S1: The robot body control system initializes internal monitoring and control data, and turns on the WiFi communication module to monitor in real time whether there are control commands to be received;

Step S2: when it is detected that the remote control terminal sends a control command, start to receive the control command;

Step S3: verifying the received control command, and after the verification is successful, outputting a motion control command to the jet pump drive module to control the jet pump to work to provide power for the robot;

Step S4: monitor the attitude information of the robot inside the transformer in real time through the electronic compass; the attitude information includes direction angle, roll angle, pitch angle and three-axis acceleration;

Step S5: monitor the depth information of the robot inside the transformer in real time through the depth gauge;

Step S6: real-time monitoring of the internal environment image of the transformer through the WiFi camera module;

Step S7: Send the read attitude information, depth information and the internal environment image of the transformer to the remote control terminal through the WiFi communication module.

The present invention has the following beneficial effects and advantages:

1. The present invention enables the robot to move and observe inside the transformer filled with transformer oil, which reduces the maintenance cost of the transformer and saves the maintenance time.

2. The robot body control system proposed by the present invention has the characteristics of low power consumption, which is conducive to improving the observation time of the robot inside the transformer; meanwhile, the system has the characteristics of small size, which is conducive to reducing the size of the robot.

3. The robot proposed by the present invention adopts WiFi communication control technology, can be applied to other space applications such as oil tanks filled with transformer oil, and has good versatility.

Description of drawings

Fig. 1 is the structure diagram of the inner detection robot control system of the transformer of the present invention;

Fig. 2 is the power supply principle diagram of the robot body control system for detecting the inside of the transformer according to the present invention;

Fig. 3 is the flow chart of the control system method of the inner detection robot body of the transformer according to the present invention;

FIG. 4 is a flow chart of the control method of the remote control terminal of the transformer internal detection robot according to the present invention.

Detailed ways

The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

The invention relates to a control system and a control method of a robot for internal detection of a transformer. The structure diagram of the robot control system is shown in Figure 1, which mainly includes a robot body control system and a robot remote control terminal. The robot body control system mainly includes: robot core control board, jet pump drive module, jet pump, electronic compass, depth gauge, power supply module, WiFi communication module, WiFi camera.

The robot core control board controller is designed with a low-power single-chip microcomputer. On the basis of the single-chip controller, the chip MAX232 is used to expand two RS232 interfaces, one of which is connected to the electronic compass and the other is connected to the WiFi communication module. The analog conversion chip extends 6 analog output ports, which are connected to the jet pump drive module to realize the speed control of the jet pump; the AD acquisition port inside the microcontroller is used to connect the depth gauge to realize the detection of the working depth information of the robot.

The power management structure diagram of the robot body control system is shown in Figure 2. It can be seen from the figure that the robot core control board integrates the power management function, and the output of the battery module is connected to the 12V power module input interface of the core control board. The core control board integrates a 5V power supply module, which converts the 12V battery voltage into 4 channels of 5V to supply power for the depth gauge, electronic compass, WiFi camera, and WiFi communication module. It also integrates a 3.3V power supply chip to provide power for the microcontroller, and also includes 6 channels of 12V. The power output ports provide power for the jet pump drive module respectively.

The electronic compass adopts a miniature heading and attitude reference system, which is composed of three-axis MEMS gyroscopes, three-axis MEMS accelerometers, three-axis magnetoresistive magnetometers and other types of sensors. The depth gauge uses a pressure transmitter. The jet pump driver module adopts the dual H-bridge driver chip L298N.

The robot remote control terminal is mainly composed of an industrial wireless router and an industrial tablet computer. The industrial wireless router adopts a wireless local area network. The WiFi communication module of the robot body control system, the WiFi camera and the industrial tablet computer of the robot remote control terminal are connected to the wireless local area network to realize communicate with each other. The industrial panel computer adopts Advantech PPC3151, and the robot remote control terminal software is developed on the industrial panel computer.

The invention provides a method for controlling a robot for detecting the interior of a transformer, which may include: a method for controlling a robot body control system, a method for controlling a remote control terminal of the robot, and the program flow charts are shown in Figures 3 and 4 respectively. The control method of the robot body control system mainly includes:

Step S1, the microcontroller circuit calls the serial port initialization function and the jet pump initialization function, and opens the serial port to receive interrupts;

Step S2, the microcontroller circuit enters the main loop program, monitors the serial port receiving interruption in real time, and enters the serial port receiving interruption program when detecting the data sent by the remote control terminal through the wireless WiFi;

Step S3, the microcontroller calls the serial port to receive the interrupt program, receives the data sent by the remote control terminal, verifies the received data, and enters the jet pump drive control circuit control program after the verification is successful;

Step S4, controlling the corresponding analog circuit output port of the jet pump driving control circuit to output the corresponding analog voltage according to the received data.

Step S5, the controller invokes the electronic compass data reading program, sends a query command, and reads the robot attitude information returned by the electronic compass.

Step S6, the controller calls the depth meter reading program to read the depth data returned by the depth meter.

Step S7, the controller invokes the serial port sending program, and sends the read data of the electronic compass and depth gauge to the remote control terminal through the WiFi communication module.

Further, the control method of the remote control terminal of the robot mainly includes:

Step S1, the control software calls the control interface initialization function, the network communication initialization function, and the image receiving initialization function;

Step S2, when the control software detects that there is data to be received on the network, it automatically triggers a receiving function to receive, parse, display and store the data;

Step S3, the control software invokes the image receiving and displaying program to display the video information captured by the camera in real time;

Step S4, the control software is set with a timer sending function, triggers the timer sending function according to the set time, the sending function detects the control commands and data of the control interface, assigns the data to the sending array, and sends the array to the robot.

Claims (10)

1. a kind of inside transformer detects robot control system characterized by comprising

Robot remote control terminal exports control instruction and realizes to robot to robot body control system in inside transformer Long-range control；

It is wirelessly connected between robot body control system, with robot remote control terminal, controls robot in inside transformer Movement, real-time detection robot inside transformer location status information and inside transformer ambient image, to realize machine Device people reconnoitres the failure of inside transformer.

2. a kind of inside transformer described in accordance with the claim 1 detects robot control system, which is characterized in that the machine Human body's control system includes:

Position detecting module, location status information of the detection robot in inside transformer；

WiFi camara module, captured in real-time inside transformer ambient image；

Jet pump drive module connects jet pump, jet pump is driven according to the control instruction of robot control panel, to realize machine Movement of the device people in inside transformer；

Power module provides electric energy for robot control panel；

Robot control panel is separately connected jet pump drive module, position detecting module, WiFi communication module, WiFi video camera Module；For acquiring robot in the location status information of inside transformer, inside transformer ambient image and being led to by WiFi Interrogate module output；It is also used to obtain electric energy from power module and is supplied to above-mentioned each module；

WiFi communication module, the communication for robot control panel and robot remote control terminal.

3. a kind of inside transformer detects robot control system according to claim 2, which is characterized in that the position Detection module includes:

Electronic compass, posture information of the detection robot in inside transformer；The posture information include deflection, roll angle, Pitch angle and 3-axis acceleration；

Depth gauge, depth information of the detection robot in inside transformer.

4. a kind of inside transformer detects robot control system according to claim 2, which is characterized in that the machine People's control panel includes:

Single-chip microcontroller connects depth gauge using the AD acquisition port inside single-chip microcontroller, realizes the detection of robot location's depth information；

Chip MAX232 connects single-chip microcontroller, receives the control instruction of single-chip microcontroller and is exported respectively by the port RC232 logical to WiFi Interrogate module, electronic compass；

Analog-digital chip connects single-chip microcontroller, expands 6 road analog output ports connection jet pump drive module, realizes single Speed control of the piece machine to jet pump.

5. a kind of inside transformer detects robot control system according to claim 4, which is characterized in that the machine People's control panel further includes power conversion module, by the 12V voltage that power module provides be directly output to jet pump drive module or Being converted to 5V voltage is depth gauge, electronic compass, WiFi video camera, WiFi communication module for power supply, is also integrated with 3.3V power supply core Piece provides electric energy for single-chip microcontroller.

6. a kind of inside transformer detects robot control system according to claim 2, which is characterized in that the injection Pumping drive module is 6, is respectively used to 4 horizontal-jet pumps of driving and 2 vertical jet pumps；The jet pump is arranged in machine People is upper for providing power to robot motion.

7. a kind of inside transformer described in accordance with the claim 1 detects robot control system, which is characterized in that the machine People's remote control terminal includes: wireless router, Industrial PC Computer；Industrial PC Computer by wireless router export motion control instruction to The robotary information and inside transformer ring that robot body control system, also reception robot body control system upload Border image is simultaneously shown；The Industrial PC Computer is touch screen.

8. a kind of inside transformer detects robot control method characterized by comprising

Robot remote control terminal exports control instruction and gives robot body control system, receives robot body control system and returns The step of location status information and inside transformer ambient image for returning；

Robot body control system controls robot and moves in inside transformer, and real-time detection robot is in inside transformer The step of status information and inside transformer ambient image.

9. a kind of inside transformer detects robot control method according to claim 8, which is characterized in that the machine People's remote control terminal exports control instruction and gives robot body control system, receives the position that robot body control system returns The step of status information and inside transformer ambient image, including；

Step S1: robot remote control terminal initializes control interface, network communication and image；

Step S2: when detecting that wireless router has upload data to need to receive, automatic trigger receives, stores and shows number According to；

Step S3: the inside transformer ambient image that robot remote control terminal real-time reception wireless router uploads；

Step S4: robot remote control terminal triggers timer and regularly sends fortune according to the control command and data of control interface Dynamic control instruction and Monitoring instruction give robot body control system.

10. a kind of inside transformer detects robot control method according to claim 8, which is characterized in that the machine Device human body's control system controls robot and moves in inside transformer, and real-time detection robot believes in the state of inside transformer The step of ambient image of breath and inside transformer, comprising:

Step S1: robot body control system initializes internal monitoring and control data, opens WiFi communication module and supervises in real time It surveys and whether wants received control instruction；

Step S2: when detecting that remote control terminal sends control instruction, start to receive control instruction；

Step S3: verifying received control instruction, after verifying successfully, exports motion control instruction to jet pump and drives mould Block control injection pump work provides power for robot；

Step S4: by electronic compass real-time monitoring robot inside transformer posture information；The posture information includes Deflection, roll angle, pitch angle and 3-axis acceleration；

Step S5: by depth gauge real-time monitoring robot inside transformer depth information；

Step S6: pass through WiFi camara module real-time monitoring inside transformer ambient image；

Step S7: the posture information read, depth information and inside transformer ambient image are sent out by WiFi communication module It is sent to remote control terminal.