CN102114635A - Intelligent controller of inspection robot - Google Patents
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- CN102114635A CN102114635A CN2009102735124A CN200910273512A CN102114635A CN 102114635 A CN102114635 A CN 102114635A CN 2009102735124 A CN2009102735124 A CN 2009102735124A CN 200910273512 A CN200910273512 A CN 200910273512A CN 102114635 A CN102114635 A CN 102114635A
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Abstract
The invention relates to a controller in the robot field, in particular to an embedded intelligent controller applied to an inspection robot for an overhead power line. The inspection robot running along the overhead power line in a long distance firstly needs enough energy supply, and currently, a battery power supply is adopted according to traditional national and international documents, thereby the endurance is limited. For realizing independent inspection, various obstacles, such as stockbridge dampers, suspension insulators, wire clamps, towers, and the like need to be overcome, therefore, a set of navigation system with global positioning capability and a motion control module are needed to realize the free motion of the robot on the line. Accordingly, the invention has the advantages of reasonable design, simple structure, long service life and easiness for popularization, and the robot can freely move and be accurately positioned on the line by the navigation system with the global positioning capability and the motion control module.
Description
Technical field
What the present invention relates to is a kind of robot field's controller, specifically is a kind of embedded intelligent controller that is applied to the overhead power line inspection robot.
Background technology
Inspection robot is the integrated of many new and high technologies, carries out line data-logging with intelligent robot, is the inexorable trend of Robotics and electric inspection process technical development, also is the recent studies on field of specialized robot simultaneously.Patrol and examine circuit with robot, can avoid artificial line walking to patrolling and examining the influence of precision, arrive and manually be difficult to the circuit that arrives, improve and patrol and examine efficient, greatly reduce and patrol and examine labour intensity and artificial line walking potential risks.With respect to using the helicopter line walking, patrol and examine circuit with robot, will greatly reduce the high expense of line walking, can accurately obtain line state information simultaneously, provide scientific basis for implementing the line status maintenance.The target of mainly patrolling and examining of inspection robot is equipment such as visible light camera, infrared thermoviewer by carrying, obtains to patrol and examine circuit ambient conditions along the line, shaft tower and base case, lead and aerial earth wire situation, insulator situation, lightning protection and earthing or grounding means situation, annex and other equipment situation.Along with the development of technology, rely on other equipment that carry, will improve the technology of patrolling and examining, realize the autonomous maintenance of circuit simultaneously.
In overhead power line inspection robot field, the people such as Moutambault of the people such as Sawada of existing Tokyo Electric Power, U.S. TRC company, Quebec, CAN water power research institute (IREQ) have successively carried out the research work of inspection robot, but generally need artificial auxiliary during the work of the inspection robot of their development, job area is little, and autonomous degree is low.Domestic have Wuhan University to carry out the research of the overhead power line inspection robot with walking and obstacle detouring function under 863 fund projects are subsidized, and applied for patent CN200410061316.8, CN200410061314.9, CN200320116267.4, CN200510019930.2, CN200810048943.6, CN200810048756.8, CN200810048943.6.
Inspection robot is along the overhead power line long distance running, and at first needing the sufficient energy provides, and all is to adopt powered battery according to domestic and foreign literature at present, and flying power is limited.Realize independently patrolling and examining and need to cross over various obstacles such as stockbridge damper, suspension insulator, wire clamp, shaft tower, therefore require to have a cover to have the navigation system of overall stationkeeping ability and motion-control module to realize robot moving freely on the line.Information such as final visible light by polling module acquisition circuit, infrared image are stored in the robot body or via data transmission module and are sent to ground.The inspection robot intelligent controller of developing a kind of comprehensive power module, motion-control module, navigation module, polling module and data transmission module is essential, it is little also to need to satisfy physique simultaneously, energy consumption is low, and reliability height and anti-electromagnetic interference capability wait requirement by force.
Summary of the invention
The present invention mainly is that the solution existing in prior technology all is to adopt powered battery, the technical problem of the limited grade of flying power according to domestic and foreign literature at present; A kind of inspection robot intelligent controller that the sufficient energy provides that has is provided.
It is can not overall stationkeeping ability when solving the existing robot of existing in prior technology moving freely on the line and the technical problem that precisely do not wait of location that the present invention also has a purpose; Provide a kind of navigation system with overall stationkeeping ability and motion-control module to realize robot moving freely and the inspection robot intelligent controller of accurate positioning on the line.
Above-mentioned technical problem of the present invention is mainly solved by following technical proposals:
A kind of inspection robot intelligent controller is characterized in that, comprising:
Central control module: form by three integrated circuit board storehouses based on the PC104 bus, a CPU module (PCM-3370) and two data acquisition modules (PM511P and PCM-5132) can be according to pre-set programs and shaft tower, the autonomous planning robot's of line information the steps of patrolling and examining;
Power module: the entire controller to robot provides power supply, is made of the power module of intelligence induction power taking power supply and chargeable storage;
Motion-control module: by 9 DC servo motors of 3 driver control, by the switching between motor-driven switch boards realization driver and the electrode;
Navigation module: comprise GIS-GPS module and array of electro-magnetic sensors;
Polling module: the control instruction of sending by standard RS232C serial ports reception central controller realizes patrolling and examining of visible light camera and infrared thermoviewer, finish opening and closing, location, zoom, amplification, the shooting action of instrument, resulting visible light and infrared imagery are kept in the storage card;
Data transmission module: RS232C serial ports and central control module by standard communicate, and receive the current status information of control instruction and feedback robot that ground base station sends by wireless transmitter; Systems soft ware and function software by the wireless network transmissions robot; Download visible light and infrared image information by image transmission;
Described power module, motion-control module, navigation module, polling module link to each other with central control module respectively, and described data transmission module links to each other with central control module by the external interface plate.
At above-mentioned inspection robot intelligent controller, described navigation module relies on GPS to determine the robot position in real time, retrieval GIS database, contrast draws the distance with respect to the front and back barrier, slowing down, change local active obstacle over to according to electromagnetic sensor near outside the safe distance of next barrier
At above-mentioned inspection robot intelligent controller, described power module comprises induction electricity getting device, high-capacity lithium battery and the charge and discharge monitoring unit that links to each other successively.
At above-mentioned inspection robot intelligent controller, described motion-control module comprises some DC servo motors, driver switch boards and the driver switch boards that links to each other successively.
At above-mentioned inspection robot intelligent controller, described navigation module comprises array of electro-magnetic sensors, obliquity sensor and the GIS-GPS module that links to each other successively.
At above-mentioned inspection robot intelligent controller, described polling module comprises visible light camera, infrared thermoviewer and ultrasonic range finder.
At above-mentioned inspection robot intelligent controller, described data transmission module comprises wireless transmitter and image transmission.
Therefore, the present invention has following advantage: 1. and reasonable in design, simple in structure, and long service life, be easy to promote; 2. have the navigation system of overall stationkeeping ability and motion-control module to realize robot moving freely and accurate positioning on the line.
Description of drawings
Accompanying drawing 1 is an intelligent controller of the present invention system pie graph.
The control of accompanying drawing 2 DC servo motors
Accompanying drawing 3 is an outer sensor signal Treatment Design conceptual scheme
The formation of accompanying drawing 4 power modules
The specific embodiment
Below by embodiment, and in conjunction with the accompanying drawings, technical scheme of the present invention is described in further detail.
Embodiment:
A kind of inspection robot intelligent controller is characterized in that, comprising:
Central control module: the hardware core that is the inspection robot intelligent controller, form by three integrated circuit board storehouses based on the PC104 bus, a CPU module (PCM-3370) and two data acquisition modules (PM511P and PCM-5132) can be according to pre-set programs and shaft tower, the autonomous planning robot's of line information the steps of patrolling and examining.Centralized management and distribution for system resource, specialized designs an interface board, its effect is that the resource on the PC104 integrated circuit board (A/D, D/A, I/O etc.) is focused on earlier on the interface board, and then is distributed according to need to control the various transducing signals of other integrated circuit board, motor driver and detection (comprising electromagnetic sensor signal, current sensor signal and photo-sensor signal will) by interface board.
Specifically be described below: inspection robot body center control module is formed by three integrated circuit board storehouses based on the PC104 bus, and outfit notebook memory bar and CF card, three integrated circuit boards are respectively PCM-3370, PCM5132, PM-511P, and each integrated circuit board major function is as follows:
PCM-3370: be that a performance of China is ground than higher PC104plus bus CPU module in Taiwan, this product antijamming capability is strong, can be used for having the adverse circumstances that strong-electromagnetic field disturbs, maximum power dissipation is 12W, wide temperature product operating temperature range-20～80 degree, and have two kinds of expansion slot of PC/104 and PC/104plus, can expand the integrated circuit board of other PC/104 bus or PC/104plus bus very easily.Main resource is as follows on its plate:
RS-232/485 interface: two
Parallel port: one, can support three kinds of patterns of SPP/EPP/ECP
Infrared interface: 1 speed is up to 1.15Mbps
RJ-45 interface: support PS/2 keyboard and mouse
USB interface: two, USB1.1
Display interface device: support CRT/LCD
The 10/100MPCI Ethernet
PCM-5132: be a kind of built-in PC application module that uses in the industrial environment that is primarily aimed at, contain 48 data signal input and output, the digital signal line of 48 tunnel compatible TTL/DTL/CMOS is distributed in two independently in the group, each group is all supported the pattern 0 of 8255PPI (programmable peripheral interface) chip, and stronger driving force is arranged.Each piece 8255 is made up of A mouth, B mouth, three 8 bit data mouths of C mouth, and these mouthfuls can be set to input or output by program, and wherein the C mouth can be divided into Gao Siwei again and hang down four, and they again can be by independent setting for inputing or outputing mouth.
PM511P: be the multifunctional data acquiring plate of a PC104 bus, be applicable to multiple occasions such as industry spot, laboratory, embedded device, have 16 road A/D ALT-CH alternate channels, 4 road D/A passages, 24 road programmable switch amount input and output, 3 tunnel counting channels.
PCM-5149 is a PC104 bus communication card, supports 8 RS-232 ports, can be each serial ports and selects IRQ, adopts the full duplex communication serial ports, can select the relaying level by wire jumper, and the flat cable of 40 stitch to standard DB9 interface is provided.
Power module: the entire controller to robot provides power supply, is made of the power module of intelligence induction power taking power supply and chargeable storage.Central controller is by reading the dump energy of battery, and reference is about to the obstacle detouring that carries out and patrols and examines the planning meter and coordinate to respond to electricity getting device.When judging that battery electric quantity is not enough to finish residue and patrols and examines, the alternating current that the induction electricity getting device obtains after AC-DC converts direct current to, again through the charge and discharge monitoring unit directly to the DC-DC power supply or to charge in batteries.The DC-DC unit is output as each power unit of robot system required power supply is provided.
Motion-control module: be that robot realizes paleocinetic executing agency, by 9 DC servo motors of 3 driver control, by the switching between motor-driven switch boards realization driver and the electrode.By direction, speed, angular displacement and the moment of controlling each brushless electric machine, realize motion control to nine movable joints of robot, wherein, except the movable motor of two road wheels is that twin shaft drives control, other motor is only controlled for single shaft drives.The motion in 9 joints of robot is finished by DC servo motor, so the emphasis of motion-control module is exactly the control of DC servo motor.In traditional scheme, the control of brushless electric machine is actually controls indirectly by driver, at one time, driver can only drive motor of control, needs 1 road D/A to control the speed of motor and 4 road I/O on a driver and controls the stopping of motor, brake, direction and angular displacement respectively.Traditional scheme has adopted the mode of a motor of a driver control, so just need 9 motors and 9 drivers, and hardware core partly need provide 9 road D/A, 36 road I/O, though this scheme makes us can control 9 motors simultaneously, but in robot motion's process, have only two movable motors to need Synchronization Control, other motor can be controlled in timesharing, there is no need every motor and all dispose a driver, so not only increased development cost significantly, and increased the volume and weight of control system, should not adopt.
Motor-driven scheme used in the present invention is to control the motion of three DC servo motors by a driver timesharing, adopt the method for timesharing control, must design the driver switch boards of a control brushless electric machine, like this, only need provide switch boards three road I/O passages, just can timesharing be controlled by three motors.System only needs switch boards, 3 road D/A, 21 road I/O of three drivers, three control brushless electric machines, just can all brushless electric machines of control system, and there is very big extending space in system, because such design can timesharing be controlled 12 at most, 3 brushless electric machines of Synchronization Control, but, must be according to the needs of system, which platform brushless electric machine consideration is distributed on the same switch boards, for example, just it must be distributed on two different switch boards for two movable motors wanting Synchronization Control, otherwise can't realize Synchronization Control.Fig. 2 has represented the distribution situation of each motor on switch boards.
Navigation module: independent navigation is that inspection robot carries out independent navigation and the key technology of patrolling and examining, and relies on GIS-GPS technology, array of electro-magnetic sensors to finish navigation.According to built-in circuit, tower structure parameter GIS line information system,, make and totally patrol and examine planning by the current location of the definite robot of GPS positioner enforcement about patrolling and examining circuit.Various obstacles on the dependence array of electro-magnetic sensors detection high-voltage conducting wires such as stockbridge damper, suspension clamp, aluminium hydraulic pressed connecting pipe etc. cooperate the pose of obliquity sensor detection machine physiognomy for lead, the guided robot leaping over obstacles simultaneously.It mainly relies on based on the local independent navigation of magnetic field detection, inclination angle detection with based on the overall independent navigation of GIS-GPS and realizes.In order to realize the overall situation and local obstacle leap, the present invention has designed a cover inspection robot control software, can realize gold utensils such as robot autonomous crossing pole, stockbridge damper, reaches the purpose that robot travels on high-tension line continuously; And detection machine people running status and feed back to control panel, for operating personnel provide real-time status information.
Electromagnetic sensor is arranged on two arms of robot symmetrically, is divided into pose detecting sensor and obstacle detecting sensor.Mainly contain three groups (A, B, C groups) totally 20 electromagnetic sensors that are used for the pose detection on the arm, two groups of parallel vertical directions that are distributed in, another is organized perpendicular to they determined planes.In addition, arranged two electromagnetic sensors that are used for obstacle detection respectively in each road wheel part of robot, one is used for detecting whether arrive shockproof hanging down, and one is used for detecting whether arrive wire clamp (comprising suspension clamp, strain clamp, aluminium hydraulic pressed connecting pipe).Be classified as one group (D group) with detecting shockproof two vertical sensors, two sensors that detect wire clamp also are classified as one group (E group), add six groups of sensors on two arms, have 8 groups of (44) electrometric sensors, if the input signal of each electromagnetic sensor is all carried out the signal processing respectively, like this, can realize parallel processing to sensor signal, but shortcoming is tangible also, it needs 44 tunnel A/D and considerable electric elements, simultaneously, the advance signal disposable plates also can become very huge.But robot does not need the electromagnetic sensor signal parallel is handled in fact, so electromagnetic sensor classification carrying out signal can be handled, the centre is carried out passage by multicircuit switch and is switched, to need the electromagnetic sensor of respectively organizing of identical multiplication factor to be classified as a class among the design, Fig. 3 is an outer sensor signal Treatment Design conceptual scheme, in the design electromagnetic sensor is divided into four classes and carries out the signal processing, each class can be regulated different multiplication factors as required, like this, the hardware core part just only need provide four road A/D, and the outer sensor signal-processing board just only needs four tunnel filter amplification circuit.Based on the active obstacle technology patent applied for of magnetic field detection, slightly at this.
Set up the global structure model of circuit based on the GIS technology, mainly comprise: (1) shaft tower and character thereof, i.e. straight line pole and version thereof, strain insulator shaft tower and corner thereof or turn to; (2) span, the air line distance between adjacent two shaft towers; (3) type of barrier, quantity and position thereof are as the quantity and the estimated distance of shaft tower two ends stockbridge damper, the position of splicing sleeve or repair sleeve etc.Obtaining of inspection robot overall situation independent navigation information is to adopt the search to the data structure based on sensor-triggered to realize.
The rudimentary algorithm of GIS-GPS overall situation independent navigation is: rely on GPS to determine the robot position in real time, retrieval GIS database, contrast draws the distance with respect to the front and back barrier, slowing down near outside the safe distance of next barrier, changes the local active obstacle according to electromagnetic sensor over to.
Polling module: be that robot finishes the Executive Module to circuit and pole tower operation condition detection, inquiry obtains the structural information of current shaft tower and circuit to central controller according to shaft tower number, realize patrolling and examining of visible light camera and infrared thermoviewer by standard RS232C serial ports to the polling module sending controling instruction, finish the action such as opening and closing, location, zoom, amplification, shooting of instrument, resulting visible light and infrared imagery are kept in the storage card, can be sent to ground base station so that observe by wireless image transmission device simultaneously.Can be at what adopted with the characteristics of light video camera and infrared gear, the present invention has designed the algorithm of planning the program of patrolling and examining according to the space position parameter of patrolling and examining target (as wire clamp, insulator etc.) simultaneously.
Data transmission module: be the communication tool between the control base station of robot and ground, can transmit control instruction and the line information of patrolling and examining gained simultaneously.RS232C serial ports by standard between central control module and the external interface plate communicates, and receives the current status information of control instruction and feedback robot that ground base station sends by wireless transmitter; Systems soft ware and function software by the wireless network transmissions robot; Download visible light and infrared image information by image transmission.Requirement reaches the remote control distance of 3km, and the communication module of base station adopts wireless transmitter and image transmission respectively.Wireless digital broadcasting station adopts half duplex mode of communication, links to each other with work station by the rs-232 standard serial ports.The work station of the personnel that patrol and examine by ground base station is during with the robot communication, and operational order sends by serial ports, is transferred to robot by data radio station, and the radio station in the robot is responsible for reception and is transferred to the PC104 system by serial ports handling; The status report of robot then sends by the robot serial ports, and the ground data radio station receives and passes to work station, is responsible for processing by work station.Unified agreement has been adopted in communication between the two, and instruction and report send and receive with the form of code.The wireless image receiver receives the analog picture signal of the standard that restores after the picture signal, and picture signal converts to after the data signal explicit on work station by TV box.In addition can also be by wireless network control and the information of accepting visible light camera.
Power module, motion-control module, navigation module, polling module link to each other with central control module respectively, and described data transmission module links to each other with central control module by the external interface plate.
In the present embodiment, the central control module of robot need and be accepted feedback states information to each module sending controling instruction, also need to read the information of electromagnetic sensor, GPS positioner, vision system simultaneously, interface mode is had nothing in common with each other between each hardware module.In order to improve stability and to save the robot interior space, the present invention has designed an external interface plate, main effect be with the various signaling interfaces in outside comprehensively to a circuit board, and then carry out communicating by letter of control instruction and signal with central control module.
On high voltage electricity transmission conductive wire, cross over the effect and the course of work that stockbridge damper is an example explanation navigation module with robot below.
When robot reaches the standard grade between two shaft towers, central authorities' control is according to the structural information of shaft tower number inquiry circuit, obtain the type (this example is stockbridge damper) and the distance of next barrier, begin to enter obstacle leap by the global scope of GIS-GPS guiding, send instruction to kinetic control system, enter high-speed travel state.GIS-GPS system real-time read machine people position also sends to central controller, by with GIS line information system in line parameter circuit value compare the distance that draws apart from stockbridge damper, when reaching predeterminable range, central controller sends deceleration command to control system, open array of electro-magnetic sensors, enter the local active obstacle of electromagnetic sensor guiding.Central controller obtains the distance and pose parameter of robot with respect to lead by magnetic field detection, realizes the independent technological leapfrogging action of robot by default control software guided-moving control module.
The visible light camera that described polling module adopts is the SNC-RZ50P ball-type web cam that SONY produces.Camera control unit receives the control instruction of robot controller by serial ports, can be respectively the picture-storage of the electronic zoom of two-degree-of-freedom cradle head, video camera, network service, video output, CF card etc. be controlled.Robot controller provides control instruction by dual mode to camera control unit, the one, by the robot autonomous control instruction that provides of patrolling and examining, the 2nd, by the ground base station telecommand that data radio station receives, the former is autonomous routine inspection mode, and the latter sends out procuratorial organ's formula for ground remote control.Inspection robot body and ground base station have constituted following three kinds of communication modes by wireless network: the one, and the digital picture that is made of switch and wireless network card closely high-speed radio is downloaded; The 2nd, the image remote-wireless that is made of image emissions and receiving system transmits; The 3rd, operate by the ground Remote that a pair of data radio station constitutes.
In order to realize patrolling and examining independently patrolling and examining of target (as wire clamp, insulator etc.), the present invention has designed simultaneously based on the structural information parameter in the GIS line information system and has guided visible light camera to carry out algorithm from main scanning.After robot arrives preset location, according to robot close shaft tower numbering, the structural parameters of the shaft tower gold utensil that acquisition will scan, (x is the horizontal fore-and-aft distance of scanning element with respect to cam lens with respect to locus x, y, z, the r of camera to calculate each default scanning element, y is the horizontal cross distance of scanning element with respect to cam lens, z is the difference in height of scanning element with respect to cam lens, r
Distance for scanning element and camera).According to the visible light algorithm, calculate space angle, the space length of scanning element with respect to camera, after arriving the invisible scanning position, open camera rotation specified angle, select focal length and multiplication factor to scan, and store according to shaft tower labelled notation video and image file according to r.
Infrared thermography is a hand-held infrared thermography, and in robot uses, need not assemblies such as eyepiece, LCD and battery, provides power supply by robot system.The control of infrared thermoviewer is with to accept its structure of system and operation principle and visible light system basic identical.
Ultrasonic ranging system is a handheld cable/cable altitude meter, have LCD display for its distance measurement value of manual observation, can store distance measurement value, its measured value is by special-purpose delivery outlet output, the software that needs to use instrument to carry reads the measured value of storage, but does not provide communication protocol to the user.Therefore, this instrument is patrolled and examined as robot, need do following transformation: measured value (indicating value of LCD) is read in the robot controller so that be stored in the robot body or under pass to ground base station; Rangefinder is implemented control; Provide power supply by robot.
Between polling module and the central control module by standard RS232 serial communication sending controling instruction and return state parameter, but ground base station is by the image transmission real-time monitored in the data transmission module with download to video and image information.When distance is within the wireless network effective propagation path between base station, ground and the robot, also can directly obtain video and image information by wireless network.
Fig. 4 is the solution of described inspection robot power-supply system.It comprises induction electricity getting device, Switching Power Supply (containing charging circuit), chargeable storage, Power Supply Monitoring and temperature-compensation circuit and DC-DC modular power source.Its basic functional principle is as follows: induction energy fetching parts (iron core and coil) obtain alternating current from high-voltage conducting wires induction, be converted to direct current by Switching Power Supply after, through constant-current source to charge in batteries.After supervisory circuit detection battery both end voltage reached certain value, relay normally open node closure with coil short on the iron core, stopped charging.Equally, after battery tension drops to certain value, the relay normally open contact automatic disconnection, charge circuit begins charging.
Ferromagnetic material in the induction energy fetching parts is a retractable structure, and as an end effector of inspection robot safeguard protection.Open in the motion process in execution when the induction energy fetching parts, the Secondary Winding coil all is in the short circuit state, makes and forms anti-magnetic flux in the ferromagnet, to reduce reluctance force (magnetic adhesion).Close up in the motion process in execution and work as the induction energy fetching parts, the Secondary Winding coil all is in the duty (formation magnetic adhesion) of connecting load, and with the mechanical force of executing agency, the ferromagnet that the ferromagnet and the first half of Lower Half motion are fixed is pressed on an integral body, thereby makes ferromagnet form closed magnetic flux.For reduce get can parts vibration and noise during work, except ferromagnetic material up and down has enough engaging forces, with non-magnet material as the frame for movement that ferromagnetic material is installed, to avoid forming eddy current crack and eddy-current loss.
Fig. 4 is the core component-transducer in the induction electricity getting device and the structure chart of executing agency thereof.Iron iron core and coil that transducer is made by ferromagnetic material are formed, and in order to satisfy robot obstacle detouring motion requirement, iron core is an opening-closing structure, and its open and close movement is provided by executing agency.The power conversion size of transducer is determined by following factor: conductor loading electric current, the saturation induction density of ferromagnetic material, permeability, the effective cross section of ferromagnetic material is long-pending, the length of magnetic path, coil turn and sectional area thereof, the character of load and load size, or the like.Through theory analysis and a large amount of tests, take all factors into consideration requirements such as structure and weight, motion, determined the structure of Fig. 3 .9.2.In structure shown in Fig. 3 .10, be load with the 24V10Ah lithium ion battery, when the conductor loading electric current is 400A, the about 60W. of maximum output energy
Specific embodiment described herein only is that the present invention's spirit is illustrated.The technical staff of the technical field of the invention can make various modifications or replenishes or adopt similar mode to substitute described specific embodiment, but can't depart from spirit of the present invention or surmount the defined scope of appended claims.
Claims (7)
1. an inspection robot intelligent controller is characterized in that, comprising:
Central control module: form by three integrated circuit board storehouses based on the PC104 bus, a CPU module (PCM-3370) and two data acquisition modules (PM511P and PCM-5132) can be according to pre-set programs and shaft tower, the autonomous planning robot's of line information the steps of patrolling and examining;
Power module: the entire controller to robot provides power supply, is made of the power module of intelligence induction power taking power supply and chargeable storage;
Motion-control module: by 9 DC servo motors of 3 driver control, by the switching between motor-driven switch boards realization driver and the electrode;
Navigation module: comprise GIS-GPS module and array of electro-magnetic sensors;
Polling module: the control instruction of sending by standard RS232C serial ports reception central controller realizes patrolling and examining of visible light camera and infrared thermoviewer, finish opening and closing, location, zoom, amplification, the shooting action of instrument, resulting visible light and infrared imagery are kept in the storage card;
Data transmission module: RS232C serial ports and central control module by standard communicate, and receive the current status information of control instruction and feedback robot that ground base station sends by wireless transmitter; Systems soft ware and function software by the wireless network transmissions robot; Download visible light and infrared image information by image transmission;
Described power module, motion-control module, navigation module, polling module link to each other with central control module respectively, and described data transmission module links to each other with central control module by the external interface plate.
2. inspection robot intelligent controller according to claim 1, it is characterized in that, described navigation module relies on GPS to determine the robot position in real time, retrieval GIS database, contrast draws the distance with respect to the front and back barrier, slowing down, change local active obstacle over to according to electromagnetic sensor near outside the safe distance of next barrier
3. inspection robot intelligent controller according to claim 2 is characterized in that, described power module comprises induction electricity getting device, high-capacity lithium battery and the charge and discharge monitoring unit that links to each other successively.
4. inspection robot intelligent controller according to claim 2 is characterized in that, described motion-control module comprises some DC servo motors, driver switch boards and the driver switch boards that links to each other successively.
5. according to claim 2 or 3 described inspection robot intelligent controllers, it is characterized in that described navigation module comprises array of electro-magnetic sensors, obliquity sensor and the GIS-GPS module that links to each other successively.
6. inspection robot intelligent controller according to claim 4 is characterized in that described polling module comprises visible light camera, infrared thermoviewer and ultrasonic range finder.
7. inspection robot intelligent controller according to claim 5 is characterized in that described data transmission module comprises wireless transmitter and image transmission.
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2009
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| CN106078745A (en) * | 2016-07-21 | 2016-11-09 | 山西迪迈沃科光电工业有限公司 | A kind of control system of the full intelligent inspection robot for power system machine room |
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| CN107175663B (en) * | 2017-06-07 | 2019-08-30 | 杭州派尼澳电子科技有限公司 | A kind of intelligent robot food delivery method of electromagnetic tracking |
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| CN111708289A (en) * | 2020-05-25 | 2020-09-25 | 北京金盛通科技发展有限责任公司 | Monitoring device for machine room safety detection |
| CN112183411A (en) * | 2020-10-05 | 2021-01-05 | 浙江港创智能机器人有限公司 | Monocular SLAM system for high-voltage transmission line inspection |
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Application publication date: 20110706 |