Pan-tilt control system and pan-tilt control method for inspection robot of transformer substation

Abstract

The invention discloses a pan-tilt control system for an inspection robot of a transformer substation. The pan-tilt control system runs on a pan-tilt controller, the pan-tilt controller is connected with a motor driving module and an angle detection module which are further connected with a pan-tilt body, and the pan-tilt controller is connected with a robot controller. The pan-tilt control system comprises a system initialization module, the system initialization module is connected with a task scheduling module, the task scheduling module is directly connected with a system idle module, an asynchronous task management module and a system monitoring module, and the asynchronous task management module is respectively connected with a data receiving and transmitting module, a system configuration module and a presetting position control module. The pan-tilt control system effectively overcomes shortcomings of an existing pan-tilt technical scheme, has the advantages of flexibility in configuration, convenience in extension, fault detection and recovery capacities and capability of being conveniently integrated with the inspection robot, and is quite suitable for inspection application to transformer substations in powerful electromagnetic environments.

Description

technical field [0001] The invention relates to a cloud platform control system and a control method, in particular to a platform control system and a control method for a substation inspection robot. Background technique [0002] With the advancement of science and technology and the needs of power grid construction, traditional manned substations are developing towards unattended smart substations. In a smart substation, although the operating status of the equipment in the substation can be obtained by means of remote telemetry, but in the substation, especially in the outdoor substation environment, due to the limitation of the substation's intelligence level and no one on-site inspection in time, some uncontrollable factors will affect the safety of the substation. Operation brings a series of problems and even leaves hidden dangers. [0003] Patent 200410024231.1 discloses a robot that can be applied to autonomous inspection of power station equipment, which provides ...

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Problems solved by technology

[0008] For (1) listed above, patent 200910016095.5 discloses a control system and control method for robot pan-tilt preset positions, which effectively solves the problem that the number of existing pan-tilt preset positions cannot meet the needs of substation inspection tasks, but this The patent only describes the method of controlling the preset position of the pan / tilt, which transfers the storage area of ​​the preset position in the universal pan / tilt product to the database of the control terminal, and on this basis only sets, calls and deletes the preset positions. The control flow of the basic operation is explained, and the structure and complete implementation details of other functional modules developed by the pan / tilt control system for the task requirements of the inspection robot are not given.

[0009] For (2) listed above, a more detailed implementation of a pan-tilt system is given in the document "Design of the Pan-Tilt Control System for Intelligent Inspection Robots in Substations". This document focuses on the hardware implementation and hardware control process of the pan-tilt system It is explained and verified by experiments that the control accuracy of the pan / tilt under the control scheme meets the requirements of the inspection task, but how the structure of the pan / tilt control system on the pan / tilt controller can adapt to the requirements of different inspection tasks in the substation has not been done. further description

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