Self-diagnosis system based on tidal robot

Abstract

The utility model relates to the technical field of tidal robots, in particular to a self-diagnosis system based on a tidal robot, which comprises a programmable controller, a driver, a motor, an energy supply module, a battery electric quantity detection device and an index plate position detection device, by arranging the battery electric quantity detection device and the index plate position detection device, electric quantity and driver self-inspection of the tidal robot can be carried out after the system is powered on, and when it is detected that the voltage electric quantity of a certain robot is abnormal or a pulse signal of walking of the driver cannot be detected, self-inspection of the electric quantity and the driver can be carried out. Therefore, the tide robot can be controlled by the programmable controller to stop running integrally, the robot is prevented from toppling over, and the safety is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of tidal robots, in particular to a self-diagnosis system based on tidal robots. Background Art

[0002] The Tidal Robot, also known as a "robot guardrail," is a custom-made, remote-controlled "walking" guardrail powered by solar energy. Similar to a standard guardrail, it uses a motor at the base to drive four pulleys, enabling fully automatic, precise, and flexible movement. The Tidal Robot has been used to organize traffic flow with variable lanes in traffic diversion projects, reducing congestion.

[0003] Existing tidal robots are generally composed of multiple robots and guardrails for connection. Each robot is relatively independent. During the overall operation, if a robot malfunctions and stops while the other robots do not malfunction and continue to operate, the entire robot may collapse. Therefore, a self-diagnosis system is needed to perform diagnosis during the operation of the tidal robot. Utility Model Content

[0004] The purpose of the present utility model is to provide a self-diagnosis system based on a tidal robot to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a self-diagnosis system based on a tidal robot, comprising a programmable controller, a driver, a motor and an energy supply module for providing power installed inside the tidal robot, as well as a battery power detection device and a dividing plate position detection device.

[0006] Furthermore, the energy supply module includes a solar device, a charging device, a battery energy storage device and a voltage conversion and voltage stabilization device. The electric energy generated by the solar device is stored in the battery energy storage device through the charging device. The voltage conversion and voltage stabilization device is connected to the battery energy storage device to provide matching voltage for other components.

[0007] Furthermore, the battery power detection device reads the battery power in real time from the battery energy storage device through the programmable controller communication port using MOUBUS-RS485 communication mode.

[0008] Furthermore, the dividing plate position detection device includes a dividing plate installed at the driving wheel of the tidal robot and a proximity switch sensor installed on the inner side of the dividing plate. The proximity switch sensor is used to receive a pulse signal when the dividing plate rotates. The output end of the proximity switch sensor is electrically connected to the input end of the programmable controller for transmitting the received pulse signal to the programmable controller.

[0009] Furthermore, it also includes a remote controller and a receiving board for remotely controlling the self-diagnosis of the tidal machine.

[0010] Furthermore, it also includes a 4G module for sending and receiving information between the programmable controller and the client.

[0011] Furthermore, it also includes an audible and visual alarm device, and the output end of the programmable controller is electrically connected to the input end of the audible and visual alarm device.

[0012] Compared with the existing technology, the beneficial effect of the present invention is that the self-diagnosis system based on the tidal robot is equipped with a battery power detection device and a dividing plate position detection device, which can perform self-inspection of the power and driver of the tidal robot after the system is powered on. When it is detected that the voltage and power of a robot are abnormal or the pulse signal of the driver's movement cannot be detected, the programmable controller can be used to control the entire tidal robot to stop running, thereby avoiding the robot from tipping over and improving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a system block diagram of the utility model.

[0014] Figure 2 This is a structural diagram of the indexing plate position detection device of the utility model.

[0015] In the figure: 1. Programmable controller; 2. Battery charge detection device; 3. Index plate position detection device; 301. Index plate; 302. Proximity switch sensor; 4. Energy supply module; 5. Drive wheel. DETAILED DESCRIPTION

[0016] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. In the description of the present invention, it should be noted that, unless otherwise specified and limited, the terms "installed", "connected", "connected", and "set" should be understood in a broad sense. For example, it can refer to a fixed connection or a detachable connection; it can refer to a mechanical connection or an electrical connection; it can refer to a direct connection or an indirect connection through an intermediate medium; it can refer to the internal communication between two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood in specific circumstances. In addition, in the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or component referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, they should not be understood as limiting the present invention.

[0017] See also Figure 1-2 The utility model provides an embodiment: a self-diagnosis system based on a tidal robot, comprising a programmable controller 1, a driver, a motor and an energy supply module 4 for providing power installed inside the tidal robot. The specific structure of the tidal robot is the existing technology and will not be described here. In this embodiment, the driver is a stepper driver, the model may be DMA860H, and the motor is a stepper motor, the model may be 86HS120. When the stepper driver receives a pulse signal from the programmable controller 1, it drives the stepper motor to rotate a fixed angle in a set direction, and then drives the driving wheel 5 of the robot to rotate, thereby realizing the walking of the robot. Furthermore, the driver and the motor can also be set as a servo driver and a servo motor, etc. as needed.

[0018] The self-diagnosis system further includes a battery capacity detection device 2 and a dividing plate position detection device 3 .

[0019] Specifically, the battery power detection device 2 is set through the communication port of the programmable controller 1, using the MOUBUS-RS485 communication method to read the battery power from the battery energy storage device in real time. When the voltage and power detection are normal, it can continue to run. When the voltage and power detection is abnormal, the programmable controller 1 controls the robot to shut down.

[0020] Specifically, the indexing plate position detection device 3 includes a indexing plate 301 installed at the driving wheel 5 of the tidal robot and a proximity switch sensor 302 installed on the inner side of the indexing plate 301. The proximity switch sensor 302 is used to receive the pulse signal when the indexing plate 301 rotates. The output end of the proximity switch sensor 302 is electrically connected to the input end of the programmable controller 1, and is used to transmit the received pulse signal to the programmable controller 1. During the walking process of the tidal robot, the driving wheel 5 drives the indexing plate 301 to rotate. When the indexing plate 301 rotates, a pulse signal can be received. The frequency of the pulse signal can be determined by the walking speed of the robot. The proximity switch sensor 302 transmits the pulse signal to the programmable controller 1. After receiving the signal, the programmable controller 1 begins to judge the walking position and speed of the robot. If the calculated value is inconsistent with the actual value, or the walking pulse signal cannot be detected, it is regarded as an abnormal state and the robot is stopped immediately.

[0021] Furthermore, the self-diagnosis system also includes a remote control and a receiving board. The receiving board is installed inside the tidal robot. The output end of the remote control is electrically connected to the receiving board, and the output end of the receiving board is electrically connected to the input end of the programmable controller. It is used for remote control of the tidal machine's self-diagnosis. The remote control adopts an industrial-grade high-power remote control with a remote control distance of up to 800 meters. The receiving board is responsible for receiving signals from the remote control and decoding them into commands to control electronic equipment. It adopts a four-way wide-voltage type, relay output, and an output contact current of 5A. It adopts one-to-many encrypted pairing to prevent external disturbances on site.

[0022] Furthermore, the self-diagnosis system also includes a 4G module for sending and receiving information between the programmable controller 1 and the client. The 4G module uses the FBox-4g-lite industrial-grade protocol of the Fanyi IoT gateway. The rated input voltage is: DC22-28V, the wireless access mode is: (full network access) 2G / 4G, and the rated power is: <5W. The client can read the dynamic data of the programmable controller 1 in real time. At the same time, the client can also remotely control the tidal robot for self-inspection.

[0023] The self-diagnosis system also includes an audible and visual alarm device. The output end of the programmable controller 1 is electrically connected to the input end of the audible and visual alarm device. When the battery power detection device 2 and the index plate position detection device 3 detect a fault, an audible and visual alarm can be issued to remind the staff to deal with it in time.

[0024] The energy supply module includes a solar device, a charging device, a battery energy storage device and a voltage conversion and voltage stabilization device. The electric energy generated by the solar device is stored in the battery energy storage device through the charging device. The voltage conversion and voltage stabilization device is connected to the battery energy storage device to provide matching voltage for other components. Specifically, the solar device is a 25W / 72V solar panel, the battery energy storage device is a 48 / 12AH ternary lithium battery, the voltage conversion and voltage stabilization device model is DDR-60L-24, and it has its own voltage stabilization chip. The rated input voltage is DC48V (18V-75V), the rated output voltage is DC24V±3V, the rated output current is 2.5A, the rated output power is 60W, and the conversion efficiency is 92%. The rated input DC48V voltage is given by the battery energy storage device, and the output DC24V voltage is supplied to the 4G module, the programmable controller 1, the sound and light alarm device, the battery power detection device 2 and the index plate position detection device 3.

[0025] Working principle: After the system enters the standby state, the battery power detection device 2 starts to detect the battery power of the tidal robot. When the voltage and power detection are normal, it can continue to operate. When the voltage and power detection is abnormal, the programmable controller 1 controls the tidal robot to stop and alarm through the sound and light alarm device;

[0026] When the tidal robot is running automatically, the driving wheel needs to rotate, and the rotation drives the dividing plate 301 to rotate at the same time. The dividing plate 301 is equipped with a proximity switch sensor 302. When the dividing plate 301 rotates, it can receive a pulse signal. The frequency of the pulse signal can be determined by the walking speed of the robot. The proximity switch sensor 302 transmits the pulse signal to the programmable controller 1. After receiving the signal, the programmable controller 1 begins to judge the walking position and speed of the robot. If the calculated value does not match the actual value, or the walking pulse signal cannot be detected, it is regarded as an abnormal state. The programmable controller 1 shuts down the tidal robot as a whole and issues an alarm through the sound and light alarm device.

[0027] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the present invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be encompassed within the present invention. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. A self-diagnostic system based on a tidal robot, including a programmable controller, a driver, a motor, and an energy supply module installed inside the tidal robot, characterized by: It also includes a battery power detection device and a dividing plate position detection device.

2. The self-diagnosis system based on the tidal robot according to claim 1, characterized in that: The energy supply module includes a solar device, a charging device, a battery energy storage device and a voltage conversion and voltage stabilization device. The electric energy generated by the solar device is stored in the battery energy storage device through the charging device. The voltage conversion and voltage stabilization device is connected to the battery energy storage device to provide matching voltage for other components.

3. The self-diagnosis system based on the tidal robot according to claim 1, characterized in that: The battery power detection device reads the battery power in real time from the battery energy storage device through the programmable controller communication port using the MOUBUS-RS485 communication method.

4. The self-diagnosis system based on the tidal robot according to claim 1, characterized in that: The indexing plate position detection device includes a indexing plate installed at the driving wheel of the tidal robot and a proximity switch sensor installed on the inner side of the indexing plate. The proximity switch sensor is used to receive a pulse signal when the indexing plate rotates. The output end of the proximity switch sensor is electrically connected to the input end of the programmable controller for transmitting the received pulse signal to the programmable controller.

5. The self-diagnosis system based on the tidal robot according to claim 1, characterized in that: It also includes a remote controller and a receiver board for remotely controlling the self-diagnosis of the tidal machine.

6. The self-diagnosis system based on the tidal robot according to claim 1, characterized in that: It also includes a 4G module for sending and receiving information between the programmable controller and the client.

7. The self-diagnosis system based on the tidal robot according to claim 1, characterized in that: It also includes an audible and visual alarm device, and the output end of the programmable controller is electrically connected to the input end of the audible and visual alarm device.

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