CN103963043A - Intelligent robot for power station inspection and maintenance and control system thereof - Google Patents
Intelligent robot for power station inspection and maintenance and control system thereof Download PDFInfo
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- CN103963043A CN103963043A CN201410182458.3A CN201410182458A CN103963043A CN 103963043 A CN103963043 A CN 103963043A CN 201410182458 A CN201410182458 A CN 201410182458A CN 103963043 A CN103963043 A CN 103963043A
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- maintenance
- arm
- base
- robot
- power station
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
Abstract
The invention discloses an intelligent robot for power station inspection and maintenance and a control system of the intelligent robot. The intelligent robot comprises an inspection and maintenance robot body and a remote console. The robot body is of a tracked manipulator structure. A four-track mobile platform provides sufficient power and steering performance for the robot for movement in a complex terrain of a power station. Track wheels can further rotate along track wheel connecting shafts, and therefore terrain adaptability is improved. A monitoring system is installed on the robot body to provide control information for inspection and maintenance. The robot has two modes of autonomous navigation and artificial remote operation. In the mode of autonomous navigation, inspection on a predetermined route is autonomously completed according to information provided by a composite navigation system. In the mode of artificial remote operation, movement of the robot and the maintenance of a manipulator are artificially operated. The robot has the advantages of being high in automated degree and intelligentialized degree, flexible and small and exquisite.
Description
Technical field
The present invention relates to a kind of intelligent robot of patrolling and examining and keeping in repair for power station.
Background technology
Along with quick the sending out of China's economy opened, the demand of the energy is become to increasing.And electric energy is as a kind of secondary energy sources, not only clean environment firendly, and be easy to transmission.And the production of electric energy and defeated change are sent and all be unable to do without various types of power stations, the power station that produces electric energy mainly contains: thermal power station, power station, nuclear power station; The power station that defeated change is sent is mainly high voltage generating station.But the environment great majority in power station are all extreme complex environment (as super-pressure, nuclear radiation, ultralow temperature etc.), some power station environment even can affect the health of human body of patrolling and examining with maintenance activity personnel.Such as most of thermal power stations are all taking coal as fuel, in the combustion process of coal, can produce a large amount of dust and dusty gas; A lot of operations in nuclear power station are all with nuclear radiation, and this health to maintenance activity personnel causes great injury.
The maintenance activity of patrolling and examining in power station is to ensure the indispensable program of power plant safety reliability service, it sends out power supply reliability for improving, reduce power station accident and occur, ensure power grid security and provide living material guarantee to make indelible contribution for resident and enterprise.Now, the maintenance activity mode of mainly patrolling and examining or common manual inspection and the maintenance activity in power station, it is not high that it patrols and examines efficiency, and manpower consumption is larger, and also there is health of human body safety problem in operation.Monitoring camera has been installed on equipment side in most power station, has realized few people on duty, but existence scene is while occurring emergency case, cannot arrive in time the series of problems such as on-the-spot tour and maintenance activity.Meanwhile, current announced for the patrolling and examining maintenance activity robot and nearly all will patrol and examine with maintenance activity separatedly of power station, robot task is single, high cost, is unfavorable for the practical of product.
Summary of the invention
The object of the invention is to patrol and examine and the deficiency of maintenance activity technology and power station manual inspection and fixing camera monitoring for solving existing power station, the cleaning and the maintenance that solve power station charging equipment improve power station staff's operating efficiency and personal safety simultaneously.
An intelligent robot of patrolling and examining and keeping in repair for power station, comprises and patrols and examines maintenance activity robot body and remote console;
Remote console is controlled patrolling and examining maintenance activity robot body by 2.4G wireless communication module, patrols and examines maintenance activity robot body simultaneously and sends on remote console patrolling and examining maintenance activity video image by wireless ethernet;
Described remote console comprises differential GPS base station 92, straighforward operation handle and picture control platform;
Describedly patrol and examine complex navigation system, ultrasonic evadible system 50 and Remote and the image delivering system that maintenance activity robot body comprises that four-wheel four-drive Athey wheel chassis, monitoring system, auxiliary light source system 51, the automatically controlled maintenance activity mechanical arm of eight degrees of freedom, fuel tank 81, integrated control cabinet 70, differential GPS and inertial navigation system merge;
Described monitoring system comprises CCTV camera and infrared thermography, and described navigation system is the complex navigation system that differential GPS and inertial navigation system merge;
Described ultrasonic evadible system 50 and fuel tank 81 are arranged on respectively the rear and front end on four-wheel four-drive Athey wheel chassis; The automatically controlled maintenance activity mechanical arm of eight degrees of freedom and integrated control cabinet 70 are installed on four-wheel four-drive Athey wheel chassis; Monitoring system and auxiliary light source system are arranged on integrated control cabinet 70; Navigation system and Remote and image delivering system are arranged at the inside of integrated control cabinet;
In described four-wheel four-drive Athey wheel chassis structure, four Athey wheels 10 are connected to two sides on four-wheel four-drive Athey wheel chassis by Athey wheel connecting axle 12 respectively and are fixed on the end of Athey wheel connecting axle, and Athey wheel connecting axle 12 can rotate and be driven by the stepper motor that is arranged on chassis around self axis; Four Athey wheels are driven by reduction gear box by four brshless DC motors respectively, and DC brushless motor is controlled by industrial computer, speed measuring coder is installed in reduction gear box motor is tested the speed;
Ultrasonic evadible system 50 is arranged on the front panel on four-wheel four-drive Athey wheel chassis; The automatically controlled maintenance activity mechanical arm of eight degrees of freedom is arranged on the front end of four-wheel four-drive Athey wheel chassis top panel, and integrated control cabinet 70 is arranged on the rear end of four-wheel four-drive Athey wheel chassis top panel; Monitoring system holder 60 is arranged on the center of integrated control cabinet 70 top panels; Differential GPS antenna 71 is arranged on integrated control cabinet 70, is separately installed with the transmitting of system state indicator 72 and pilot signal and accepts antenna 73 on integrated control cabinet 70; Auxiliary light source system 51 is arranged on the both sides of integrated control cabinet 70.
The automatically controlled maintenance activity mechanical arm of described eight degrees of freedom comprises mechanical arm firm banking 20, base rotating base 22, base one-level arm 24, base secondary arm 26, maintenance arm rotating base 30, two maintenance arms and front-end camera systems;
Described base rotating base 22 is connected with mechanical arm firm banking 20 by mechanical arm base rotary joint 21; Base one-level arm 24 is connected with base rotating base 22 by base one-level cradle head 23; Base secondary arm 26 is connected with base one-level arm 24 by base secondary cradle head 25; Maintenance arm rotating base 31 is connected with base secondary arm 26 by three grades of cradle heads 30 of base; Maintenance arm rotating base 31 is provided with two maintenance arm one-level cradle heads 32;
Described maintenance arm comprises maintenance arm sliding bar 33, maintenance arm slider disc 35, maintenance activity tool holder 37 and maintenance activity instrument 39; Described maintenance arm sliding bar 33 is connected with maintenance arm rotating base 31 by maintenance arm one-level cradle head 32;
The rotating shaft of mechanical arm base rotary joint 21 is vertical with horizontal plane; The rotating shaft of base one-level cradle head 23 and base secondary cradle head 25 is parallel to each other, and all parallel with horizontal plane; The rotating shaft of three grades of cradle heads 30 of base is perpendicular to the cross section of base secondary arm 26; The rotating shaft of three grades of cradle heads 30 of rotating shaft and base of maintenance arm one-level cradle head 32 is vertical; Maintenance arm secondary arthrodia 34 sliding axles are along the centerline direction of maintenance arm sliding bar 33; The center line of three grades of cradle heads 36 of maintenance arm overlaps with the center line of maintenance arm sliding bar 33; The turning cylinder of maintenance arm level Four cradle head 39 is vertical with the center line of maintenance arm sliding bar 33;
Described front-end camera system comprises front-end camera pedestal 40, front-end camera one-level arm 42, front-end camera support 44 and front-end camera 46; Front-end camera pedestal 40 is fixed on the end of base secondary arm 26; Front-end camera one-level arm 42 is connected with front-end camera pedestal 40 by front-end camera one-level cradle head 41; Front-end camera support 44 is connected with front-end camera one-level arm 42 by front-end camera secondary cradle head 43; Front-end camera 46 is arranged on front-end camera support 44 by three grades of cradle heads 45 of front-end camera.
Athey wheel protective cover 11 is also housed on each Athey wheel, thus avoid Athey wheel in running to external world object destroy.
Between described maintenance arm sliding bar 33 and maintenance arm slider disc 35, can axially slide along maintenance arm sliding bar 33, junction is maintenance arm secondary arthrodia 34; Maintenance activity tool box mount pad 37 can rotate in maintenance arm slider disc 35, and junction is three grades of cradle heads 36 of maintenance arm; Maintenance activity instrument 39 is connected on maintenance activity tool holder 37 by maintenance arm level Four cradle head 38.
Described maintenance activity instrument 39 comprises clamping device, cleaning means, Spray painting tool or removal tool.
Described CCTV camera and infrared thermography monitoring system comprise monitoring system holder 60, monitoring system support 62 and monitoring camera 64, and described monitoring camera comprises visible light camera 65 and infrared thermography 66;
Monitoring system support 62 is connected with monitoring system holder 60 by monitoring system support left rotation and right rotation joint 61; Monitoring system support 62 tops are provided with the upper and lower rotary joint 63 of monitoring system support, and monitoring camera 64 is arranged on above the upper and lower rotary joint 63 of monitoring system support.
A control system for the intelligent robot of patrolling and examining and keeping in repair for power station, adopts the described intelligent robot of patrolling and examining and keeping in repair for power station, comprises that Long-distance Control bench control system and power station patrol and examine arch maintenance robot control system;
Described Long-distance Control bench control system comprises the first industrial computer, differential GPS base station, straighforward operation handle, patrols and examines monitoring image display and Work machine arm front-end camera display; Differential GPS base station is connected with the first industrial computer by RS485 bus with Remote handle;
Power station is patrolled and examined arch maintenance robot control system and is comprised the second industrial computer, video frequency collection card, visible light camera, infrared thermography, mechanical arm front-end camera, USB-CAN adapter, motor driver, auxiliary light source system, ultrasonic distance measuring module, differential GPS receiver module, inertial navigation system, speed measuring module, lithium battery group and engine;
Described motor driver drives 4 Athey wheel connecting axle stepper motors, 4 Athey wheel walkings brushless electric machine, all joint servo motors of maintenance activity arm and monitoring camera joint servo motors;
Described video frequency collection card is connected with the second industrial computer by PCIE bus, gathers the image of visible light camera, infrared thermography and mechanical arm front-end camera; Motor driver is connected with industrial computer by USB-CAN transition card; Auxiliary light source system, ultrasonic distance measuring module, differential GPS receiver module, inertial navigation system, speed measuring module are connected with industrial computer by RS485 bus, described lithium battery group is that the power supply of arch maintenance robot control system is patrolled and examined in power station, and engine is the charging of lithium battery group.
The control of described motor driver adopts CAN master-slave network structure, adopts CANopen agreement to control it; The second industrial computer is connected with USB-CAN transition card by USB interface, connects and composes master-slave network structure by CAN bus and motor driver.
Motor driver more corresponding motor drives, and motor described here comprises in the automatically controlled maintenance activity mechanical arm of eight degrees of freedom 2 joint motors, 4 Athey wheels walking brushless electric machines and 4 Athey wheel connecting axle stepper motors in 15 joint motors and monitoring camera head bracket.
The second industrial computer is connected with video frequency collection card by PCIE bus, and visible light camera, infrared thermography and mechanical arm front-end camera are received and on video frequency collection card, carried out IMAQ.
Described power station is patrolled and examined arch maintenance robot control system and is powered by the lithium battery group being arranged on chassis, described lithium battery group is by being arranged on engine or the external charger charging on intelligent robot, when robot work and while making lithium battery group electric weight drop to the threshold value of setting, engine start for till lithium battery group charges to lithium battery group electric weight abundance, in the time that robot does not work, lithium battery group is charged by external charger.
Described robot has independent navigation and two kinds of patterns of artificial distant operation.Independent navigation pattern is first by carrying out path planning and demarcating predetermined operation point to the environmental map in power station, then the complex navigation system consisting of differential global positioning system, inertial navigation system and speed measuring module positions the current coordinate of robot, carrys out control carry out maintenance activity according to programme path by more current running route and programme path.Artificial distant operator scheme is staff carrys out manipulation robot motion and mechanical arm operation by remote console.
Described complex navigation system is mainly made up of three parts: differential global positioning system, inertial navigation system and speed measuring module.The operation principle of complex navigation system is: when difference gps signal is noiseless or disturb in less situation, use differential GPS signal to obtain the current positional information of robot; When in differential GPS no signal or the interrupted situation of signal, revise inertial navigation system temperature with GPS and speed measuring module and float error, adopt Kalman wave filter to merge the data of the sensor, obtain the current positional information of robot.
Beneficial effect
Compared to existing technology, tool has the following advantages in the present invention:
1, extreme environment of the present invention power station is patrolled and examined maintenance activity robot and is had monitoring system and maintenance activity system simultaneously.The monitoring system that can be used alone in normal operation in the situation that in power station, patrols and examines observation according to predetermined route to power station, reduces duty personnel's labour intensity; Need repairing operation during in power station, can use and maintenance operating system carry out maintenance activity (as: spraying paint, clean, eliminate rust and keep in repair, the zero value detection of insulator etc. of equipment) to the problem occurring again.This system can autonomous operation, also can the distant operation of remote handle, and can make staff carry out away from high-risk environment, effectively solve the problem of staff's life safety.
2, the four-wheel four-drive Athey wheel chassis structure adopting has increased the adaptive capacity of robot to landform greatly.Athey wheel chassis design has increased contact area over the ground greatly, thereby advances freely on soft road surface.Athey wheel can rotate along Athey wheel connecting axle within the scope of upper and lower 45 degree, and this can increase the adaptability of robot to broken terrain greatly, has increased obstacle climbing ability.Meanwhile, each Athey wheel has been installed Athey wheel protective cover, can reduce the destruction probability of Athey wheel to surrounding environment equipment.
3, front four joints of the automatically controlled maintenance activity mechanical arm of eight degrees of freedom are the qualitative location of maintenance activity scope, after to connect two maintenance activity arms with four joints be that maintenance activity is accurately located, on maintenance activity tool holder, dissimilar maintenance activity instrument can be installed simultaneously, for complicated maintenance activity is provided convenience, such as spraying paint for equipment, left maintenance arm is installed clamping device, right maintenance arm is installed paint spraying outfit, and left maintenance arm can make to spray paint to crevice place more even by equipment in rotary moving.
4, under the environment of the complex navigation system adopting a little less than for gps signals such as indoor environments, there is larger advantage: can carry out Kalman filtering by the data of inertial navigation system and speed measuring module, thereby obtain the current position coordinates accurately of robot, for robot advances possibility is provided according to predetermined programme path.
Brief description of the drawings
Fig. 1 is the structure right view that maintenance activity robot is patrolled and examined in extreme environment of the present invention power station;
Fig. 2 is the structure top view that maintenance activity robot is patrolled and examined in extreme environment of the present invention power station;
Fig. 3 is the structure front view that maintenance activity robot is patrolled and examined in extreme environment of the present invention power station;
Fig. 4 is the structure three-dimensional stereogram that maintenance activity robot is patrolled and examined in extreme environment of the present invention power station;
Fig. 5 is the remote console 3 dimensional drawing that maintenance activity robot is patrolled and examined in extreme environment of the present invention power station;
Fig. 6 is the control system structure chart that maintenance activity robot is patrolled and examined in extreme environment of the present invention power station;
Label declaration: 10-Athey wheel, 11-Athey wheel protective cover, 12-Athey wheel connecting axle, 20-mechanical arm firm banking, 21-mechanical arm base rotary joint, 22-base rotating base, 23-base one-level cradle head, 24-base one-level arm, 25-base secondary cradle head, 26-base secondary arm, three grades of cradle heads of 30-base, 31-maintenance arm rotating base, 32-maintenance arm one-level cradle head, 33-maintenance arm sliding bar, 34-maintenance arm secondary arthrodia, 35-maintenance arm slider disc, three grades of cradle heads of 36-maintenance arm, 37-maintenance activity tool holder, 38-maintenance arm level Four cradle head, 39-maintenance activity instrument, 40-front-end camera pedestal, 41-front-end camera one-level cradle head, 42-front-end camera one-level arm, 43-front-end camera secondary cradle head, 44-front-end camera support, three grades of cradle heads of 45-front-end camera, 46-front-end camera, 50-ultrasonic evadible system, 51-assists searchlight, 60-monitoring system holder, 61-monitoring system support left rotation and right rotation joint, 62-monitoring system support, the upper and lower rotary joint of 63-monitoring system support, 64-monitoring camera, 65-visible light camera, 66-infrared thermography, the integrated control cabinet of 70-, 71-differential GPS antenna, 72-system state indicator, antenna is accepted in the transmitting of 73-pilot signal, 80-lithium battery group charging socket, 81-fuel tank, 82-tank filler, 90-keyboard, antenna is accepted in the transmitting of 91-base station pilot signal, 92-differential GPS base station, 93-patrols and examines monitoring image display, 94-front-end camera display, 95-controls rocking bar.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described further.
As Figure 1-Figure 4, be the structural representation of the intelligent robot patrolling and examining and keep in repair for power station, a kind of intelligent robot of patrolling and examining and keeping in repair for power station, comprises and patrols and examines maintenance activity robot body and remote console;
Remote console is controlled patrolling and examining maintenance activity robot body by 2.4G wireless communication module, patrols and examines maintenance activity robot body simultaneously and sends on remote console patrolling and examining maintenance activity video image by wireless ethernet;
Described remote console comprises differential GPS base station 92, straighforward operation handle and picture control platform;
Described remote console comprises differential GPS base station 92, keyboard 90, base station pilot signal transmit receive antenna 91, patrols and examines monitoring image display 93, front end camera display 94 and control rocking bar 95.Control rocking bar 95 and patrol and examine maintenance activity according to patrolling and examining monitoring image in monitoring image display 93 and front end camera display 94 human body that operates machines.
The described maintenance activity robot body of patrolling and examining comprises four-wheel four-drive Athey wheel chassis, monitoring system, auxiliary light source system 51, the automatically controlled maintenance activity mechanical arm of eight degrees of freedom, fuel tank 81, integrated control cabinet 70, the complex navigation system that differential GPS and inertial navigation system merge, ultrasonic evadible system 50 and Remote and image delivering system;
Described monitoring system comprises CCTV camera and infrared thermography, and described navigation system is the complex navigation system that differential GPS and inertial navigation system merge;
Described ultrasonic evadible system 50 and fuel tank 81 are arranged on respectively the rear and front end on four-wheel four-drive Athey wheel chassis; The automatically controlled maintenance activity mechanical arm of eight degrees of freedom and integrated control cabinet 70 are installed on four-wheel four-drive Athey wheel chassis; Monitoring system and auxiliary light source system are arranged on integrated control cabinet 70; Navigation system and Remote and image delivering system are arranged at the inside of integrated control cabinet;
In described four-wheel four-drive Athey wheel chassis structure, four Athey wheels 10 are connected to two sides on four-wheel four-drive Athey wheel chassis by Athey wheel connecting axle 12 respectively and are fixed on the end of Athey wheel connecting axle, and Athey wheel connecting axle 12 can rotate and be driven by the stepper motor that is arranged on chassis around self axis; Four Athey wheels are driven by reduction gear box by four brshless DC motors respectively, and DC brushless motor is controlled by industrial computer, speed measuring coder is installed in reduction gear box motor is tested the speed;
Ultrasonic evadible system 50 is arranged on the front panel on four-wheel four-drive Athey wheel chassis; The automatically controlled maintenance activity mechanical arm of eight degrees of freedom is arranged on the front end of four-wheel four-drive Athey wheel chassis top panel, and integrated control cabinet 70 is arranged on the rear end of four-wheel four-drive Athey wheel chassis top panel; Monitoring system holder 60 is arranged on the center of integrated control cabinet 70 top panels; Differential GPS antenna 71 is arranged on integrated control cabinet 70, is separately installed with the transmitting of system state indicator 72 and pilot signal and accepts antenna 73 on integrated control cabinet 70; Auxiliary light source system 51 is arranged on the both sides of integrated control cabinet 70.
The automatically controlled maintenance activity mechanical arm of described eight degrees of freedom comprises mechanical arm firm banking 20, base rotating base 22, base one-level arm 24, base secondary arm 26, maintenance arm rotating base 30, two maintenance arms and front-end camera systems;
Described base rotating base 22 is connected with mechanical arm firm banking 20 by mechanical arm base rotary joint 21; Base one-level arm 24 is connected with base rotating base 22 by base one-level cradle head 23; Base secondary arm 26 is connected with base one-level arm 24 by base secondary cradle head 25; Maintenance arm rotating base 31 is connected with base secondary arm 26 by three grades of cradle heads 30 of base; Maintenance arm rotating base 31 is provided with two maintenance arm one-level cradle heads 32;
Described maintenance arm comprises maintenance arm sliding bar 33, maintenance arm slider disc 35, maintenance activity tool holder 37 and maintenance activity instrument 39; Described maintenance arm sliding bar 33 is connected with maintenance arm rotating base 31 by maintenance arm one-level cradle head 32;
The rotating shaft of mechanical arm base rotary joint 21 is vertical with horizontal plane; The rotating shaft of base one-level cradle head 23 and base secondary cradle head 25 is parallel to each other, and all parallel with horizontal plane; The rotating shaft of three grades of cradle heads 30 of base is perpendicular to the cross section of base secondary arm 26; The rotating shaft of three grades of cradle heads 30 of rotating shaft and base of maintenance arm one-level cradle head 32 is vertical; Maintenance arm secondary arthrodia 34 sliding axles are along the centerline direction of maintenance arm sliding bar 33; The center line of three grades of cradle heads 36 of maintenance arm overlaps with the center line of maintenance arm sliding bar 33; The turning cylinder of maintenance arm level Four cradle head 39 is vertical with the center line of maintenance arm sliding bar 33;
Described front-end camera system comprises front-end camera pedestal 40, front-end camera one-level arm 42, front-end camera support 44 and front-end camera 46; Front-end camera pedestal 40 is fixed on the end of base secondary arm 26; Front-end camera one-level arm 42 is connected with front-end camera pedestal 40 by front-end camera one-level cradle head 41; Front-end camera support 44 is connected with front-end camera one-level arm 42 by front-end camera secondary cradle head 43; Front-end camera 46 is arranged on front-end camera support 44 by three grades of cradle heads 45 of front-end camera.
Athey wheel protective cover 11 is also housed on each Athey wheel, thus avoid Athey wheel in running to external world object destroy.
Between described maintenance arm sliding bar 33 and maintenance arm slider disc 35, can axially slide along maintenance arm sliding bar 33, junction is maintenance arm secondary arthrodia 34; Maintenance activity tool box mount pad 37 can rotate in maintenance arm slider disc 35, and junction is three grades of cradle heads 36 of maintenance arm; Maintenance activity instrument 39 is connected on maintenance activity tool holder 37 by maintenance arm level Four cradle head 38.
Described maintenance activity instrument 39 comprises clamping device, cleaning means, Spray painting tool or removal tool.
Described CCTV camera and infrared thermography monitoring system comprise monitoring system holder 60, monitoring system support 62 and monitoring camera 64, and described monitoring camera comprises visible light camera 65 and infrared thermography 66;
Monitoring system support 62 is connected with monitoring system holder 60 by monitoring system support left rotation and right rotation joint 61; Monitoring system support 62 tops are provided with the upper and lower rotary joint 63 of monitoring system support, and monitoring camera 64 is arranged on above the upper and lower rotary joint 63 of monitoring system support.
A control system for the intelligent robot of patrolling and examining and keeping in repair for power station, adopts the described intelligent robot of patrolling and examining and keeping in repair for power station, comprises that Long-distance Control bench control system and power station patrol and examine arch maintenance robot control system;
Described Long-distance Control bench control system comprises the first industrial computer, differential GPS base station, straighforward operation handle, patrols and examines monitoring image display and Work machine arm front-end camera display; Differential GPS base station is connected with the first industrial computer by RS485 bus with Remote handle;
Power station is patrolled and examined arch maintenance robot control system and is comprised the second industrial computer, video frequency collection card, visible light camera, infrared thermography, mechanical arm front-end camera, USB-CAN adapter, motor driver, auxiliary light source system, ultrasonic distance measuring module, differential GPS receiver module, inertial navigation system, speed measuring module, lithium battery group and engine;
Described motor driver drives 4 Athey wheel connecting axle stepper motors, 4 Athey wheel walkings brushless electric machine, all joint servo motors of maintenance activity arm and monitoring camera joint servo motors;
Described video frequency collection card is connected with the second industrial computer by PCIE bus, gathers the image of visible light camera, infrared thermography and mechanical arm front-end camera; Motor driver is connected with industrial computer by USB-CAN transition card; Auxiliary light source system, ultrasonic distance measuring module, differential GPS receiver module, inertial navigation system, speed measuring module are connected with industrial computer by RS485 bus, described lithium battery group is that the power supply of arch maintenance robot control system is patrolled and examined in power station, and engine is the charging of lithium battery group.
The control of described motor driver adopts CAN master-slave network structure, adopt CANopen agreement to control it, the second industrial computer is connected with USB-CAN transition card by USB interface, and the second industrial computer USB-CAN transition card connects and composes master-slave network structure by CAN bus and motor driver.
Motor driver more corresponding motor drives, and motor described here comprises in the automatically controlled maintenance activity mechanical arm of eight degrees of freedom 2 joint motors, 4 Athey wheels walking brushless electric machines and 4 Athey wheel connecting axle stepper motors in 15 joint motors and monitoring camera head bracket.
Industrial computer is connected with video frequency collection card by PCIE bus, and visible light camera, infrared thermography and mechanical arm front-end camera are received and on video frequency collection card, carried out IMAQ.
Described power station is patrolled and examined arch maintenance robot control system and is powered by the lithium battery group being arranged on chassis, described lithium battery group is by being arranged on engine or the external charger charging on intelligent robot, when robot work and while making lithium battery group electric weight drop to the threshold value of setting, engine start for till lithium battery group charges to lithium battery group electric weight abundance, in the time that robot does not work, lithium battery group is charged by external charger.
Fig. 5 is the remote console that maintenance activity robot is patrolled and examined in extreme environment power station, and it comprises differential GPS base station 92, controls rocking bar 95, picture control platform;
90-keyboard, antenna is accepted in the transmitting of 91-base station pilot signal, 92-differential GPS base station, 93-patrols and examines monitoring image display, 94-front-end camera display, 95-controls rocking bar.
Mobile chassis adopts the walking mechanism of caterpillar band type, in PCIE draw-in groove in the second industrial computer, motion control card is installed, the output of motion control card is received in motor driver card, control brshless DC motor, DC brushless motor drives Athey wheel to move through reduction gear box, thereby provides power for robot ambulation.Speed measuring coder is installed on reduction gear box, has been measured the running speed of motor, accurately controlled the speed of travel of Athey wheel.Protective cover is also installed on Athey wheel, has been avoided neutralizing other object at robot running and rub.
Maintenance activity robot is patrolled and examined under independent navigation pattern in power station, utilizes the complex navigation method of the combination of differential global positioning system and inertial navigation system, for the autonomous path planning of robot provides possibility.Concrete operation principle is: when difference gps signal is noiseless or disturb and use the navigation information of differential GPS signal as robot in less situation, float the mode of error as the navigation information of robot when using GPS to revise inertial navigation system temperature in differential GPS no signal or the interrupted situation of signal.
Maintenance activity robot is patrolled and examined under artificial distant operator scheme in power station, control rocking bar 95 in Fig. 5 is sent control information and is accepted antenna by the control signal in robot and received by industrial computer by 2.4G radio communication, and industrial computer is according to the operation of corresponding manipulation instruction control mechanical arm and Athey wheel platform.
Auxiliary light source system is according to returning to the monitoring image coming in robot, manual operation control rocking bar 95 is controlled the rotation of auxiliary light source system support, thereby obtains best monitoring image.
Patrol and examine while operation under the robot autonomous navigation mode of maintenance activity, if detecting, ultrasonic evadible system has barrier above, send a message to industrial computer, provide the general information of barrier, then the differential of industrial computer control Athey wheel moves avoiding obstacles, finally returns on the route of independent navigation.When patrol and examine maintenance activity robot while moving under artificial distant operator scheme, if detecting above, ultrasonic evadible system has barrier, can send an alert message to remote control platform, prompting operation person notes manipulation robot's avoiding obstacles.
Power station is patrolled and examined maintenance activity robot and in travel mechanism chassis, has been carried lithium battery group and engine, and the voltage of lithium battery group is 24V.The main power source system of patrolling and examining maintenance activity robot system is: driving the DC brushless motor supply voltage of Athey wheel is 24V, and system other parts supply voltage is 12V (comprising industrial computer, monitoring system, mechanical arm system etc.).Voltage and the flash-over characteristic of industrial computer monitoring lithium battery group, send to monitor data on remote monitoring platform and show, convenient operation personnel control patrols and examines the operation conditions of maintenance activity robot.
Claims (10)
1. the intelligent robot patrolling and examining and keep in repair for power station, is characterized in that, comprises and patrols and examines maintenance activity robot body and remote console;
Remote console is controlled patrolling and examining maintenance activity robot body by 2.4G wireless communication module, patrols and examines maintenance activity robot body simultaneously and sends on remote console patrolling and examining maintenance activity video image by wireless ethernet;
Described remote console comprises differential GPS base station (92), straighforward operation handle and picture control platform;
Describedly patrol and examine complex navigation system, ultrasonic evadible system (50) and Remote and the image delivering system that maintenance activity robot body comprises that four-wheel four-drive Athey wheel chassis, monitoring system, auxiliary light source system (51), the automatically controlled maintenance activity mechanical arm of eight degrees of freedom, fuel tank (81), integrated control cabinet (70), differential GPS and inertial navigation system merge;
Described monitoring system comprises CCTV camera and infrared thermography, and described navigation system is the complex navigation system that differential GPS and inertial navigation system merge;
Described ultrasonic evadible system (50) and fuel tank (81) are arranged on respectively the rear and front end on four-wheel four-drive Athey wheel chassis; The automatically controlled maintenance activity mechanical arm of eight degrees of freedom and integrated control cabinet (70) are installed on four-wheel four-drive Athey wheel chassis; Monitoring system and auxiliary light source system are arranged on integrated control cabinet (70); Navigation system and Remote and image delivering system are arranged at the inside of integrated control cabinet;
In described four-wheel four-drive Athey wheel chassis structure, four Athey wheels (10) are connected to two sides on four-wheel four-drive Athey wheel chassis by Athey wheel connecting axle (12) and are fixed on the end of Athey wheel connecting axle, and Athey wheel connecting axle (12) can rotate and be driven by the stepper motor that is arranged on chassis around self axis; Four Athey wheels are driven by reduction gear box by four brshless DC motors respectively, and DC brushless motor is controlled by industrial computer, speed measuring coder is installed in reduction gear box motor is tested the speed;
Ultrasonic evadible system (50) is arranged on the front panel on four-wheel four-drive Athey wheel chassis; The automatically controlled maintenance activity mechanical arm of eight degrees of freedom is arranged on the front end of four-wheel four-drive Athey wheel chassis top panel, and integrated control cabinet (70) is arranged on the rear end of four-wheel four-drive Athey wheel chassis top panel; Monitoring system holder (60) is arranged on the center of integrated control cabinet (70) top panel; It is upper that differential GPS antenna (71) is arranged on integrated control cabinet (70), is separately installed with system state indicator (72) and pilot signal and launches and accept antenna (73) on integrated control cabinet (70); Auxiliary light source system (51) is arranged on the both sides of integrated control cabinet (70).
2. the intelligent robot of patrolling and examining and keeping in repair for power station according to claim 1, it is characterized in that, the automatically controlled maintenance activity mechanical arm of described eight degrees of freedom comprises mechanical arm firm banking (20), base rotating base (22), base one-level arm (24), base secondary arm (26), maintenance arm rotating base (30), two maintenance arms and front-end camera system;
Described base rotating base (22) is connected with mechanical arm firm banking (20) by mechanical arm base rotary joint (21); Base one-level arm (24) is connected with base rotating base (22) by base one-level cradle head (23); Base secondary arm (26) is connected with base one-level arm (24) by base secondary cradle head (25); Maintenance arm rotating base (31) is connected with base secondary arm (26) by three grades of cradle heads of base (30); Maintenance arm rotating base (31) is provided with two maintenance arm one-level cradle heads (32);
Described maintenance arm comprises maintenance arm sliding bar (33), maintenance arm slider disc (35), maintenance activity tool holder (37) and maintenance activity instrument (39); Described maintenance arm sliding bar (33) is connected with maintenance arm rotating base (31) by maintenance arm one-level cradle head (32);
The rotating shaft of mechanical arm base rotary joint (21) is vertical with horizontal plane; The rotating shaft of base one-level cradle head (23) and base secondary cradle head (25) is parallel to each other, and all parallel with horizontal plane; The rotating shaft of three grades of cradle heads of base (30) is perpendicular to the cross section of base secondary arm (26); The rotating shaft of maintenance arm one-level cradle head (32) is vertical with the rotating shaft of three grades of cradle heads of base (30); Maintenance arm secondary arthrodia (34) sliding axle is along the centerline direction of maintenance arm sliding bar (33); The center line of maintenance three grades of cradle heads of arm (36) overlaps with the center line of maintenance arm sliding bar (33); The turning cylinder of maintenance arm level Four cradle head (39) is vertical with the center line of maintenance arm sliding bar (33);
Described front-end camera system comprises front-end camera pedestal (40), front-end camera one-level arm (42), front-end camera support (44) and front-end camera (46); Front-end camera pedestal (40) is fixed on the end of base secondary arm (26); Front-end camera one-level arm (42) is connected with front-end camera pedestal (40) by front-end camera one-level cradle head (41); Front-end camera support (44) is connected with front-end camera one-level arm (42) by front-end camera secondary cradle head (43); Front-end camera (46) is arranged on front-end camera support (44) by three grades of cradle heads of front-end camera (45).
3. the intelligent robot of patrolling and examining and keeping in repair for power station according to claim 2, is characterized in that, Athey wheel protective cover (11) is also housed on each Athey wheel.
4. the intelligent robot of patrolling and examining and keeping in repair for power station according to claim 3, it is characterized in that, between described maintenance arm sliding bar (33) and maintenance arm slider disc (35), can axially slide along maintenance arm sliding bar (33), junction is maintenance arm secondary arthrodia (34); Maintenance activity tool box mount pad (37) can rotate in maintenance arm slider disc (35), and junction is maintenance three grades of cradle heads of arm (36); Maintenance activity instrument (39) is connected on maintenance activity tool holder (37) by maintenance arm level Four cradle head (38).
5. the intelligent robot of patrolling and examining and keeping in repair for power station according to claim 4, is characterized in that, described maintenance activity instrument (39) comprises clamping device, cleaning means, Spray painting tool or removal tool.
6. the intelligent robot of patrolling and examining and keeping in repair for power station according to claim 5, it is characterized in that, described monitoring system comprises monitoring system holder (60), monitoring system support (62) and monitoring camera (64), and described monitoring camera comprises visible light camera (65) and infrared thermography (66);
Monitoring system support (62) is connected with monitoring system holder (60) by monitoring system support left rotation and right rotation joint (61); Monitoring system support (62) top is provided with the upper and lower rotary joint of monitoring system support (63), and monitoring camera (64) is arranged on the upper and lower rotary joint of monitoring system support (63) above.
7. the control system of an intelligent robot of patrolling and examining and keeping in repair for power station, it is characterized in that, adopt the intelligent robot of patrolling and examining and keeping in repair for power station described in claim 1-6 any one, comprise that Long-distance Control bench control system and power station patrol and examine arch maintenance robot control system;
Described Long-distance Control bench control system comprises the first industrial computer, differential GPS base station, straighforward operation handle, patrols and examines monitoring image display and Work machine arm front-end camera display; Differential GPS base station is connected with the first industrial computer by RS485 bus with Remote handle;
Power station is patrolled and examined arch maintenance robot control system and is comprised the second industrial computer, video frequency collection card, visible light camera, infrared thermography, mechanical arm front-end camera, USB-CAN adapter, motor driver, auxiliary light source system, ultrasonic distance measuring module, differential GPS receiver module, inertial navigation system, speed measuring module, lithium battery group and engine;
Described motor driver drives 4 Athey wheel connecting axle stepper motors, 4 Athey wheel walkings brushless electric machine, all joint servo motors of maintenance activity arm and monitoring camera joint servo motors;
Described video frequency collection card is connected with the second industrial computer by PCIE bus, gathers the image of visible light camera, infrared thermography and mechanical arm front-end camera; Motor driver is connected with industrial computer by USB-CAN transition card; Auxiliary light source system, ultrasonic distance measuring module, differential GPS receiver module, inertial navigation system, speed measuring module are connected with industrial computer by RS485 bus, described lithium battery group is that the power supply of arch maintenance robot control system is patrolled and examined in power station, and engine is the charging of lithium battery group.
8. the control system of the intelligent robot of patrolling and examining and keeping in repair for power station according to claim 7, is characterized in that, the control of described motor driver adopts CAN master-slave network structure, adopts CANopen agreement to control it; The second industrial computer is connected with USB-CAN transition card by USB interface, connects and composes master-slave network structure by CAN bus and motor driver.
9. the control system of the intelligent robot of patrolling and examining and keeping in repair for power station according to claim 8, it is characterized in that, industrial computer is connected with video frequency collection card by PCIE bus, and visible light camera, infrared thermography and mechanical arm front-end camera are received and on video frequency collection card, carried out IMAQ.
10. the control system of the intelligent robot of patrolling and examining and keeping in repair for power station according to claim 9, it is characterized in that, described power station is patrolled and examined arch maintenance robot control system and is powered by the lithium battery group being arranged on chassis, described lithium battery group is by being arranged on engine or the external charger charging on intelligent robot, when robot work and while making lithium battery group electric weight drop to the threshold value of setting, engine start for till lithium battery group charges to lithium battery group electric weight abundance, in the time that robot does not work, lithium battery group is charged by external charger.
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| CN201410182458.3A CN103963043B (en) | 2014-04-30 | 2014-04-30 | A kind of intelligent robot of patrolling and examining for power station and keep in repair and control system thereof |
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