CN103963043B - A kind of intelligent robot of patrolling and examining for power station and keep in repair and control system thereof - Google Patents
A kind of intelligent robot of patrolling and examining for power station and keep in repair and control system thereof Download PDFInfo
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- CN103963043B CN103963043B CN201410182458.3A CN201410182458A CN103963043B CN 103963043 B CN103963043 B CN 103963043B CN 201410182458 A CN201410182458 A CN 201410182458A CN 103963043 B CN103963043 B CN 103963043B
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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 a kind of intelligent robot of patrolling and examining for power station and keep in repair and control system thereof, comprise and patrol and examine maintenance activity robot body and remote console.Robot body adopts crawler belt robot manipulator structure, and for robot, in power station, complicated landform moves down the dynamic power and the steering behaviour that provide abundance to four tracked mobile platforms, and Athey wheel also can rotate along Athey wheel connecting axle, adds landform adaptive capacity.Robot body has installed monitoring system, provides control information for patrolling and examining with maintenance activity.Robot has independent navigation and artificial remote operating two kinds of patterns.Independent navigation completes patrolling and examining of projected route according to the information independence that complex navigation system provides, and under remote operating pattern, people moves the maintenance activity with mechanical arm for manipulation robot.This robot has automation, intelligence degree is high, feature small and exquisite flexibly.
Description
Technical field
The present invention relates to a kind of intelligent robot of patrolling and examining for power station and keeping in repair.
Background technology
Along with sending out fast of China's economy is opened, the demand of the energy is become 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 station, the power station producing electric energy mainly contains: thermal power station, power station, nuclear power station; The power station mainly high voltage generating station that defeated change is sent.But the environment great majority in power station are all extreme complex environment (as super-pressure, nuclear radiation, ultralow temperature etc.), and some power station environment even can affect the health of human body of patrolling and examining with maintenance worker.Such as most of thermal power station is all take coal as fuel, can produce a large amount of dust and dusty gas in the combustion process of coal; A lot of operations in nuclear power station are all with nuclear radiation, and this causes great injury to the health of maintenance worker.
The maintenance activity of patrolling and examining in power station ensures the indispensable program of power plant safety reliability service, it sends out power supply reliability for improving, reduce power station accident to occur, ensure power grid security and be the indelible contribution that provides living material guarantee to make of resident and enterprise.Now, the maintenance activity mode of mainly patrolling and examining in power station or common manual inspection and maintenance activity, it is not high that it patrols and examines efficiency, and manpower consumption is comparatively large, and operation also exists health of human body safety problem.Monitoring camera has been installed on equipment side in most power station, achieves few people on duty, but when emergency case appears in existence scene, cannot arrive the series of problems such as on-the-spot tour and maintenance activity in time.Meanwhile, current announced patrolling and examining maintenance activity robot and nearly all will patrol and examine with maintenance activity separated for 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 deficiency with maintenance activity technology and power station manual inspection and fixing camera monitoring for solving existing power station, solving cleaning and the maintenance of power station charging equipment simultaneously, improving operating efficiency and the personal safety of power station staff.
The intelligent robot of patrolling and examining for power station and keeping in repair, 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 is sent to patrol and examine maintenance activity video image on remote console by wireless ethernet;
Described remote console comprises differential GPS base station 92, straighforward operation handle and picture control platform;
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, integrating control case 70, navigation system, 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 the rear and front end on four-wheel four-drive Athey wheel chassis respectively; The automatically controlled maintenance activity mechanical arm of eight degrees of freedom and integrating control case 70 are installed on four-wheel four-drive Athey wheel chassis; Monitoring system and auxiliary light source system are arranged on integrating control case 70; Navigation system and Remote and image delivering system are arranged at the inside of integrating control case;
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 respectively by Athey wheel connecting axle 12 and are fixed on the end of Athey wheel connecting axle, and Athey wheel connecting axle 12 can around own axis and by the driving stepper motor being arranged on chassis; Four Athey wheels are driven by reduction gear box by four brshless DC motors respectively, and DC brushless motor is controlled by industrial computer, is provided with speed measuring coder and tests the speed to motor in reduction gear box;
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 integrating control case 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 integrating control case 70 top panel; Differential GPS antenna 71 is arranged on integrating control case 70, integrating control case 70 is separately installed with system state indicator 72 and pilot signal and launches and accept antenna 73; Auxiliary light source system 51 is arranged on the both sides of integrating control case 70.
The automatically controlled maintenance activity mechanical arm of described eight degrees of freedom comprises mechanical arm firm banking 20, base rotation pedestal 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 rotation pedestal 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 rotation pedestal 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 base three grades of cradle heads 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 and horizontal plane; The rotating shaft of base one-level cradle head 23 and base secondary cradle head 25 is parallel to each other, and equal and plane-parallel; The rotational axis vertical of base three grades of cradle heads 30 is in the cross section of base secondary arm 26; The rotating shaft of maintenance arm one-level cradle head 32 and the rotational axis vertical of base three grades of cradle heads 30; Maintenance arm secondary arthrodia 34 sliding axle is along the centerline direction of maintenance arm sliding bar 33; The center line of maintenance arm three grades of cradle heads 36 overlaps with the center line of maintenance arm sliding bar 33; The turning cylinder of maintenance arm level Four cradle head 39 and the central axis 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 front-end camera three grades of cradle heads 45.
Each Athey wheel is also equipped with Athey wheel protective cover 11, thus avoid Athey wheel in running to external world object destroy.
Axially can slide along keeping in repair arm sliding bar 33 between described maintenance arm sliding bar 33 and maintenance arm slider disc 35, 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 arm three grades of cradle heads 36; 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; Monitoring system support 62 top is 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 for power station and keep in repair, the intelligent robot patrolled and examined for power station and keep in repair described in employing, comprises Long-distance Control bench control system and arch maintenance robot control system is patrolled and examined in power station;
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 working rig mechanical 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 power station is patrolled and examined arch maintenance robot control system and powered, 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; Second industrial computer is connected with USB-CAN transition card by USB interface, connects and composes master-slave network structure by CAN and motor driver.
The motor that motor driver is corresponding again drives, and motor described here to comprise 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.
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 on video frequency collection card and carried out IMAQ.
Described power station is patrolled and examined arch maintenance robot control system and is powered by the lithium battery group be arranged on chassis, described lithium battery group is by being arranged on engine on intelligent robot or external charger charging, when robot work and when making lithium battery group electricity drop to the threshold value of setting, engine start for till lithium battery group charges to lithium battery group electricity abundance, lithium battery group is charged by external charger when robot does not work.
Described robot has independent navigation and artificial remote operating two kinds of patterns.Independent navigation pattern is first by carrying out path planning and demarcating predetermined operation point to the environmental map in power station, then the changing coordinates of complex navigation system to robot consisted of differential global positioning system, inertial navigation system and speed measuring module positions, and carrys out control carry out maintenance activity according to programme path by more current running route and programme path.Artificial remote operating pattern is that staff carrys out motion and the mechanical arm operation of manipulation robot by remote console.
Described complex navigation system forms primarily of three parts: differential global positioning system, inertial navigation system and speed measuring module.The operation principle of complex navigation system is: when differential GPS signal is noiseless or disturb less, uses differential GPS signal to obtain the current positional information of robot; When differential GPS no signal or signal interrupted when, use GPS and speed measuring module to revise inertial navigation system temperature drift error, the data of employing Kalman filter to the sensor merge, and obtain the positional information that robot is current.
Beneficial effect
Compared to existing technology, tool has the following advantages in the present invention:
1, extreme environment power station of the present invention is patrolled and examined maintenance activity robot and is had monitoring system and maintenance activity system simultaneously.Can be used alone when power station is in normal operation monitoring system, patrols and examines observation according to predetermined route to power station, reduces the labour intensity of duty personnel; Need repairing in power station operation time, use and maintenance operating system can carry out maintenance activity (as: spraying paint, clean, eliminate rust and keep in repair, the zero value detection etc. of insulator of equipment) to produced problem again.This system can autonomous operation, also can remote handle remote operating, staff can be made to 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 adopted significantly increases the adaptive capacity of robot to landform.Athey wheel chassis design adds contact area over the ground greatly, thus 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, adds obstacle climbing ability.Meanwhile, each Athey wheel has installed Athey wheel protective cover, can reduce the destruction probability of Athey wheel to surrounding environment equipment.
3, front four joints of eight degrees of freedom automatically controlled maintenance activity mechanical arm are maintenance activity scope qualitative positioning, after to connect two maintenance activity arms with four joints be that maintenance activity is accurately located, maintenance activity tool holder can install dissimilar maintenance activity instrument simultaneously, for the maintenance activity of complexity is provided convenience, such as equipment is carried out spraying paint, left maintenance arm installs clamping device, right maintenance arm installs paint spraying outfit, and left maintenance arm can make it possible to spray paint to crevice place more even by equipment in rotary moving.
4, the complex navigation system adopted has larger advantage under the weak environment of the gps signals such as indoor environment: can carry out Kalman filter by the data of inertial navigation system and speed measuring module, thus obtain the current position coordinates accurately of robot, provide possibility for robot advances according to predetermined programme path.
Accompanying drawing explanation
Fig. 1 is the structure right view that maintenance activity robot is patrolled and examined in extreme environment power station of the present invention;
Fig. 2 is the structure top view that maintenance activity robot is patrolled and examined in extreme environment power station of the present invention;
Fig. 3 is the structure front view that maintenance activity robot is patrolled and examined in extreme environment power station of the present invention;
Fig. 4 is the structure three-dimensional stereogram that maintenance activity robot is patrolled and examined in extreme environment power station of the present invention;
Fig. 5 is the remote console 3 dimensional drawing that maintenance activity robot is patrolled and examined in extreme environment power station of the present invention;
Fig. 6 is the Control system architecture figure that maintenance activity robot is patrolled and examined in extreme environment power station of the present invention;
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 rotation pedestal, 23-base one-level cradle head, 24-base one-level arm, 25-base secondary cradle head, 26-base secondary arm, 30-base three grades of cradle heads, 31-keeps in repair arm rotating base, 32-keeps in repair arm one-level cradle head, 33-keeps in repair arm sliding bar, 34-keeps in repair arm secondary arthrodia, 35-keeps in repair arm slider disc, 36-keeps in repair arm three grades of cradle heads, 37-maintenance activity tool holder, 38-keeps in repair 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, 45-front-end camera three grades of cradle heads, 46-front-end camera, 50-ultrasonic evadible system, 51-aid projector, 60-monitoring system holder, 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, 70-integrating control case, 71-differential GPS antenna, 72-system state indicator, the transmitting of 73-pilot signal accepts antenna, 80-lithium battery group charging socket, 81-fuel tank, 82-tank filler, 90-keyboard, the transmitting of 91-base station pilot signal accepts antenna, 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 intelligent robot patrolled and examined for power station and keep in repair, a kind of intelligent robot of patrolling and examining for power station and keeping in repair, 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 is sent to patrol and examine maintenance activity video image on remote console 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 to carry out patrolling and examining maintenance activity according to the monitoring image of patrolling and examining in monitoring image display 93 and front end camera display 94 human body that operates machines.
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, integrating control case 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 the rear and front end on four-wheel four-drive Athey wheel chassis respectively; The automatically controlled maintenance activity mechanical arm of eight degrees of freedom and integrating control case 70 are installed on four-wheel four-drive Athey wheel chassis; Monitoring system and auxiliary light source system are arranged on integrating control case 70; Navigation system and Remote and image delivering system are arranged at the inside of integrating control case;
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 respectively by Athey wheel connecting axle 12 and are fixed on the end of Athey wheel connecting axle, and Athey wheel connecting axle 12 can around own axis and by the driving stepper motor being arranged on chassis; Four Athey wheels are driven by reduction gear box by four brshless DC motors respectively, and DC brushless motor is controlled by industrial computer, is provided with speed measuring coder and tests the speed to motor in reduction gear box;
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 integrating control case 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 integrating control case 70 top panel; Differential GPS antenna 71 is arranged on integrating control case 70, integrating control case 70 is separately installed with system state indicator 72 and pilot signal and launches and accept antenna 73; Auxiliary light source system 51 is arranged on the both sides of integrating control case 70.
The automatically controlled maintenance activity mechanical arm of described eight degrees of freedom comprises mechanical arm firm banking 20, base rotation pedestal 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 rotation pedestal 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 rotation pedestal 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 base three grades of cradle heads 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 and horizontal plane; The rotating shaft of base one-level cradle head 23 and base secondary cradle head 25 is parallel to each other, and equal and plane-parallel; The rotational axis vertical of base three grades of cradle heads 30 is in the cross section of base secondary arm 26; The rotating shaft of maintenance arm one-level cradle head 32 and the rotational axis vertical of base three grades of cradle heads 30; Maintenance arm secondary arthrodia 34 sliding axle is along the centerline direction of maintenance arm sliding bar 33; The center line of maintenance arm three grades of cradle heads 36 overlaps with the center line of maintenance arm sliding bar 33; The turning cylinder of maintenance arm level Four cradle head 39 and the central axis 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 front-end camera three grades of cradle heads 45.
Each Athey wheel is also equipped with Athey wheel protective cover 11, thus avoid Athey wheel in running to external world object destroy.
Axially can slide along keeping in repair arm sliding bar 33 between described maintenance arm sliding bar 33 and maintenance arm slider disc 35, 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 arm three grades of cradle heads 36; 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; Monitoring system support 62 top is 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 for power station and keep in repair, the intelligent robot patrolled and examined for power station and keep in repair described in employing, comprises Long-distance Control bench control system and arch maintenance robot control system is patrolled and examined in power station;
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 working rig mechanical 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 power station is patrolled and examined arch maintenance robot control system and powered, and engine is the charging of lithium battery group.
The control of described motor driver adopts CAN master-slave network structure, CANopen agreement is adopted to control it, 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 and motor driver.
The motor that motor driver is corresponding again drives, and motor described here to comprise 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 on video frequency collection card and carried out IMAQ.
Described power station is patrolled and examined arch maintenance robot control system and is powered by the lithium battery group be arranged on chassis, described lithium battery group is by being arranged on engine on intelligent robot or external charger charging, when robot work and when making lithium battery group electricity drop to the threshold value of setting, engine start for till lithium battery group charges to lithium battery group electricity abundance, lithium battery group is charged by external charger when robot does not work.
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, the transmitting of 91-base station pilot signal accepts antenna, 92-differential GPS base station, and 93-patrols and examines monitoring image display, 94-front-end camera display, and 95-controls rocking bar.
Mobile chassis adopts the walking mechanism of caterpillar band type, in PCIE draw-in groove in 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, thus provides power for robot ambulation.Reduction gear box is installed speed measuring coder, has measured the running speed of motor, accurately controlled the speed of travel of Athey wheel.Athey wheel there is also mounted protective cover, avoid rubbing with other object in robot running.
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: use differential GPS signal as the navigation information of robot when differential GPS signal is noiseless or disturb less, when differential GPS no signal or signal interrupted when use GPS the to revise navigation information of mode as robot that inertial navigation system temperature floats error.
Maintenance activity robot is patrolled and examined under artificial remote operating pattern in power station, control rocking bar 95 in Fig. 5 is sent control information by 2.4G radio communication and accepts antenna by the control signal in robot and received by industrial computer, and industrial computer is according to the operation of corresponding manipulation instruction controller mechanical arm and Athey wheel platform.
Auxiliary light source system is according to robot returning the monitoring image come, and manual operation controls the rotation that rocking bar 95 controls auxiliary light source system support, thus obtains best monitoring image.
When running under patrolling and examining the robot autonomous navigation mode of maintenance activity, if have barrier before ultrasonic evadible system detects, then 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 patrolling and examining maintenance activity robot and running under artificial remote operating pattern, if ultrasonic evadible system has barrier before detecting, then can send an alert message to remote control platform, prompting operator notes manipulation robot's avoiding obstacles.
Power station is patrolled and examined maintenance activity robot carried lithium battery group and engine in travel mechanism chassis, and the voltage of lithium battery group is 24V.The main power source system of patrolling and examining maintenance activity robot system is: the DC brushless motor supply voltage driving Athey wheel is 24V, and system other parts supply voltage is 12V (comprising industrial computer, monitoring system, mechanical arm system etc.).The voltage of industrial computer monitoring lithium battery group and flash-over characteristic, be sent to by 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 of patrolling and examining for power station and keeping in repair, comprises and patrols and examines maintenance activity robot body and remote console; It is characterized in that,
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 is sent to patrol and examine maintenance activity video image on remote console by wireless ethernet;
Described remote console comprises differential GPS base station (92), straighforward operation handle and picture control platform;
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), integrating control case (70), navigation system, 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 the rear and front end on four-wheel four-drive Athey wheel chassis respectively; The automatically controlled maintenance activity mechanical arm of eight degrees of freedom and integrating control case (70) are installed on four-wheel four-drive Athey wheel chassis; Monitoring system and auxiliary light source system are arranged on integrating control case (70); Navigation system and Remote and image delivering system are arranged at the inside of integrating control case;
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 around own axis and by the driving stepper motor being arranged on chassis; Four Athey wheels are driven by reduction gear box by four brshless DC motors respectively, and DC brushless motor is controlled by industrial computer, is provided with speed measuring coder and tests the speed to motor in reduction gear box;
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 integrating control case (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 integrating control case (70) top panel; Differential GPS antenna (71) is arranged on integrating control case (70), integrating control case (70) is separately installed with system state indicator (72) and pilot signal and launches and accept antenna (73); Auxiliary light source system (51) is arranged on the both sides of integrating control case (70).
2. the intelligent robot of patrolling and examining for power station and keeping in repair 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 rotation pedestal (22), base one-level arm (24), base secondary arm (26), maintenance arm rotating base (31), two maintenance arms and front-end camera system;
Described base rotation pedestal (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 rotation pedestal (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 base three grades of cradle heads (30); Maintenance arm rotating base (31) is provided with two maintenances arm one-level cradle head (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) and horizontal plane; The rotating shaft of base one-level cradle head (23) and base secondary cradle head (25) is parallel to each other, and equal and plane-parallel; The rotational axis vertical of base three grades of cradle heads (30) is in the cross section of base secondary arm (26); The rotating shaft of maintenance arm one-level cradle head (32) and the rotational axis vertical of base three grades of cradle heads (30); Maintenance arm secondary arthrodia (34) sliding axle is along the centerline direction of maintenance arm sliding bar (33); The center line of maintenance arm three grades of cradle heads (36) overlaps with the center line of maintenance arm sliding bar (33); The turning cylinder of maintenance arm level Four cradle head (38) and the central axis 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 front-end camera three grades of cradle heads (45).
3. the intelligent robot of patrolling and examining for power station and keeping in repair according to claim 2, is characterized in that, each Athey wheel is also equipped with Athey wheel protective cover (11).
4. the intelligent robot of patrolling and examining for power station and keeping in repair according to claim 3, it is characterized in that, axially can slide along keeping in repair arm sliding bar (33) between described maintenance arm sliding bar (33) and maintenance arm slider disc (35), 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 arm three grades of cradle heads (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 for power station and keeping in repair 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 for power station and keeping in repair 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; 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 above the upper and lower rotary joint of monitoring system support (63).
7. the control system of the intelligent robot of to patrol and examine for power station and keeping in repair, it is characterized in that, the intelligent robot patrolled and examined for power station and keep in repair described in any one of employing claim 1-6, comprises Long-distance Control bench control system and arch maintenance robot control system is patrolled and examined in power station;
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 working rig mechanical 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 power station is patrolled and examined arch maintenance robot control system and powered, and engine is the charging of lithium battery group.
8. the control system of intelligent robot of patrolling and examining for power station and keep in repair 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; Second industrial computer is connected with USB-CAN transition card by USB interface, connects and composes master-slave network structure by CAN and motor driver.
9. the control system of intelligent robot of patrolling and examining for power station and keep in repair 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 on video frequency collection card and carried out IMAQ.
10. the control system of intelligent robot of patrolling and examining for power station and keep in repair 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 be arranged on chassis, described lithium battery group is by being arranged on engine on intelligent robot or external charger charging, when robot work and when making lithium battery group electricity drop to the threshold value of setting, engine start for till lithium battery group charges to lithium battery group electricity abundance, lithium battery group is charged by external charger when robot does not work.
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