CN203357457U - Wireless cable routing inspection robot and control system thereof - Google Patents

Abstract

The utility model relates to a wireless cable inspection robot and its control system. The control system includes a control module, a temperature acquisition module, an image acquisition module, a servo system, a power supply module, a storage module and a wireless module. The control module includes a first controller and the second controller, the first controller is connected with the temperature acquisition module, the image acquisition module and the servo system, and is used for processing the temperature signal and the image signal collected by the temperature acquisition module and the image acquisition module, and for controlling the servo system , the second controller is connected with the first controller, power module, storage module and wireless module, and is used to store the temperature signal and image signal processed by the first controller in the storage module, and the wireless module is used to communicate with the master station . By setting the first controller and the second controller, the control system can greatly improve the processing speed, so as to be suitable for the high-speed inspection of the wireless cable inspection robot.

Description

Wireless cable inspection robot and its control system

technical field

The utility model relates to the field of electric equipment, in particular to a wireless cable inspection robot and a control system thereof.

Background technique

In industries such as electric power, metallurgy, and chemical industry, power and control cables are often laid in cable tunnels to facilitate wiring and maintenance. More and more overhead lines in cities are gradually turning into underground cable tunnels. However, fires in cable tunnels due to damage to cable joints and cable insulation do occur from time to time. Cable tunnel fires burn fast and are difficult to extinguish. Once they occur, they will cause huge direct and indirect national economic losses. Therefore, in-depth analysis of the causes of cable tunnel fires and finding reasonable fire prevention measures have become the key issues to avoid fires.

The occurrence of fires in cable tunnels is a process of gradual accumulation. With the increase of time, due to the aging of the insulation layer, the accumulation of dust and oil, and the looseness of the intermediate joints, the local temperature of the cable will gradually rise, which will cause a fire. Therefore, before the accident occurs, if the temperature, smoke and other conditions inside the cable tunnel can be effectively monitored in real time, the fire can be prevented before it happens.

The traditional cable tunnel adopts the method of manual inspection. The inspectors enter the tunnel at regular intervals and use temperature measuring instruments to manually check the temperature of the cable intermediate joints. This method wastes a lot of manpower, and due to the limitations of manual methods, it is difficult to detect each intermediate joint every time, and there are still certain hidden dangers. To this end, people have developed a cable inspection robot to replace manual inspection cables. The existing cable inspection robot control system generally uses a single-chip microcomputer to process the signals collected by the cable inspection robot and perform corresponding control, but the calculation speed of this control system is generally relatively slow, and it is difficult to meet the requirements of high-speed inspection. sexual demands. Therefore, those skilled in the art urgently need to develop a cable inspection robot control system that can process data at high speed to meet the requirements of high-speed inspection.

Utility model content

In view of this, the utility model aims to provide a wireless cable inspection robot capable of processing data at high speed and its control system.

In order to achieve the purpose of the utility model, the embodiment of the utility model provides a wireless cable inspection robot control system on the one hand, which includes a control module, a temperature acquisition module, an image acquisition module, a servo system, a power supply module, a storage module and a wireless module , the temperature acquisition module and the image acquisition module are respectively used to acquire the temperature signal and the image signal of the cable, the control module includes a first controller and a second controller, the first controller and the temperature acquisition module, The image acquisition module is connected with the servo system, and is used to process the temperature signal and image signal collected by the temperature acquisition module and the image acquisition module, and to control the servo system, and the servo system is used to make the wireless cable patrol The inspection robot moves, and the second controller is connected with the first controller, the power module, the storage module and the wireless module, and is used to control the power module to supply power for the wireless cable inspection robot, and to connect the The temperature signal and the image signal processed by the first controller are stored in the storage module, and the wireless module is used for communicating with the main station.

Preferably, the data processing speed of the first controller is greater than the data processing speed of the second controller.

Preferably, the first controller is a field programmable gate array, and the second controller is a digital signal processor.

Preferably, the second controller is also used to calculate the moving distance of the cable inspection machine, and determine the distance information between the cable inspection machine and the next moving target according to the moving distance, and the first The controller is used for generating a control signal for controlling the servo system according to the distance information.

Preferably, the second controller is also used to obtain inspection route data, and the first controller is used to generate a control signal for controlling the servo system according to the inspection route data.

Preferably, the second controller is also used to judge whether there is a fault or potential fault in the cable according to the temperature signal and/or image signal processed by the first controller, and if so, send an alarm to the master station through the wireless module information and current location information.

Preferably, the power supply module includes a first power supply and a second power supply, the first power supply supplies power during normal inspection of the wireless cable inspection robot control system, and the second controller is also used for controlling The second power supply is enabled when the system is in a low voltage state.

Preferably, the first power source is a lithium ion battery, and the second power source is a storage battery.

Preferably, the second controller is further configured to detect the voltage of the first power supply in real time, and send an alarm message through the wireless module when the voltage of the first power supply is lower than a preset value.

The wireless cable inspection robot control system provided by the embodiment of the utility model sets the first controller and the second controller, and divides the work between the first controller and the second controller, so that the first controller has a large amount of calculation work, while the second controller handles the work with a small amount of calculation, thereby greatly improving the processing speed to adapt to the high-speed inspection of the wireless cable inspection robot. The wireless cable inspection robot control system also communicates with the main station through a wireless module, which is convenient for the control of the wireless cable inspection robot.

Another aspect of the embodiments of the present utility model provides a wireless cable inspection robot, which includes the wireless cable inspection robot control system described in any one of the above. The wireless cable inspection robot obviously also has the advantages of the above-mentioned wireless cable inspection robot control system, which will not be repeated here. the

Description of drawings

Fig. 1 is a schematic structural diagram of a wireless cable inspection robot control system provided by an embodiment of the present invention.

Detailed ways

In order to make the purpose, technical solution and advantages of the utility model clearer, the utility model will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model, and are not intended to limit the utility model.

Please refer to Fig. 1, the utility model embodiment provides a kind of wireless cable inspection robot control system, it comprises control module 14, temperature acquisition module 12, image acquisition module 11, servo system 13, power supply module 15, storage module 16 and wireless Module 17.

The temperature acquisition module 12 and the image acquisition module 11 are respectively used to acquire the temperature signal and the image signal of the cable. Specifically, the temperature acquisition module 12 may include a temperature sensor, and the image acquisition module 11 may be a camera, both of which may be arranged at the front of the wireless cable inspection robot.

The servo system 13 is used to make the wireless cable inspection robot move. Specifically, the wireless cable inspection robot may include multiple wheels, and the servo system 13 is a motor that drives the wheels to rotate. In this embodiment, the wireless cable inspection robot includes two driving wheels and a universal wheel, the two driving wheels are used to generate power, and the universal wheel is used for steering. The servo system 13 includes two motors, the two motors are respectively connected with two driving wheels, and drive the two driving wheels to rotate, so that the wireless cable inspection robot can walk. The control module 14 can control the two motors to rotate at different speeds (ie, differential speed control), so that the speeds of the two driving wheels are different, so as to achieve steering with the cooperation of the universal wheels.

The power supply module 15 is used to supply power for the wireless cable inspection robot to ensure its normal operation. Since the wireless cable inspection robot often moves, the power supply module 15 is preferably a battery. Specifically, in this embodiment, the power supply module 15 includes a first power supply 151 and a second power supply 152, the first power supply 151 is used to supply power when the wireless cable inspection robot control system is working normally, and the second power supply 152 is used as a backup power supply , used to enable when the wireless cable inspection robot control system is in a low-voltage state, so as to prevent the first power supply 151 from being damaged in a low-voltage state. Specifically, the first power source 151 is a lithium ion battery, and the second power source 152 is a storage battery. The second controller 142 will detect the voltage of the first power supply 151 in real time during operation. When a low voltage occurs (i.e. lower than the preset value), the second controller 142 will send a message to the master station (i.e. monitor the wireless cable) through the wireless module 17. The platform of the inspection robot) sends an alarm message, and turns on the second power supply 152, so that the second power supply 152 starts to supply power, thereby effectively protecting the first power supply 151 from being damaged. At the same time, the second controller 142 immediately stores the current data, and sends a return signal to make the servo system 13 return, so that the inspection result will not be lost.

The control module 14 includes a first controller 141 and a second controller 142 . The first controller 141 is connected with the temperature acquisition module 12, the image acquisition module 11 and the servo system 13, and is used for processing the temperature signal and the image signal collected by the temperature acquisition module 12 and the image acquisition module 11, and for controlling the servo system 13. The second controller 142 is connected with the first controller 141, the power supply module 15, the storage module 16 and the wireless module 17, and is used for controlling the power supply module 142 to supply power for the wireless cable inspection robot, and for processing the first controller 141 The temperature signal and the image signal are stored in the storage module 16.

The wireless module 17 is used for communicating with the main station. Specifically, the wireless module 17 is used to receive control instructions, inspection tasks, inspection routes, etc. from the master station, and send them to the second controller 142 . The wireless module 17 can also send part of the data obtained by the inspection according to the instruction of the second controller 142 during the inspection, such as the temperature signal collected by the temperature acquisition module 12 and its corresponding position information, to the master station, so that the master The staff of the station can learn some important information in a timely manner.

During the inspection process of the wireless cable inspection robot, the first controller 141 generates a control signal of the servo system 13 to control the operation of the servo system 13 so that the wireless cable inspection robot moves along a predetermined track. During the movement of the wireless cable inspection robot, the temperature signal and image signal of the cable are collected in real time through the temperature acquisition module 12 and the image acquisition module 11, and the first controller 141 processes the collected temperature signal and image signal, and after processing sent to the second controller 142, and the second controller 142 stores the processed temperature signal and image signal in the storage module 16. After finishing the inspection, close the temperature acquisition module 12 and the image acquisition module 11, the first controller 141 controls the servo system 13 to make the wireless cable inspection robot return, and the operator analyzes the temperature signal and the image signal stored in the storage module 16 , to find out whether there is a fault or a hidden fault in the cable, so that timely processing can be carried out.

Since the data volume of the temperature signal and the image signal is large, and the workload of generating the control signal of the servo system 13 is also relatively large, the wireless cable inspection robot control system uses the first controller 141 to process the temperature signal and the image signal, And generate the control signal of servo system 13, adopt the second controller 142 to deal with work such as power control, data storage with relatively small workload at the same time, namely adopt two controllers to carry out control, and according to the characteristic of controller The controller divides the work, so that the processing speed can be greatly improved to adapt to the high-speed inspection of the wireless cable inspection robot.

In a preferred embodiment, the data processing speed of the first controller 141 is greater than that of the second controller 142, so that the first controller 141 can adapt to its larger data processing capacity. Furthermore, the first controller 141 is a field programmable gate array (FPGA), and the second controller 142 is a digital signal processor (DSP). The first controller 141 and the second controller 142 perform data exchange. Specifically, the model of the second controller 142 is TMS320F2812, which is a fixed-point 32-bit DSP chip on the C2000 platform launched by TI Corporation of the United States, and the model of the first controller 141 is A3P250.

In a preferred embodiment, the second controller 142 is also used to calculate the moving distance of the cable inspection machine, and determine the distance information of the cable inspection machine from the next moving target according to the moving distance, and the first controller 141 is used to Control signals (such as direction signals and speed signals) for controlling the servo system 13 are generated based on the distance information. During the movement of the wireless cable inspection robot, the second controller 142 will store the distance passed or the important test points passed, and determine the distance to the next working point and the motor in the servo system 13 accordingly. The distance to run, then the second controller 142 communicates with the first controller 141, and transmits these parameters to the first controller 141, and then the first controller 141 generates the speed of controlling the motor movement according to the current of the motor and the information of the optical code disc Ladder diagrams, the area covered by these speed ladder diagrams is the distance the motor will travel. Specifically, the first controller 141 generates PWM waves for controlling motor movement, and communicates with the second controller 142 in real time through the I/O port, and the second controller 142 controls the output and shutdown of the PWM waveforms. If there is an infinite loop in the solution of the inspection distance in the first controller 141 during the motion, an interrupt request will be sent to the second controller 142, and the second controller 142 will respond to the interrupt request in the first time. If the interrupt response of the device 142 has not been processed in time, the motor of the servo system 13 will be self-locked in situ, waiting for maintenance personnel to repair.

In a preferred embodiment, the second controller 142 is also used to obtain inspection route data, and the first controller 141 is used to generate a control signal for controlling the servo system 13 according to the inspection route data. Specifically, the second controller 142 can obtain the pre-stored inspection route data from the storage module 16, or obtain the inspection route data through a data input interface (such as a USB interface), or obtain the inspection route data through the wireless module 17. data.

In a preferred embodiment, the second controller 142 can also judge whether there is a fault or a potential fault in the cable according to the temperature signal and/or image signal processed by the first controller 141, and if there is, it will be sent to the main station through the wireless module 17. Alarm information and current location information enable the staff of the main station to know the fault location in time, so that they can quickly troubleshoot. For example, when the temperature somewhere in the cable exceeds a dangerous value, the second controller 142 sends out an alarm signal.

The wireless cable inspection robot control system provided by the embodiment of the utility model sets the first controller and the second controller, and divides the work between the first controller and the second controller, so that the first controller has a large amount of calculation work, while the second controller handles the work with a small amount of calculation, thereby greatly improving the processing speed to adapt to the high-speed inspection of the wireless cable inspection robot. The wireless cable inspection robot control system also communicates with the main station through a wireless module, which is convenient for the control of the wireless cable inspection robot.

The embodiment of the utility model also provides a wireless cable inspection robot, which has the wireless cable inspection robot control system described in any one of the above embodiments. In one embodiment, the wireless cable inspection robot includes two driving wheels and a universal wheel, the two driving wheels are used to generate power, and the universal wheel is used for steering. The servo system 13 includes two motors, the two motors are respectively connected with two driving wheels, and drive the two driving wheels to rotate, so that the wireless cable inspection robot can walk. The first controller 141 can control the two motors to rotate at different speeds (ie, differential speed control), so that the speeds of the two driving wheels are different, so as to achieve steering with the cooperation of the universal wheels.

The above descriptions are only preferred embodiments of the present utility model, and are not intended to limit the present utility model. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present utility model shall be included in this utility model. within the scope of protection of utility models.

Claims (10)

1. A wireless cable inspection robot control system is characterized in that it comprises a control module, a temperature acquisition module, an image acquisition module, a servo system, a power supply module, a storage module and a wireless module, and the temperature acquisition module and the image acquisition module are respectively For collecting temperature signals and image signals of cables, the control module includes a first controller and a second controller, and the first controller is connected with the temperature collection module, image collection module and servo system for controlling The temperature signal and image signal collected by the temperature acquisition module and the image acquisition module are processed, and used to control the servo system, the servo system is used to move the wireless cable inspection robot, and the second controller and The first controller, the power module, the storage module and the wireless module are connected to control the power module to supply power to the wireless cable inspection robot, and to process the temperature signal and the temperature signal processed by the first controller. The image signal is stored in the storage module, and the wireless module is used for communicating with the main station. 2. The wireless cable inspection robot control system according to claim 1, wherein the data processing speed of the first controller is greater than that of the second controller. 3. The wireless cable inspection robot control system according to claim 1, wherein the first controller is a field programmable gate array, and the second controller is a digital signal processor. 4. The wireless cable inspection robot control system according to claim 1, wherein the second controller is also used to calculate the moving distance of the cable inspection machine, and determine the distance according to the moving distance. The distance information between the cable inspection machine and the next moving target, and the first controller is used to generate a control signal for controlling the servo system according to the distance information. 5. The wireless cable inspection robot control system according to claim 1, wherein the second controller is also used to obtain inspection route data, and the first controller is used to generate control data according to the inspection route data. The control signal of the servo system. 6. The wireless cable inspection robot control system according to claim 1, wherein the second controller is also used to judge whether the cable has a fault or not according to the temperature signal and/or image signal processed by the first controller. If there is a potential failure, the wireless module will send alarm information and current location information to the master station. 7. The wireless cable inspection robot control system according to any one of claims 1 to 6, wherein the power supply module includes a first power supply and a second power supply, and the first power supply operates on the wireless cable inspection robot. The inspection robot control system supplies power during normal inspection, and the second controller is also used to enable the second power supply when the control system is in a low-voltage state. 8. The wireless cable inspection robot control system according to claim 7, wherein the first power supply is a lithium ion battery, and the second power supply is a storage battery. 9. The wireless cable inspection robot control system according to claim 7, wherein the second controller is further configured to detect the voltage of the first power supply in real time, and when the voltage of the first power supply is low An alarm message is sent through the wireless module at a preset value. 10. A wireless cable inspection robot, characterized in that the wireless cable inspection robot comprises the wireless cable inspection robot control system according to any one of claims 1 to 9.

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