Software and hardware system of power transmission line track robot

Abstract

The invention discloses a power transmission line track robot software and hardware system which comprises a hardware unit, a wireless communication module and a motor and battery distribution module, the hardware unit comprises a main control module, an image acquisition module, an image processor module, a wireless communication module and a motor and battery distribution module, and the output end of the image acquisition module is connected with the input end of the image processor module; the main control module is in data bidirectional connection with the image processor, and the main control module is connected with the motor and battery distribution module through a CAN bus and a driver; and the software unit comprises a FreeRTOS operating system, and the FreeRTOS operating system comprises an application layer, a board-level support package and a FreeRTOS layer. According to the invention, the arm part, the middle joint corner, the wrist part, the claw part and the hanging and buckling mechanical arm of the rail robot can be flexibly controlled, the complex motion mode is simplified, the task completion difficulty is reduced, through the cooperation of the software unit and the hardware unit, the automation degree is high, and the safety of an operator using the anti-falling guide rail when the operator goes up and down a tower is effectively ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of rail robots, and in particular to a transmission line rail robot software and hardware system. Background Art

[0002] A rail robot is a robot system specially designed to perform specific tasks on tracks. They are typically used for the maintenance and monitoring of rail transit systems such as transmission lines, railways, trams, and other application scenarios that require movement along tracks. These robots can perform a variety of tasks, including inspection, cleaning, maintenance, safety monitoring, etc.

[0003] In the actual application process of the rail robot currently used in power transmission line inspection, its movement mode must be to clamp square or columnar beams in a regular truss structure. It cannot cope with the inclined angle steel tower mechanism with complex beam structure. The movement mode is complex and it is difficult to control it to complete the specified task. The modular design degree of the software system and hardware system is low, and it cannot effectively guarantee the safety of workers using anti-fall rails when going up and down the tower. Therefore, it is necessary to design a transmission line rail robot software and hardware system to solve the above problems. Summary of the invention

[0004] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0005] In view of the above-mentioned problems existing in the software and hardware system of the existing transmission line track robot, the present invention is proposed.

[0006] Therefore, the purpose of the present invention is to provide a transmission line rail robot software and hardware system, which is suitable for solving the problems that it is difficult to control it to complete the specified task, the modular design degree of the software system and the hardware system is low, and the safety of the workers using the anti-fall rail when going up and down the tower cannot be effectively guaranteed.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions: a power transmission line track robot hardware and software system, comprising:

[0008] The hardware unit includes a main control module, an image acquisition module, an image processor module, a wireless communication module and a motor and battery module. The output end of the image acquisition module is connected to the input end of the image processor module, and the main control module is bidirectionally connected with the image processor data. The main control module is connected to the motor and battery module via a CAN bus and a driver.

[0009] The software unit includes a FreeRTOS operating system, wherein the FreeRTOS operating system includes an application layer, a board support package and a FreeRTOS layer.

[0010] As a preferred solution of the power transmission line track robot hardware and software system described in the present invention, the main control module is connected to an environmental status monitoring host computer through a wireless communication module.

[0011] As a preferred solution of the power transmission line track robot hardware and software system described in the present invention, the hardware unit also includes a buckle remote control module, the buckle remote control module includes an inspection buckle image display submodule, a semi-automatic remote control and a wireless image transmission module, the semi-automatic remote control adopts DBUS protocol communication, and the remote control robot arm buckles the safety rope, the inspection buckle image display submodule is bidirectionally connected with the wireless image transmission module data, and the output end of the wireless image transmission module is connected with a camera.

[0012] As a preferred solution of the power transmission line track robot hardware and software system described in the present invention, the hardware unit also includes a sensor module, the sensor module includes a temperature sensor and an ultrasonic ranging, and the sensor module is used to collect the motion state of the track robot.

[0013] As a preferred solution of the power transmission line track robot hardware and software system described in the present invention, the wireless communication module selects the ESP8266 module, which uses the serial port to communicate with the MCU or other serial port devices, has its own TCP / IP protocol stack, and can realize the conversion between the serial port and WIFI.

[0014] As a preferred solution of the power transmission line track robot hardware and software system described in the present invention, the motor and battery module include a stepper motor, an electric push rod, a DC brushless motor, a worm gear motor and a servo, the stepper motor is used to control the main arm of the track robot, the main control module is controlled by electric pulses, and the purpose of accurate positioning and speed regulation is achieved through pulse control, the electric push rod is used to control the wrist of the track robot, the DC brushless motor is used to control the claw of the track robot, and the worm gear motor and the servo are used to control the hook mechanical arm of the track robot.

[0015] As a preferred solution of the power transmission line track robot hardware and software system described in the present invention, the application layer includes a system initialization task, a climbing main task climb_task, a path planning task path-planning, a posture inversion task kinematics_task, a data processing task data_deal for ultrasonic and temperature sensors, a wireless communication task wifi_task for communication with the host computer, a PID task for calculating PID control quantities, and a semi-automatic wireless remote control task remote_control.

[0016] As a preferred solution of the power transmission line track robot hardware and software system described in the present invention, the primary support package includes the implementation of specific functional peripherals of hardware such as UART, CAN, PWM, etc.

[0017] The beneficial effects of the present invention are as follows: the movement state of the rail robot walking on the truss structure can be collected in real time through the main control module in cooperation with the sensor module, and the movement state of the rail robot walking on the truss structure can be collected in real time, and the requirements of walking on the angle steel tower mechanism with complex inclined and beam structures can be met; the main control module can cooperate with the motor driver and the encoder to control the stepper motor, the electric push rod, the DC brushless motor, the worm gear motor and the servo, and the arm, the middle joint angle, the wrist, the claw and the hook robot arm of the rail robot can be flexibly controlled, and the complex movement mode can be simplified, and the difficulty of completing the task can be reduced; through the cooperation of the software unit and the hardware unit, the degree of automation is high, and the safety of the operators using the anti-fall guide rail when going up and down the tower is effectively guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0019] Figure 1 A schematic diagram of a hardware unit block diagram of a power transmission line track robot software and hardware system proposed by the present invention;

[0020] Figure 2 This is a schematic diagram of the main structure of the software unit of the power transmission line track robot hardware and software system proposed by the present invention. DETAILED DESCRIPTION

[0021] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0022] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0023] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0024] Secondly, the present invention is described in detail with reference to the schematic diagram. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0025] Example

[0026] Reference Figure 1-Figure 2 , as an embodiment of the present invention, provides a power transmission line track robot hardware and software system, including:

[0027] The hardware unit includes a main control module, an image acquisition module, an image processor module, a wireless communication module, and a motor and battery module. The output end of the image acquisition module is connected to the input end of the image processor module, and the main control module and the image processor data are bidirectionally connected. The main control module adopts an ARM controller. The main control chip of the development board is STM32F427IIH6. The main control is with FPU 32-bit -M4 core, with performance adaptive real-time accelerator, main frequency up to 180MHz, DSP instruction set, up to 2MB Flash and 256+4KB RAM, support USB, OTG, Ethernet, 17 timers, 3 ADCs, 20 communication interfaces, support camera and LCD-TFT screen, integrate powerful control functions and computing power, the main control module is connected to the motor and battery module through the CAN bus and driver, the main control module is connected to the environmental status monitoring host computer through the wireless communication module, the ARM main control controls the DC motor, stepper motor and other coordinated movement climbing according to the distance sensor through the CAN bus and related drivers, the remote control adopts DBUS protocol communication, the remote control robot arm hangs the safety rope, and is equipped with wireless image transmission to display the obstacle status of the tower surface, and temperature sensors to detect the environmental status;

[0028] The software unit includes a FreeRTOS operating system, which includes an application layer (APP layer), a board support package (BSP layer) and a FreeRTOS layer. In the present invention, the software design needs to first meet the basic driving requirements to facilitate the semi-automatic mechanical structure experimental verification. Secondly, the design of each module of the program in the automatic mode should be considered. The MDK5 development environment is adopted, the compilation software is Keil5, and most of the Cortex-M series microcontrollers are used. In order to make the robot's task control more efficient and facilitate the management and utilization of single-chip microcomputer resources in the future, the FreeRTOS operating system will be transplanted in the embedded chip. Compared with other real-time operating systems, the kernel ROM and RAM consumption are less;

[0029] The application layer includes system initialization tasks, climbing main task climb_task, path planning task path-planning, attitude inversion task kinematics_task, data processing task data_deal for ultrasonic and temperature sensors, wireless communication task wifi_task for communication with the host computer, PID task for calculating PID control quantity and semi-automatic wireless remote control task remote_control. The application layer is generally the main task implemented by the user.

[0030] The primary support package includes the implementation of specific functional peripherals of hardware such as UART, CAN, PWM, etc.

[0031] The hardware unit also includes a buckle remote control module, which includes an inspection buckle image display submodule, a semi-automatic remote control and a wireless image transmission module. The semi-automatic remote control uses DBUS protocol communication to remotely control the robot arm buckle safety rope. The inspection buckle image display submodule is bidirectionally connected to the wireless image transmission module data, and the output end of the wireless image transmission module is connected to a camera. Intel Realsense D435 is used as the camera of the visual system, which includes a color RGB camera, two infrared imagers, an infrared dot matrix projector, and a built-in visual processor. Infrared light is sent through the infrared dot matrix projector, and the left and right infrared imagers capture the return data in the scene and send it to the built-in processor. The built-in processor matches and calculates the points captured on the two infrared cameras to obtain depth information. By aligning the depth map with the color map, the depth alignment of the pixels in the color image is achieved to obtain the corresponding measurement value. It is small in size, light in weight, and uses BGA packaging, which can realize easy robot platform deployment.

[0032] After the system is started, the system initialization task runs, initializes the timer, AD / DA, DMA, CAN and other peripheral drivers, initializes wireless wifi, sensors and other peripherals, creates setting tasks and related priorities, and then enters a suspended state. The data processing task and the wireless communication task provide temperature data to the host computer at all times. The climbing main task runs to determine the manual mode and automatic mode. If it is manual mode, it is manually operated under the remote control task. In the automatic mode, after a series of decisions are made to determine the step length, the path planning task is called to obtain the Cartesian space coordinates, and a message is sent to notify the posture inverse task to obtain the joint control amount, and then the PID task is called to realize the robot motion control.

[0033] The hardware unit also includes a sensor module, which includes a temperature sensor and an ultrasonic ranging sensor. The sensor module is used to collect the motion state of the track robot. The specific motion state may refer to posture, speed, distance, height, temperature, etc.

[0034] The wireless communication module selects the ESP8266 module, which uses the serial port to communicate with the MCU or other serial port devices. It has its own TCP / IP protocol stack and can realize the conversion between the serial port and WIFI. In the actual working environment, the robot has been in the tower climbing operation and is in the high altitude most of the time. The staff has to monitor the lower computer and remote control equipment on the ground. Therefore, a wireless module is needed between the upper computer and the lower computer to realize serial communication and remote control. The ESP8266 module is small in size. The transmission distance is about 30m in the AP mode in the open area. It is compatible with 3.3V and 5V microcontroller systems, and the baud rate adjustment range is 110-921600bps.

[0035] The motor and battery module include stepper motor, electric push rod, brushless DC motor, worm gear motor and servo. The stepper motor is used to control the main arm of the rail robot. The main control module is controlled by electric pulses to achieve accurate positioning and speed regulation. The middle joint angle of the robot is mainly driven by the lead screw nut installed by the stepper motor to achieve opening and closing movement. The motor model is 57BYGH56-2.8A, with a step angle of 1.8°, a static torque of 1.26N·m, a lead screw of 600mm, and a pitch of 4mm. Considering that the robot uses the PWM pulse signal generated by the single-chip microcomputer to control the stepper motor The machine must also select a suitable stepper motor driver for the stepper motor. This project will use the TB6600 stepper motor driver, which has an output peak current of up to 4.0A, high-speed optocoupler isolation, built-in temperature and overcurrent protection, multiple subdivisions optional, and a certain anti-interference ability. The electric push rod is used to control the wrist of the track robot. In order to achieve the reciprocating motion of the electric push rod, the L298N dual H-bridge motor driver board module is selected. The module can directly drive two 12V voltage DC motors, with a maximum drive part peak current of 20A and a maximum power consumption of 180W. There is a logic control signal interface, and the interface can use a voltage of 5V. In addition, the module can work at temperatures between -25 and 85 degrees Celsius, fully adapting to high-altitude working environments, and weighs only 33g. The brushless DC motor is used to control the claw of the track robot. The motor is a high-performance servo motor tailored for small and medium-sized mobile platforms and robots. It can be used with the RoboMaster C620 ESC to achieve sinusoidal drive, which has higher efficiency, mobility and stability than traditional square wave drive. The M3508 reduction motor has a reduction ratio of about 19:1, a rated voltage of 24V, a no-load speed of 482rpm, a continuous maximum torque of 3N·m, a maximum speed of 469rpm at 3N·m, and an operating ambient temperature of 0-50 degrees Celsius. The matching C620 brushless motor driver can achieve precise control of the motor through CAN commands or PWM. The worm gear motor and servo are used to control the hook arm of the track robot. The worm gear motor and servo can be selected from ASLONG A5882 double-output shaft worm gear motor, with an optional drive voltage of 12V / 24 and a rated power of 30W; the servo is an RDS5160 high-torque 60kg servo.

[0036] During use, the main control module is used in conjunction with the sensor module to collect the movement status of the rail robot walking on the truss structure in real time, and can meet the needs of walking on the inclined and complex angle steel tower structure. The main control module is used in conjunction with the motor driver and encoder to control the stepper motor, electric push rod, DC brushless motor, worm gear motor and servo, and can flexibly control the arm, intermediate joint angle, wrist, claw and hook arm of the rail robot, simplify complex movement methods, and reduce the difficulty of completing tasks. Through the cooperation of software units and hardware units, the degree of automation is high, which effectively ensures the safety of operators using anti-fall rails when going up and down the tower.

[0037] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A power transmission line track robot hardware and software system, characterized in that: include: The hardware unit includes a main control module, an image acquisition module, an image processor module, a wireless communication module and a motor and battery module. The output end of the image acquisition module is connected to the input end of the image processor module, and the main control module is bidirectionally connected with the image processor data. The main control module is connected to the motor and battery module via a CAN bus and a driver. The software unit includes a FreeRTOS operating system, wherein the FreeRTOS operating system includes an application layer, a board support package and a FreeRTOS layer.

2. A power transmission line track robot hardware and software system according to claim 1, characterized in that: The main control module is connected to an environment status monitoring host computer via a wireless communication module.

3. A power transmission line track robot hardware and software system according to claim 1, characterized in that: The hardware unit also includes a buckle remote control module, which includes an inspection buckle image display submodule, a semi-automatic remote control and a wireless image transmission module. The semi-automatic remote control uses DBUS protocol communication to remotely control the robotic arm buckle safety rope. The inspection buckle image display submodule is bidirectionally connected to the wireless image transmission module data, and a camera is connected to the output end of the wireless image transmission module.

4. A power transmission line track robot software and hardware system according to claim 1, characterized in that: The hardware unit also includes a sensor module, which includes a temperature sensor and an ultrasonic distance measurement, and the sensor module is used to collect the motion state of the track robot.

5. The power transmission line track robot hardware and software system according to claim 1, characterized in that: The wireless communication module selects the ESP8266 module, which uses the serial port to communicate with the MCU or other serial port devices, has its own TCP / IP protocol stack, and can realize the conversion between the serial port and WIFI.

6. A power transmission line track robot software and hardware system according to claim 1, characterized in that: The motor and battery module includes a stepper motor, an electric push rod, a DC brushless motor, a worm gear motor and a servo. The stepper motor is used to control the main arm of the rail robot. The main control module is controlled by electric pulses to achieve accurate positioning and speed regulation through pulse control. The electric push rod is used to control the wrist of the rail robot, the DC brushless motor is used to control the claw of the rail robot, and the worm gear motor and the servo are used to control the hook mechanical arm of the rail robot.

7. The power transmission line track robot hardware and software system according to claim 1, characterized in that: The application layer includes system initialization task, climbing main task climb_task, path planning task path-planning, attitude inversion task kinematics_task, data processing task data_deal for ultrasonic and temperature sensors, wireless communication task wifi_task for communication with the host computer, PID task for calculating PID control quantity and semi-automatic wireless remote control task remote_control.

8. The power transmission line track robot hardware and software system according to claim 7, characterized in that: The primary support package includes the implementation of specific functional peripherals of hardware such as UART, CAN, PWM, etc.

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