CN109227607A - A kind of robot used for intelligent substation patrol windshield wiper control system and its control method - Google Patents
A kind of robot used for intelligent substation patrol windshield wiper control system and its control method Download PDFInfo
- Publication number
- CN109227607A CN109227607A CN201811354827.7A CN201811354827A CN109227607A CN 109227607 A CN109227607 A CN 109227607A CN 201811354827 A CN201811354827 A CN 201811354827A CN 109227607 A CN109227607 A CN 109227607A
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- China
- Prior art keywords
- robot
- inspection
- raindrop sensor
- rain brush
- client
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0058—Means for cleaning manipulators, e.g. dust removing means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot used for intelligent substation patrol windshield wiper control system and its control methods, including Raindrop sensor and robot client, Raindrop sensor is mounted in the outdoor position of substation, and it is connected to weather station database server, weather station database server is connected to robot client by network module, robot client connects robot controller by wireless module, and robot controller is connected with locating module and rain brush driving motor.The Raindrop sensor that the present invention is installed by substation, it can be realized the automatic open close of the rain brush of crusing robot, and judge that inspection shoots photographic quality according to rainfall size, to determine whether inspection operation continues, substation's automatic detecting is realized, human cost is reduced.
Description
Technical field
The invention belongs to the rain brush control technology fields of crusing robot, and in particular to a kind of intelligent substation patrol machine
People's windshield wiper control system and its control method.
Background technique
The rain brush of current robot used for intelligent substation patrol is to realize to open or close under artificial control, is being rained
It, the camera lens of intelligent inspection robot is bedewed by raindrop, after operation maintenance personnel discovery, is opened during robot traveling is not taken pictures
Rain brush switchs, and artificially closes rain brush switch after wiped clean again, stops rain brush and works, is then bedewed to camera lens next time by raindrop
After repeat the above work.
More problems existing for such mechanism:
1) once open rain brush, just cannot be automatically closed, if always on, can exist robot shooting photo when just
It is blocked, the identification of the photographic result in later period is influenced very big by rain brush；
2) once substation's Changes in weather cannot be known since operation maintenance personnel is not often in substation field in real time by closing rain brush,
Once raining, rain brush cannot be opened in time, and causing to take a picture etc. has biggish identification；
3) operation maintenance personnel needs on duty always on robot inspection backstage on rainy day, and the processing raindrop of open and close in time bedew
The problem of camera lens, can guarantee that the qualification of photo captured by inspection, required human cost are big.
Summary of the invention
Technical problem solved by the present invention is providing a kind of robot used for intelligent substation patrol windshield wiper control system and its control
Method processed can solve above-mentioned the technical problems existing in the prior art.
The technical scheme adopted by the invention is as follows: a kind of robot used for intelligent substation patrol windshield wiper control system, including raindrop
Sensor and robot client, Raindrop sensor are mounted in the outdoor position of substation, and are connected to weather station database clothes
Business device, weather station database server are connected to robot client by network module, and robot client passes through wireless mould
Block connects robot controller, and robot controller is connected with locating module and rain brush driving motor.
Preferably, above-mentioned Raindrop sensor uses piezoelectric type Raindrop sensor.
A kind of control method of robot used for intelligent substation patrol windshield wiper control system, method includes the following steps:
1) a piezoelectric type Raindrop sensor is installed in the outdoor position of substation, and is connected to weather station database, real-time detection
Whether rain and rainfall size and record, is then converted into electric signal and is recorded in the database of weather station, for crusing robot
Whether the information of client call, record has: 1. raining, 2. how much is rainfall；
2) during robot inspection, after the data about rainfall of weather station database are called in the acquisition of robot client,
1. display is rained, 2. showing rainfall not is that very greatly, this weather condition can guarantee robot inspection quality, opens rain brush certainly
Dynamic control program, robot is just during inspection, and real time position can feed back backstage, in the complete inspection point of robot inspection
Position automatically controls rain brush and opens, march to next inspection to robot when preparing to be moved to another inspection point and start
It automatically controls and closes when point, and continue inspection, then repeat the above process, if robot continues to keep currently without task
Rain brush is closed；It 1. rains if receiving, 2. rainfall is very big, i.e., weather is torrential rain at that time, and during which robot inspection is taken pictures, Bu Nengbao
It demonstrate,proves robot and shoots inspection photographic quality.Backstage meeting automatic transmitter device people returns to the instruction of charging house, and it is complete to record non-inspection
At task, to reissue next time；It does not 1. rain if receiving, robot remains turned-off rain brush.
Beneficial effects of the present invention: compared with prior art, the Raindrop sensor that the present invention is installed by substation can
It realizes the automatic open close of the rain brush of crusing robot, and judges that inspection shoots photographic quality according to rainfall size, to determine
Whether inspection operation continues, and realizes substation's automatic detecting, reduces human cost.
Detailed description of the invention
Fig. 1 is the principle of the present invention structural schematic diagram；
Fig. 2 is control logic block diagram of the invention；
Fig. 3 is control flow schematic diagram of the invention.
Specific embodiment
With reference to the accompanying drawing and the present invention is described further in specific embodiment.
Embodiment 1: as shown in Figure 1-Figure 3, a kind of robot used for intelligent substation patrol windshield wiper control system, including raindrop pass
Sensor and robot client, Raindrop sensor is mounted in the outdoor position of substation, and is connected to weather station database service
Device, weather station database server are connected to robot client by network module, and robot client passes through wireless module
Robot controller is connected, robot controller is connected with locating module and rain brush driving motor.
Preferably, above-mentioned Raindrop sensor uses piezoelectric type Raindrop sensor.
A kind of control method of robot used for intelligent substation patrol windshield wiper control system, method includes the following steps:
1) a piezoelectric type Raindrop sensor is installed in the outdoor position of substation, and is connected to weather station database, real-time detection
Whether rain and rainfall size and record, is then converted into electric signal and is recorded in the database of weather station, for crusing robot
Whether the information of client call, record has: 1. raining, 2. how much is rainfall；
2) during robot inspection, after the data about rainfall of weather station database are called in the acquisition of robot client,
1. display is rained, 2. showing rainfall not is that very greatly, this weather condition can guarantee robot inspection quality, opens rain brush certainly
Dynamic control program, robot is just during inspection, and real time position can feed back backstage, in the complete inspection point of robot inspection
Position automatically controls rain brush and opens, march to next inspection to robot when preparing to be moved to another inspection point and start
It automatically controls and closes when point, and continue inspection, then repeat the above process, if robot continues to keep currently without task
Rain brush is closed；It 1. rains if receiving, 2. rainfall is very big, i.e., weather is torrential rain at that time, and during which robot inspection is taken pictures, Bu Nengbao
It demonstrate,proves robot and shoots inspection photographic quality.Backstage meeting automatic transmitter device people returns to the instruction of charging house, and it is complete to record non-inspection
At task, to reissue next time；It does not 1. rain if receiving, robot remains turned-off rain brush.
Example that the above description is merely a specific embodiment, scope of protection of the present invention is not limited thereto.It is ripe
It knows the those skilled in the art in the technical scope disclosed by the present invention, change or replacement mode can be easily found, these
It should be covered by the protection scope of the present invention.For this purpose, protection scope of the present invention should be with the protection model of the claim
Subject to enclosing.
Claims (3)
1. a kind of robot used for intelligent substation patrol windshield wiper control system, it is characterised in that: including Raindrop sensor and robot
Client, Raindrop sensor is mounted in the outdoor position of substation, and is connected to weather station database server, weather station data
Library server is connected to robot client by network module, and robot client connects robot by wireless module and controls
Device, robot controller are connected with locating module and rain brush driving motor.
2. a kind of robot used for intelligent substation patrol windshield wiper control system according to claim 1, it is characterised in that: raindrop
Sensor uses piezoelectric type Raindrop sensor.
3. a kind of controlling party of robot used for intelligent substation patrol windshield wiper control system according to claim 1 to 2
Method, it is characterised in that: method includes the following steps:
1) a piezoelectric type Raindrop sensor is installed in the outdoor position of substation, and is connected to weather station database, real-time detection
Whether rain and rainfall size and record, is then converted into electric signal and is recorded in the database of weather station, for crusing robot
Whether the information of client call, record has: 1. raining, 2. how much is rainfall；
2) during robot inspection, the data about rainfall of weather station database are called in the acquisition of robot client, 1.
Display is rained, and 2. shows that rainfall is less than given threshold, which guarantees robot inspection quality, opens rain brush and controls automatically
System, robot is just during inspection, and real time position can feed back backstage, in the complete inspection point of robot inspection, in standard
It is standby when being moved to another inspection point and starting, it automatically controls rain brush and opens, when robot marches to next inspection point
It automatically controls and closes, and continue inspection, then repeat the above process, if robot currently without task, continues that rain brush is kept to close
It closes；It 1. rains if receiving, 2. rainfall reaches given threshold, i.e., weather is torrential rain at that time, and during which robot inspection is taken pictures, cannot
Guarantee that robot shoots inspection photographic quality, backstage meeting automatic transmitter device people returns to the instruction of charging house, and records non-inspection
The task of completion, to reissue next time；It does not 1. rain if receiving, robot remains turned-off rain brush.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811354827.7A CN109227607A (en) | 2018-11-14 | 2018-11-14 | A kind of robot used for intelligent substation patrol windshield wiper control system and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811354827.7A CN109227607A (en) | 2018-11-14 | 2018-11-14 | A kind of robot used for intelligent substation patrol windshield wiper control system and its control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109227607A true CN109227607A (en) | 2019-01-18 |
Family
ID=65075161
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811354827.7A Withdrawn CN109227607A (en) | 2018-11-14 | 2018-11-14 | A kind of robot used for intelligent substation patrol windshield wiper control system and its control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109227607A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109483544A (en) * | 2018-11-27 | 2019-03-19 | 贵州电网有限责任公司 | A kind of robot used for intelligent substation patrol windshield wiper control system and its control method |
| CN112261305A (en) * | 2020-09-24 | 2021-01-22 | 许继电源有限公司 | Intelligent auxiliary system of inspection robot and control method thereof |
| CN112311097A (en) * | 2020-11-03 | 2021-02-02 | 国网智能科技股份有限公司 | On-line intelligent patrol centralized monitoring system and method for transformer substation |
| CN112350441A (en) * | 2020-11-03 | 2021-02-09 | 国网智能科技股份有限公司 | Online intelligent inspection system and method for transformer substation |
| CN112435361A (en) * | 2020-11-03 | 2021-03-02 | 国网智能科技股份有限公司 | Transformer substation combined inspection method and system |
-
2018
- 2018-11-14 CN CN201811354827.7A patent/CN109227607A/en not_active Withdrawn
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109483544A (en) * | 2018-11-27 | 2019-03-19 | 贵州电网有限责任公司 | A kind of robot used for intelligent substation patrol windshield wiper control system and its control method |
| CN112261305A (en) * | 2020-09-24 | 2021-01-22 | 许继电源有限公司 | Intelligent auxiliary system of inspection robot and control method thereof |
| CN112311097A (en) * | 2020-11-03 | 2021-02-02 | 国网智能科技股份有限公司 | On-line intelligent patrol centralized monitoring system and method for transformer substation |
| CN112350441A (en) * | 2020-11-03 | 2021-02-09 | 国网智能科技股份有限公司 | Online intelligent inspection system and method for transformer substation |
| CN112435361A (en) * | 2020-11-03 | 2021-03-02 | 国网智能科技股份有限公司 | Transformer substation combined inspection method and system |
| CN112435361B (en) * | 2020-11-03 | 2023-01-10 | 国网智能科技股份有限公司 | Transformer substation combined inspection method and system |
| CN112311097B (en) * | 2020-11-03 | 2024-01-26 | 国网智能科技股份有限公司 | Online intelligent patrol centralized monitoring system and method for transformer substation |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190118 |
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| WW01 | Invention patent application withdrawn after publication |