CN110524556A - A kind of robot distributed framework of fieldbus based electric inspection process - Google Patents
A kind of robot distributed framework of fieldbus based electric inspection process Download PDFInfo
- Publication number
- CN110524556A CN110524556A CN201910805453.4A CN201910805453A CN110524556A CN 110524556 A CN110524556 A CN 110524556A CN 201910805453 A CN201910805453 A CN 201910805453A CN 110524556 A CN110524556 A CN 110524556A
- Authority
- CN
- China
- Prior art keywords
- module
- fieldbus
- inspection process
- electric inspection
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 46
- 238000000034 method Methods 0.000 title claims abstract description 43
- 230000008569 process Effects 0.000 title claims abstract description 42
- 238000004891 communication Methods 0.000 claims abstract description 16
- 238000001514 detection method Methods 0.000 claims abstract description 8
- 230000033001 locomotion Effects 0.000 claims description 9
- 238000003909 pattern recognition Methods 0.000 claims description 3
- 238000000465 moulding Methods 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to electric inspection process robotic technology fields, in particular to a kind of robot distributed framework of fieldbus based electric inspection process, including fieldbus, it is characterized by: the fieldbus is that the fieldbus such as the high speed real-time ethernet of electric inspection process robot interior are arranged in, fieldbus carry is connected with the power module that electric inspection process robot interior is arranged in, navigation module, motion-control module, visible light and infrared detection module, fingerprint identification module, state indicator module, main control module and wireless communication module.The beneficial effects of the present invention are: information mutual communication and interoperability may be implemented in the modules in the present invention；When electric inspection process robot needs to increase other function module, required module is directly hung in bus at the scene, substantially increases the standard and modular degree of system；When electric inspection process robot of the invention when something goes wrong, can with quick positioning question occur point, maintenance costs be greatly saved.
Description
Technical field
The present invention relates to electric inspection process robotic technology field, in particular to a kind of fieldbus based electric inspection process machine
Device people's distributed architecture.
Background technique
Now in industry, power domain with extensively, this robot identifies crusing robot with detection of obstacles
With positioning, AUTONOMOUS TASK planning, active obstacle, to transmission line of electricity and its autonomous inspection of line corridor, inspection image and data
Robot body is automatically stored and the supply in real time, backstage online of long range radio transmissions, ground remote wireless monitoring and remote control, electric energy
The functions such as inspection job management and analyzing and diagnosing.
Current electric inspection process robot is all to be designed exploitation and extension according to the product actually carried, using setting
The centralized control of industrial personal computer, communication interface is many kinds of, and the interconnection of modules, interoperability are very poor；Centralized control system
Uniting, it is out of control to be easy, and reliability is very low, once there is damage to need all to remove simultaneously orientation problem point；Centralized control system wiring is multiple
Miscellaneous, with electric power option robot miniaturization, this centralized control system is unfavorable for the simplicity of robot wiring.
For this reason, it may be necessary to designing one kind may be implemented the control that communicates with one another between modules, lifting system operability, can
By property and maintainability, to solve the above problems.
Summary of the invention
The present invention provides to make up the various deficiencies of electric inspection process robot interior centralized control system in the prior art
A kind of fieldbus based robot distributed framework of electric inspection process.
The present invention is achieved through the following technical solutions:
A kind of robot distributed framework of fieldbus based electric inspection process, including fieldbus, it is characterised in that:
The fieldbus is the high speed real-time ethernet fieldbus that electric inspection process robot interior is arranged in, and fieldbus is hung
Load is connected with the power module that electric inspection process robot interior is arranged in, navigation module, motion-control module, visible light and infrared
Detection module, state indicator module, main control module and wireless communication module.
Further, in order to preferably realize the present invention, the power module exists the information about power of itself by broadcast
In local area network where fieldbus.
Further, in order to preferably realize the present invention, the motion-control module obtains power supply mould in bus at the scene
The information about power that block disseminates determines the speed of travel of electric inspection process robot according to information about power.
Further, in order to preferably realize the present invention, the main control module obtains power module in bus at the scene
The information about power disseminated calculates travelable mileage according to information about power, it is determined whether returns accumulator plant's charging.
Further, in order to preferably realize the present invention, cartographic information is passed through fieldbus point pair by the navigation module
Point communication is sent to motion-control module, and fortune power control molding root tuber is according to the cartographic information driving power crusing robot row got
It sails.
Further, in order to preferably realize the present invention, the fortune function control module is in driving power crusing robot row
The movement state information of itself is broadcasted to fieldbus when sailing, movement state information is monitored by main control module.
Further, in order to preferably realize the present invention, the visible light and infrared detection module, fingerprint identification module will it is collected in real time
Image information is broadcast to fieldbus, and main control module obtains realtime graphic and carries out pattern-recognition and alarm, master control after identification alarm
Module passes through field bus communication state indicator module, the operation prompt of state indicator module state of a control indicator light.
Further, in order to preferably realize the present invention, the wireless communication module obtains all information of fieldbus,
And information is all sent to distant place backstage.
Further, in order to preferably realize the present invention, the distant place backstage is to sending instructions under wireless module, wireless module
The instruction that will acquire is delivered to main control module by fieldbus, and main control module is hung at the scene to fieldbus broadcasting instructions
All module acquisition instructions in bus work.
The beneficial effects of the present invention are: fieldbus is arranged in electric inspection process robot in the present invention, instead of tradition side
The central controlled mode of industrial personal computer in formula, the present invention in modules information mutual communication and interoperability may be implemented；Electric power patrols
Inspection robot directly hangs over required module when needing to increase other function module at the scene in bus, substantially increase and be
The standard and modular degree of system；When electric inspection process robot of the invention when something goes wrong, can be occurred with quick positioning question
Point, only needing to change the module to go wrong can make electric inspection process robot devote oneself to work again, and maintenance costs are greatly saved.
Detailed description of the invention
Fig. 1 is traditional electric inspection process robot interior structural schematic diagram；
Fig. 2 is that the present invention is based on the structure principle charts of the robot distributed framework of the electric inspection process of fieldbus.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description.Obviously, described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.It is logical
The component for the embodiment of the present invention being often described and illustrated herein in the accompanying drawings can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art
Member's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it should be noted that term " in ", "upper", "lower", "horizontal", "inner", "outside" etc. refer to
The orientation or positional relationship shown is to be based on the orientation or positional relationship shown in the drawings or when invention product use usually puts
The orientation or positional relationship put, is merely for convenience of description of the present invention and simplification of the description, rather than the dress of indication or suggestion meaning
It sets or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to limit of the invention
System.In addition, term " first ", " second " etc. are only used for distinguishing description, it is not understood to indicate or imply relative importance.
In addition, the terms such as term "horizontal", "vertical" are not offered as requiring component abswolute level or pendency, but can be slightly
Low dip.It is not to indicate that the structure has been had to if "horizontal" only refers to that its direction is more horizontal with respect to for "vertical"
It is complete horizontal, but can be slightly tilted.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " setting ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected.It can
To be mechanical connection, it is also possible to be electrically connected.It can be directly connected, can also indirectly connected through an intermediary, it can be with
It is the connection inside two elements.For the ordinary skill in the art, it can understand that above-mentioned term exists with concrete condition
Concrete meaning in the present invention.
With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
Fig. 1 is traditional electric inspection process robot interior structural solid figure, as shown in Figure 1, traditional electric inspection process machine
Industrial personal computer is provided in people as main control module, other functional modules are connected to industry control by miscellaneous communication structure
On machine, modules require to run in the case where industrial personal computer is intervened, such as navigation and moving communication: navigation module first will
Information is sent to industrial personal computer, and for photos and sending messages to motion module, the interconnection interoperability between them is substantially zeroed again for industrial personal computer, and
And be difficult to repair if electric inspection process robot there is a problem, it needs all component dismountings checking problem one by one
Point, maintenance cost are high.
Fig. 2 is a kind of specific embodiment of the invention, which is a kind of fieldbus based electric inspection process machine
People's distributed architecture, he instead of traditional electric inspection process robot industrial personal computer centralized control system, in electric inspection process machine
High speed real-time ethernet fieldbus is set in people, carry power module on fieldbus, navigation module, motion-control module,
Visible light and infrared detection module, fingerprint identification module, state indicator module, main control module and wireless communication module.
The concrete principle of the present embodiment is as follows:
1) power module is by the information about power broadcast of oneself the at the scene network of bus, and motion-control module is according to power module
Information about power determine the speed of travel；Main control module calculates travelable mileage according to information about power, it is determined whether goes back to accumulator plant
Power information is sent distant place backstage by charging, wireless module；
2) cartographic information is sent to motion-control module by point-to-point communication by navigation module, and motion-control module is according to the map
Information drives robot traveling；Meanwhile motion-control module broadcasts the motion state of oneself, main control module is monitored, wirelessly
Movement state information is sent distant place backstage by module；
3) visible light and infrared detection module, fingerprint identification module, after sending a distant place by wireless module for the real-time image information sampled hair
Platform, while the pictorial information for carrying out alarm identification is sent to main control module, main control module carries out pattern-recognition, alarm；
4) after main control module identifies alarm according to image information, main control module is communicated with status indicator lamp, is alarmed, and is passed through
Warning message is transmitted to distant place backstage by wireless module；
5) distant place backstage, which passes through wireless module and issues starting to main control module, ceases and desist order etc., orders, and main control module is broadcasted,
Each module is ordered to work.
By above mode, distant place backstage can obtain battery information, movement state information, real-time video letter at any time
Breath, warning message；Main control module can directly obtain battery information, movement state information, image information by fieldbus, it
Motion-control module and state indicator module are directly controlled by fieldbus afterwards；Motion-control module can be with by fieldbus
Obtain the control command of cartographic information, information about power and main control module；Indicating module passes through the available battery letter of fieldbus
The status information that breath, main control module issue.
The concentration information processing of fieldbus in the present embodiment instead of the middle control machine in conventional electric power crusing robot
Controlling mechanism transfers to control ability in modules, and the Control system architecture of electric inspection process robot is made to have height
Dispersibility, and then improve the reliability of system, it is subsequent only to hang over corresponding module when needing to increase functional module,
Electric inspection process robot can be greatly saved with replacement problem module at any time with quick positioning question point when something goes wrong
Maintenance costs.
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, this field is common
Other modifications or equivalent replacement that technical staff makes technical solution of the present invention, without departing from technical solution of the present invention
Spirit and scope, be intended to be within the scope of the claims of the invention.
Claims (9)
1. a kind of robot distributed framework of fieldbus based electric inspection process, including fieldbus, it is characterised in that:
The fieldbus is the high speed real-time ethernet fieldbus that electric inspection process robot interior is arranged in, and fieldbus is hung
Load is connected with the power module that electric inspection process robot interior is arranged in, navigation module, motion-control module, visible light and infrared
Detection module, state indicator module, main control module and wireless communication module.
2. the robot distributed framework of fieldbus based electric inspection process according to claim 1, it is characterised in that: institute
Power module is stated to pass through the information about power of itself in the local area network where broadcast at the scene bus.
3. the robot distributed framework of fieldbus based electric inspection process according to claim 2, it is characterised in that: institute
It states motion-control module and obtains the information about power that power module disseminates in bus at the scene, electric inspection process is determined according to information about power
The speed of travel of robot.
4. the robot distributed framework of fieldbus based electric inspection process according to claim 2, it is characterised in that: institute
It states main control module and obtains the information about power that power module disseminates in bus at the scene, calculated according to information about power in can travel
Journey, it is determined whether return accumulator plant's charging.
5. the robot distributed framework of fieldbus based electric inspection process according to claim 1, it is characterised in that: institute
It states navigation module and cartographic information is sent to motion-control module by fieldbus point-to-point communication, transport power control molding root tuber evidence
The cartographic information driving power crusing robot traveling got.
6. the robot distributed framework of fieldbus based electric inspection process according to claim 5, it is characterised in that: institute
State the movement state information that fortune function control module broadcasts itself in driving power crusing robot to fieldbus when driving, movement
Status information is monitored by main control module.
7. the robot distributed framework of fieldbus based electric inspection process according to claim 1, it is characterised in that: institute
It states visible light and infrared detection module, fingerprint identification module and collected real-time image information is broadcast to fieldbus, main control module obtains figure in real time
As carrying out pattern-recognition and alarm, main control module passes through field bus communication state indicator module, state instruction after identification alarm
The operation prompt of module state of a control indicator light.
8. the fieldbus based robot distributed framework of electric inspection process described in -7 any one according to claim 1,
Be characterized in that: the wireless communication module obtains the backstage relevant information of fieldbus, and after information is all sent to a distant place
Platform.
9. the robot distributed framework of fieldbus based electric inspection process according to claim 8, it is characterised in that: institute
Distant place backstage is stated to sending instructions under wireless module, the instruction that wireless module will acquire is delivered to main control module by fieldbus,
To fieldbus broadcasting instructions, all module acquisition instructions hung in bus at the scene work main control module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910805453.4A CN110524556A (en) | 2019-08-29 | 2019-08-29 | A kind of robot distributed framework of fieldbus based electric inspection process |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910805453.4A CN110524556A (en) | 2019-08-29 | 2019-08-29 | A kind of robot distributed framework of fieldbus based electric inspection process |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110524556A true CN110524556A (en) | 2019-12-03 |
Family
ID=68664872
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910805453.4A Pending CN110524556A (en) | 2019-08-29 | 2019-08-29 | A kind of robot distributed framework of fieldbus based electric inspection process |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110524556A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113124934A (en) * | 2021-04-21 | 2021-07-16 | 山东领亿智能技术有限公司 | Transmission line synthesizes on-line monitoring device based on two operating system |
| CN114499814A (en) * | 2022-01-21 | 2022-05-13 | 美的集团(上海)有限公司 | Robot communication circuit, communication method, and robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101247030A (en) * | 2007-08-01 | 2008-08-20 | 北京深浪电子技术有限公司 | Overhead network obstacle detouring inspection robot and its obstacle detouring control method |
| CN101526815A (en) * | 2009-04-17 | 2009-09-09 | 成都秦川科技发展有限公司 | Method for remotely managing gas meter terminal and intelligent gas meter realizing same |
| CN101770221A (en) * | 2008-12-30 | 2010-07-07 | 中国科学院自动化研究所 | Two-arm inspection robot control system based on field bus |
| CN102922529A (en) * | 2012-12-05 | 2013-02-13 | 山东电力集团公司电力科学研究院 | Inspection robot system along split conductors |
| KR20130051547A (en) * | 2011-11-10 | 2013-05-21 | 한국기술교육대학교 산학협력단 | Robot for internal inspection of pipeline |
| CN108247634A (en) * | 2018-01-15 | 2018-07-06 | 安徽对称轴智能安全科技有限公司 | A kind of pipe gallery three-dimensional crusing robot of Camera calibration |
| CN210650698U (en) * | 2019-08-29 | 2020-06-02 | 上海柔克智能科技有限公司 | Power inspection robot distributed framework based on field bus |
-
2019
- 2019-08-29 CN CN201910805453.4A patent/CN110524556A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101247030A (en) * | 2007-08-01 | 2008-08-20 | 北京深浪电子技术有限公司 | Overhead network obstacle detouring inspection robot and its obstacle detouring control method |
| CN101770221A (en) * | 2008-12-30 | 2010-07-07 | 中国科学院自动化研究所 | Two-arm inspection robot control system based on field bus |
| CN101526815A (en) * | 2009-04-17 | 2009-09-09 | 成都秦川科技发展有限公司 | Method for remotely managing gas meter terminal and intelligent gas meter realizing same |
| KR20130051547A (en) * | 2011-11-10 | 2013-05-21 | 한국기술교육대학교 산학협력단 | Robot for internal inspection of pipeline |
| CN102922529A (en) * | 2012-12-05 | 2013-02-13 | 山东电力集团公司电力科学研究院 | Inspection robot system along split conductors |
| CN108247634A (en) * | 2018-01-15 | 2018-07-06 | 安徽对称轴智能安全科技有限公司 | A kind of pipe gallery three-dimensional crusing robot of Camera calibration |
| CN210650698U (en) * | 2019-08-29 | 2020-06-02 | 上海柔克智能科技有限公司 | Power inspection robot distributed framework based on field bus |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113124934A (en) * | 2021-04-21 | 2021-07-16 | 山东领亿智能技术有限公司 | Transmission line synthesizes on-line monitoring device based on two operating system |
| CN114499814A (en) * | 2022-01-21 | 2022-05-13 | 美的集团(上海)有限公司 | Robot communication circuit, communication method, and robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10591927B2 (en) | Smart mobile detection platform for greenhouse | |
| CN105835063B (en) | Crusing robot system and its method for inspecting in a kind of substation room | |
| CN103235562B (en) | Transformer station is based on the comprehensive parameters detection system of crusing robot and method for inspecting | |
| CN106020210A (en) | Wireless-terminal-based automatically guided vehicle control method and system | |
| CN110908380A (en) | Autonomous inspection method and system for cable tunnel robot | |
| CN106023631B (en) | Warehouse logistics vehicle monitoring system based on iBeacon technology | |
| CN111813130A (en) | Autonomous navigation obstacle avoidance system of intelligent patrol robot of power transmission and transformation station | |
| CN208873047U (en) | A kind of inspection device based on multi-rotor unmanned aerial vehicle | |
| CN112729315B (en) | Route planning method and system of inspection robot based on fusion networking technology | |
| CN104050729A (en) | System and Method for Gathering Video Data Related to Operation of an Autonomous Industrial Vehicle | |
| CN110524556A (en) | A kind of robot distributed framework of fieldbus based electric inspection process | |
| WO2023045760A1 (en) | Automatic train uncoupling robot and system | |
| CN212515475U (en) | Autonomous navigation obstacle avoidance system of intelligent patrol robot of power transmission and transformation station | |
| CN114281048B (en) | AGV intelligent management system based on industry internet | |
| CN204515533U (en) | A kind of robot used for intelligent substation patrol with wireless temperature measuring function | |
| CN112520582A (en) | High-low-lift automatic electrical control system and control method | |
| CN210650698U (en) | Power inspection robot distributed framework based on field bus | |
| CN208314535U (en) | A kind of cabin robot inspection system | |
| CN114301954A (en) | Mobile robot industrial internet control system | |
| CN216014297U (en) | High-speed rail power supply intelligent operation and maintenance platform based on industrial internet | |
| CN207607376U (en) | A kind of intelligent vehicle monitoring and control device based on Arduino | |
| CN215769475U (en) | Intelligent logistics storage AGV dispatching management system | |
| CN115056244A (en) | Intelligent inspection robot for coal mine | |
| CN205911826U (en) | Open digital integrated automation system for transformer substation | |
| CN113240143A (en) | High-speed rail power supply intelligent operation and maintenance platform based on industrial internet |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |