CN106542016A - A kind of crawler type detects robot with the varistructured cable tunnel of sufficient formula - Google Patents
A kind of crawler type detects robot with the varistructured cable tunnel of sufficient formula Download PDFInfo
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- CN106542016A CN106542016A CN201510605648.6A CN201510605648A CN106542016A CN 106542016 A CN106542016 A CN 106542016A CN 201510605648 A CN201510605648 A CN 201510605648A CN 106542016 A CN106542016 A CN 106542016A
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Abstract
The invention discloses a kind of crawler type and sufficient formula varistructure cable tunnel detection robot, including robot body, walking mechanism, high definition camera device, infrared detecting device, gas-detecting device, panel and handheld terminal unit；Panel is arranged on inside the robot body；Walking mechanism is connected with robot body by four walking mechanism connection positions that robot body edge is uniformly laid；High definition camera device, infrared detecting device, the outfan of gas-detecting device connect the respective input of panel, and the input of high definition camera device connects the outfan of panel；The outfan of handheld terminal unit connects the respective input of panel.The cable fault of automatic detection cable tunnel of the present invention; the labor intensity of personnel is alleviated greatly, it realizes the structure change of the independent ambulation of crawler type and sufficient formula, adapts to complicated ground environment; traveling stability is improved, the testing equipment carried in robot is effectively protected.
Description
Technical field
The invention belongs to roboticses application, and in particular to a kind of crawler type and the varistructured robot architecture's design of sufficient formula and motion realization, the detection robot being mainly used in cable tunnel environment.
Background technology
The electric power tunnel for substituting aerial cable is extensively applied both at home and abroad, becomes the main development direction of urban electric power transmission.Electric power tunnel is poured by armored concrete, is implemented in underground at earth's surface 3-5 rice.Turnover cable tunnel is needed by the cat ladder reserved in hoistway wall.Well head has added a cover Double-layer drain cover.In tunnel without low-tension supply, without illumination, the temperature remains within the normal range throughout the year, and individual lot has hydrops.Buried cable tunnel is long and narrow because of space, and barrier is more, and internal combustible is complicated, and when there is fire, high temperature dense smoke is easy to accumulation, and the personnel of putting out a fire to save life and property are difficult to know in time the situation in tunnel, it is impossible to timely and effectively puted out a fire to save life and property.For a long time, in terms of Tunnel testing, mainly still manually carry out.The consequence that cable tunnel produced problem is caused, if being weighed with economic worth, is with the second as measurement unit.Therefore need badly invention it is a kind of can to the robot of cable tunnel detection, it is daily manually can operate or automatic detection tunnel in cable damage situation, in emergency situation, can more replace the environment for being manually entered high-risk to carry out detection work.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of crawler type and the varistructured cable tunnel of sufficient formula detects robot.
To achieve these goals, the present invention is adopted the following technical scheme that：
Technical scheme one：
A kind of crawler type and the varistructured cable tunnel of sufficient formula detect robot, including robot body, walking mechanism, high definition camera device, infrared detecting device, gas-detecting device, panel, data transmission module and handheld terminal unit；The panel is arranged on inside the robot body；Four walking mechanism connection positions are laid uniformly in the robot body edge；The walking mechanism is connected with the robot body by four walking mechanism connection positions；The cable tunnel detection high definition camera device, cable tunnel cable fault infrared detecting device, cable tunnel internal gas detection means are arranged on the robot body top；The high definition camera device, infrared detecting device, the outfan of gas-detecting device connect the respective input of the panel, and the high definition camera device, the input of infrared detecting device connect the outfan of the panel；The outfan of the handheld terminal unit wirelessly connects the respective input of the panel by data transmission module.
The housing of the robot body is that horizontal cross-section is rectangle, and the walking mechanism connection position is laid in four angles of the horizontal cross-section of the robot body；The walking mechanism is made up of four structure identicals walking clamp mechanisms；Four connection positions connect four walkings clamp mechanism respectively；
The walking clamp mechanism includes support, road wheel, road wheel gear shaft, chain, movable motor gear shaft, movable motor, auxiliary wheel, crawler belt, the first joints of foot, the first steering wheel, the first steering wheel and the second steering wheel link, the second steering wheel, the second joints of foot and the 3rd steering wheel；
The rotating shaft end of first steering wheel is fixedly connected with the walking mechanism connection position, and its shell ends is fixedly connected with first steering wheel with the second steering wheel link；The shell ends of second steering wheel are fixedly connected with first steering wheel with the second steering wheel link, and the rotating shaft end of the second steering wheel is fixedly connected with first joints of foot；The rotating shaft end of the 3rd steering wheel is fixedly connected the described first podarthral fixing end, and the shell ends of the 3rd steering wheel are fixedly connected with the described second podarthral fixing end；The second podarthral tail end is annular ground end；
The road wheel and auxiliary wheel are connected with the support shaft respectively;The base of the movable motor is fixed on support, and its rotating shaft end is connected with the movable motor gear shaft；The movable motor gear shaft connects the road wheel gear shaft by chain；The road wheel gear shaft is fixedly connected with the road wheel；The crawler belt is sleeved on the outside for transporting wheel, auxiliary wheel and support；
The high definition camera device is made up of high-definition camera and camera cradle head；It is fixed together by securing member between the high-definition camera and the camera cradle head, the input and outfan of the high-definition camera and camera cradle head are connected with the corresponding output end and input of the panel respectively.
The infrared detecting device is made up of thermal infrared imager and thermal infrared imager head；The input and outfan of the thermal infrared imager is connected with the outfan and input of the panel respectively；The outfan and input of the thermal infrared imager head connect the respective input and outfan of the panel respectively；It is fixed together by securing member between the thermal infrared imager and the thermal infrared imager head.
The gas-detecting device includes CO gas sensors, CO2 gas sensors, CH4 gas sensors, O2 gas sensors and dsp processor, and the CO gas sensors, CO2 gas sensors, CH4 gas sensors, the outfan of O2 gas sensors connect the respective input of the DSP respectively；The outfan of the DSP connects the corresponding output end of the panel.
The panel includes DSP and motor control module；The DSP is bi-directionally connected with the wireless communication module and motor control module；The wireless communication module is connected with the camera cradle head, high-definition camera and handheld terminal unit double-direction radio respectively；The outfan of the motor control module connects the input of the walking mechanism.
The DSP selects TMS32OC6726 chips, after the PMW signal Jing Phototube Couplings that TMS32OC6726 chips are produced, transmit to half-bridge driver under crawler belt pattern, the turn-on frequency in cycle and Duty ratio control field effect transistor of the half-bridge driver according to pwm signal, indirect control is added in the voltage on direct current generator, controlled motor rotating speed；Under sufficient formula pattern, TMS32OC6726 adjusts the dutycycle of the PMW signals of control steering wheel according to gyroscope angle calculation value, then pwm signal is delivered to first, second, and third steering wheel respectively Jing after Phototube Coupling, controls steering wheel by dutycycle size and turns to；The velocity information of the photoelectric encoder for gathering, the angular velocity information of gyroscope are transmitted into handheld terminal by the wireless communication module by TMS320C6726；The handheld terminal receives the adjust instruction that the DSP sends according to communication protocol, corrects robot pose according to the adjust instruction.
Battery is also equipped with inside the robot body, the outfan of the battery connects the power input of panel, camera cradle head, track drive motor and joints of foot steering wheel respectively.
Technical scheme two：
Crawler type-foot formula the alternative approach of robot is detected for described crawler type and the varistructured cable tunnel of sufficient formula, including step in detail below：
Step 1：By controlling second steering wheel（72）Rotation cause first joints of foot（74）Steeve upwards, be the 3rd steering wheel（73）Rotation and crawler belt（64）Prepare in working position is erect；
Step 2：Again by controlling the 3rd steering wheel（73）Rotation so that the crawler belt（64）In setting working position, the crawler belt（64）Second joints of foot of lower end（74）Bottom contact with ground；
Step 3：By controlling first steering wheel（71）Rotation so that first, second joints of foot is overall to robot body（5）Outside rotates and ultimately forms sufficient formula walking states.
Technical scheme three：
Sufficient formula-crawler type the alternative approach of robot is detected for described crawler type and the varistructured cable tunnel of sufficient formula, including step in detail below：
Step 1：Control the rotation of first steering wheel so that first, second joints of foot is overall to be rotated on the inside of robot body；
Step 2：Again by the rotation of control the 3rd steering wheel, so that crawler belt is in horizontal operation position, second podarthral bottom of crawler belt lower end and surface separation, while driving the first joints of foot to rotate down by controlling the rotation of the second steering wheel, are finally reached the full contact state that crawler belt plane is contacted with ground.
Using the beneficial effect produced by above-mentioned technical proposal it is：
The present invention based on FUSION WITH MULTISENSOR DETECTION, Multi-information acquisition, movable-type intelligent detection mode realize Hybrid Decision-making with all-terrain cable tunnel robot, can cable tunnel inner high voltage cable be carried out detecting tour and forecast.High degree of automation of the present invention, information are comprehensively, directly perceived, reliable, greatly alleviate the workload and labor intensity of personnel.
Description of the drawings
Fig. 1 is crawler belt pattern diagram of the present invention；
Fig. 2 is present invention foot formula pattern diagram；
Fig. 3 is caterpillar belt structure decomposing schematic representation of the present invention；
Fig. 4 is present invention foot formula structural decomposition diagram；
Fig. 5 is present system schematic diagram；
Fig. 6 is panel theory diagram of the present invention；
Wherein 1- high-definition cameras, 2- camera cradle heads, 3- thermal infrared imagers, 4- gas-detecting devices, 5- robot bodies, 51- walking mechanism connection positions, 6- walking mechanisms, 61- supports, 611- movable motors, 612- movable motor gear shafts, 62- road wheels, 621- road wheel gear shafts, 622- chains, 63- auxiliary wheels, 64- crawler belts, the first steering wheels of 7- and the second steering wheel link, the first steering wheels of 71-, 711- the first steering wheel rotating shafts end, the second steering wheels of 72-, 721- the second steering wheel rotating shafts end, the 3rd steering wheels of 73-, the 3rd steering wheel rotating shaft ends of 731-, the first joints of foot of 74-, the second joints of foot of 75-.
Specific embodiment
Embodiment 1
As shown in Figure 1, a kind of crawler type and the varistructured cable tunnel of sufficient formula detect robot, including robot body 5, walking mechanism 6, high definition camera device, infrared detecting device, gas-detecting device 4, panel, data transmission module and handheld terminal unit；The panel is arranged on inside the robot body 5；Four walking mechanism connection positions 51 are laid uniformly in 5 edge of the robot body；The walking mechanism 6 is connected with the robot body 5 by four walking mechanism connection positions 51；The cable tunnel detection high definition camera device, cable tunnel cable fault infrared detecting device, cable tunnel internal gas detection means 4 are installed in 5 top of the robot body；The high definition camera device, infrared detecting device, the outfan of gas-detecting device 4 connect the respective input of the panel, and the high definition camera device, the input of infrared detecting device connect the outfan of the panel；The outfan of the handheld terminal unit wirelessly connects the respective input of the panel by data transmission module.
As shown in Fig. 2 the housing of the robot body 5 is horizontal cross-section is rectangle, the walking mechanism connection position 51 is laid in four angles of the horizontal cross-section of the robot body 5；The walking mechanism 6 is made up of four structure identicals walking clamp mechanisms；Four connection positions connect four walkings clamp mechanism respectively；
As shown in figure 3, the walking clamp mechanism includes support 61, road wheel 62, road wheel gear shaft 621, chain 622, movable motor gear shaft 612, movable motor 611, auxiliary wheel 63, crawler belt 64, the first joints of foot 74, the first steering wheel 71, the first steering wheel and the second steering wheel link 7, the second steering wheel 72, the second joints of foot 75 and the 3rd steering wheel 73；
As shown in figure 4, the rotating shaft end 711 of first steering wheel is fixedly connected with the walking mechanism connection position 51, its shell ends is fixedly connected with first steering wheel with the second steering wheel link 7；The shell ends of second steering wheel 72 are fixedly connected with first steering wheel 71 with the second steering wheel link 7, and the rotating shaft end 721 of the second steering wheel 72 is fixedly connected with first joints of foot 74；The rotating shaft end 731 of the 3rd steering wheel 73 is fixedly connected the fixing end of first joints of foot 74, and the shell ends of the 3rd steering wheel 73 are fixedly connected with the fixing end of second joints of foot 75；The tail end of second joints of foot 75 is annular ground end.
The rotary motion of first steering wheel and the second steering wheel link 72 centered on the connection position axis of robot body 5 can be realized by controlling the rotation of the first steering wheel 71；The first joints of foot 74 can be realized relative to the first steering wheel and the relative rotation motion of driving system of the second steering wheel link 7 by controlling the rotation of the second steering wheel 72；The relative rotation between the first joints of foot 74 and the second joints of foot 75 can be realized by controlling the rotation of the 3rd steering wheel 73；The tail end of the second joints of foot 75 is annular ground end, and when robot is moved under sufficient formula pattern, the annular ground end of only four the second joints of foot 75 is contacted with ground, and robot crawler sections completely disengage from the pure sufficient formula walking that robot is realized in the contact in ground.
The road wheel 62 and auxiliary wheel 63 are connected with 61 axle of the support respectively;The base of the movable motor 611 is fixed on support 61, and its rotating shaft end is connected with the movable motor gear shaft 612；The movable motor gear shaft 612 connects the road wheel gear shaft 621 by chain 622；The road wheel gear shaft 621 is fixedly connected with the road wheel 62；The crawler belt 64 is sleeved on the outside for transporting wheel, auxiliary wheel 63 and support 61, and under crawler belt pattern, four crawler belts 64 of robot are completely attached to ground；Motion of the whole robot under crawler belt pattern can be realized by controlling the rotation of movable motor.
Above-mentioned walking structure realizes the conversion of crawler type and sufficient formula structure in such a way：During crawler belt Schema control, 64 contact parallel to the ground of robot crawler belt realizes the motion under robot crawler belt pattern by controlling the rotation of movable motor 611；Changed from 64 pattern of crawler belt to sufficient formula Schema control, first joints of foot 74 is steeved upwards by controlling the rotation of the second steering wheel 72, be that the rotation of following 3rd steering wheel 73 and crawler belt 64 are prepared in working position is erect；Again by the rotation of the 3rd steering wheel 73 of control so that in working position is erect, the bottom of the second joints of foot 74 of crawler belt lower end is contacted crawler belt 64 with ground；Subsequently by the rotation of the first steering wheel 71 of control so that joints of foot is integrally rotated on the outside of robot body 5 and ultimately forms sufficient formula walking states；When robot is from sufficient formula pattern to crawler belt Mode change, it is only necessary to which above-mentioned change backward is controlled, and finally realize mutual conversion of the robot under crawler belt pattern and sufficient formula pattern.
The high definition camera device is made up of high-definition camera 1 and camera cradle head 2；It is fixed together by securing member between the high-definition camera 1 and the camera cradle head 2, the input and outfan of the high-definition camera 1 and camera cradle head 2 is connected with the corresponding output end and input of the panel respectively, is respectively completed the transmission and the transmission to camera cradle head motion control signal of picture signal.
The infrared detecting device is made up of thermal infrared imager 3 and thermal infrared imager head；The input and outfan of the thermal infrared imager 3 is connected with the outfan and input of the panel respectively；The outfan and input of the thermal infrared imager head connect the respective input and outfan of the panel respectively；It is fixed together by securing member between the thermal infrared imager 3 and the thermal infrared imager head.
The gas-detecting device 4 includes CO gas sensors, CO2 gas sensors, CH4 gas sensors, O2 gas sensors and dsp processor, and the CO gas sensors, CO2 gas sensors, CH4 gas sensors, the outfan of O2 gas sensors connect the respective input of the DSP respectively；The outfan of the DSP connects the corresponding output end of the panel.
The panel includes DSP and motor control module；The DSP is bi-directionally connected with the wireless communication module and motor control module；The wireless communication module is connected with the camera cradle head 2, high-definition camera 1 and handheld terminal unit double-direction radio respectively；The outfan of the motor control module connects the input of the walking mechanism 6.
The DSP selects TMS32OC6726 chips, after the PMW signal Jing Phototube Couplings that TMS32OC6726 chips are produced, transmit to half-bridge driver under crawler belt pattern, the turn-on frequency in cycle and Duty ratio control field effect transistor of the half-bridge driver according to pwm signal, indirect control is added in the voltage on direct current generator, controlled motor rotating speed；Under sufficient formula pattern, TMS32OC6726 adjusts the dutycycle of the PMW signals of control steering wheel according to gyroscope angle calculation value, then pwm signal is delivered to first, second, and third steering wheel respectively Jing after Phototube Coupling, controls steering wheel by dutycycle size and turns to；The velocity information of the photoelectric encoder for gathering, the angular velocity information of gyroscope are transmitted into handheld terminal by the wireless communication module by TMS320C6726；The handheld terminal receives the adjust instruction that the DSP sends according to communication protocol, corrects robot pose according to the adjust instruction.
Battery is also equipped with inside the robot body 5, the outfan of the battery connects the power input of panel, camera cradle head 2, track drive motor and joints of foot steering wheel respectively.
On the one hand high definition camera device is used for the situation in intuitively remote reviewing tunnel, and on the other hand it is used for obtaining tunnel image, then the direction of road is identified through image processing techniquess, so as to realize robot autonomous walking.
Thermal infrared thermal imaging system obtains the temperature profile of tunnel inner cable and neighbouring environment, by nonuniformity correction and calibration, obtains the regional temperature distribution character of cable fault；With the normal temperature distribution characteristicss of tunnel cable as foundation, cable excessively stream feature is studied on the basis of laboratory, positioning is realized to specific positions such as cable connectors and assessment is made to its working condition, simultaneously ambient temperature is detected, judge close region with the presence or absence of the thermal source hidden danger for affecting cable running safety, there is provided the ambient condition of the safety of tunnel inner cable；
CO gas sensors, CO2 gas sensors, CH4 gas sensors, O2 gas sensors by field monitoring to gas concentration be converted into standard 4-20mA current signal, then current signal is sent to into DSP processing systems, gas concentration is sent to into host computer in real time.
The control signal of panel, camera cradle head and video camera focusing sends wireless signal by wireless transport module, the wireless signal of reception is become control signal by decoding by the wireless receiving module on panel, and walking mechanism, camera cradle head and video camera are controlled；The data of various sensor acquisition are sent to handheld terminal by wireless module and show in real time simultaneously.
Handheld terminal unit includes the notebook computer with user interface, the picture signal receiving terminal including camera cradle head movement instruction transmitting terminal and receives sensing data, the data communication module of motion planning and robot control instruction；The core of robot cell is dsp system, the function that it completes has the acquisition process of various sensing datas, robot motor's motor control and data communication, robot cell also includes a set of high-definition camera, radar stealthy materials clouds terrace system in addition, and it can make user be visually known the situation in tunnel；The kinetic control system is, by C6000, direct current generator and steering wheel to be controlled using the method for CAN, so as to realize that the advance of robot, retrogressing, left and right are turned round, and deformation of the robot between crawler belt pattern and sufficient row mode；
Embodiment 2：
A kind of crawler type-foot formula alternative approach that robot is detected for described crawler type and the varistructured cable tunnel of sufficient formula, including step in detail below：
Step 1：By controlling second steering wheel（72）Rotation cause first joints of foot（74）Steeve upwards, be the 3rd steering wheel（73）Rotation and crawler belt（64）Prepare in working position is erect；
Step 2：Again by controlling the 3rd steering wheel（73）Rotation so that the crawler belt（64）In setting working position, the crawler belt（64）Second joints of foot of lower end（74）Bottom contact with ground；
Step 3：By controlling first steering wheel（71）Rotation so that first, second joints of foot is overall to robot body（5）Outside rotates and ultimately forms sufficient formula walking states.
A kind of sufficient formula-crawler type alternative approach that robot is detected for described crawler type and the varistructured cable tunnel of sufficient formula, it is characterised in that：Including step in detail below：
Step 1：Control first steering wheel（71）Rotation so that first, second joints of foot is overall to robot body（5）Inner side rotates；
Step 2：Again by the rotation of control the 3rd steering wheel 73, so that crawler belt 64 is in horizontal operation position, the bottom of the second joints of foot 74 of 64 lower end of crawler belt and surface separation, drive the first joints of foot 74 to rotate down by controlling the rotation of the second steering wheel 72 simultaneously, be finally reached the full contact state that crawler belt plane is contacted with ground.
The preferred embodiment of the present invention is the foregoing is only, protection scope of the present invention is not limited in above-mentioned embodiment, and every technical scheme for belonging to the principle of the invention belongs to protection scope of the present invention.For a person skilled in the art, some improvement for carrying out on the premise of the principle without departing from the present invention, these improvement also should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of crawler type and the varistructured cable tunnel of sufficient formula detect robot, it is characterised in that：Including robot body（5）, walking mechanism（6）, high definition camera device, infrared detecting device, gas-detecting device（4）, panel, data transmission module and handheld terminal unit；The panel is arranged on the robot body（5）It is internal；The robot body（5）Four walking mechanism connection positions are laid uniformly in edge（51）；The walking mechanism（6）By four walking mechanism connection positions（51）With the robot body（5）Connection；The cable tunnel detection high definition camera device, cable tunnel cable fault infrared detecting device, cable tunnel internal gas detection means（4）Installed in the robot body（5）Top；The high definition camera device, infrared detecting device, gas-detecting device（4）Outfan connect the respective input of the panel, the high definition camera device, the input of infrared detecting device connect the outfan of the panel；The outfan of the handheld terminal unit wirelessly connects the respective input of the panel by data transmission module.
2. crawler type according to claim 1 and the varistructured cable tunnel of sufficient formula detect robot, it is characterised in that：The robot body（5）Housing be horizontal cross-section be rectangle, the walking mechanism（6）Connection position（51）It is laid in the robot body（5）Horizontal cross-section four angles；The walking mechanism（6）It is made up of four structure identicals walking clamp mechanisms；Four connection positions connect four walkings clamp mechanism respectively；
The walking clamp mechanism includes support（61）, road wheel（62）, road wheel gear shaft（621）, chain（622）, movable motor gear shaft（612）, movable motor（611）, auxiliary wheel（63）, crawler belt（64）, the first joints of foot（74）, the first steering wheel（71）, the first steering wheel and the second steering wheel link（7）, the second steering wheel（72）, the second joints of foot（75）With the 3rd steering wheel（73）；
The rotating shaft end of first steering wheel（711）With the walking mechanism connection position（51）It is fixedly connected, its shell ends and first steering wheel and the second steering wheel link（7）It is fixedly connected；Second steering wheel（72）Shell ends and first steering wheel and the second steering wheel link（7）It is fixedly connected, the rotating shaft end of the second steering wheel（721）With first joints of foot（74）It is fixedly connected；The rotating shaft end of the 3rd steering wheel（731）It is fixedly connected first joints of foot（74）Fixing end, the 3rd steering wheel（73）Shell ends and second joints of foot（75）Fixing end be fixedly connected；Second joints of foot（75）Tail end be annular ground end；
The road wheel（62）And auxiliary wheel（63）Respectively with the support（61）Axle connects;The movable motor（611）Base be fixed on support（61）On, its rotating shaft end and the movable motor gear shaft（612）Connection；The movable motor gear shaft（612）By chain（622）Connect the road wheel gear shaft（621）；The road wheel gear shaft（621）With the road wheel（62）It is fixedly connected；The crawler belt（64）Wheel, auxiliary wheel are transported described in being sleeved on（63）And support（61）Outside.
3. crawler type according to claim 1 and the varistructured cable tunnel of sufficient formula detect robot, it is characterised in that：The high definition camera device is by high-definition camera（1）And camera cradle head（2）Composition；The high-definition camera（1）With the camera cradle head（2）Between be fixed together by securing member, the high-definition camera（1）And camera cradle head（2）Input and outfan be connected with the corresponding output end and input of the panel respectively.
4. crawler type according to claim 1 and the varistructured cable tunnel of sufficient formula detect robot, it is characterised in that：The infrared detecting device is by thermal infrared imager（3）Constitute with thermal infrared imager head；The thermal infrared imager（3）Input and outfan be connected with the outfan and input of the panel respectively；The outfan and input of the thermal infrared imager head connect the respective input and outfan of the panel respectively；The thermal infrared imager（3）It is fixed together by securing member between the thermal infrared imager head.
5. crawler type according to claim 1 and the varistructured cable tunnel of sufficient formula detect robot, it is characterised in that：The gas-detecting device（4）Including CO gas sensors, CO2 gas sensors, CH4 gas sensors, O2 gas sensors and dsp processor, the CO gas sensors, CO2 gas sensors, CH4 gas sensors, the outfan of O2 gas sensors connect the respective input of the DSP respectively；The outfan of the DSP connects the corresponding output end of the panel.
6. crawler type according to claim 1 and the varistructured cable tunnel of sufficient formula detect robot, it is characterised in that：The panel includes DSP and motor control module；The DSP is bi-directionally connected with the wireless communication module and motor control module；The wireless communication module respectively with the camera cradle head（2）, high-definition camera（1）Connect with handheld terminal unit double-direction radio；The outfan of the motor control module connects the walking mechanism（6）Input.
7. crawler type according to claim 6 and the varistructured cable tunnel of sufficient formula detect robot, it is characterised in that：The DSP selects TMS32OC6726 chips, after the PMW signal Jing Phototube Couplings that TMS32OC6726 chips are produced, transmit to half-bridge driver under crawler belt pattern, the turn-on frequency in cycle and Duty ratio control field effect transistor of the half-bridge driver according to pwm signal, indirect control is added in the voltage on direct current generator, controlled motor rotating speed；Under sufficient formula pattern, TMS32OC6726 adjusts the dutycycle of the PMW signals of control steering wheel according to gyroscope angle calculation value, then pwm signal is delivered to first, second, and third steering wheel respectively Jing after Phototube Coupling, controls steering wheel by dutycycle size and turns to；The velocity information of the photoelectric encoder for gathering, the angular velocity information of gyroscope are transmitted into handheld terminal by the wireless communication module by TMS320C6726；The handheld terminal receives the adjust instruction that the DSP sends according to communication protocol, corrects robot pose according to the adjust instruction.
8. crawler type according to claim 1 and the varistructured cable tunnel of sufficient formula detect robot, it is characterised in that：The robot body（5）Inside is also equipped with battery, and the outfan of the battery connects panel, camera cradle head respectively（2）, track drive motor and joints of foot steering wheel power input.
9. a kind of crawler type for described in claim 1 and the varistructured cable tunnel of sufficient formula detect the crawler type-foot formula alternative approach of robot, it is characterised in that：Including step in detail below：
Step 1：By controlling second steering wheel（72）Rotation cause first joints of foot（74）Steeve upwards, be the 3rd steering wheel（73）Rotation and crawler belt（64）Prepare in working position is erect；
Step 2：Again by controlling the 3rd steering wheel（73）Rotation so that the crawler belt（64）In setting working position, the crawler belt（64）Second joints of foot of lower end（74）Bottom contact with ground；
Step 3：By controlling first steering wheel（71）Rotation so that first, second joints of foot is overall to robot body（5）Outside rotates and ultimately forms sufficient formula walking states.
10. a kind of crawler type for described in claim 1 and the varistructured cable tunnel of sufficient formula detect the sufficient formula-crawler type alternative approach of robot, it is characterised in that：Including step in detail below：
Step 1：Control first steering wheel（71）Rotation so that first, second joints of foot is overall to robot body（5）Inner side rotates；
Step 2：Again by controlling the 3rd steering wheel（73）Rotation so that crawler belt（64）In horizontal operation position, crawler belt（64）Second joints of foot of lower end（74）Bottom and surface separation, while by control the second steering wheel（72）Rotation drive the first joints of foot（74）Rotate down, be finally reached the full contact state that crawler belt plane is contacted with ground.
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| CN109848963A (en) * | 2019-01-10 | 2019-06-07 | 武汉职业技术学院 | A kind of toxic gas detection robot |
| CN109916457A (en) * | 2019-04-23 | 2019-06-21 | 国网安徽省电力有限公司电力科学研究院 | A kind of deformation method of the miniature crusing robot of cable duct of substation and its inspection cable duct |
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| CN111238886A (en) * | 2020-01-17 | 2020-06-05 | 新乡学院 | All-terrain crawler-type sampling robot |
| CN111975737A (en) * | 2020-07-22 | 2020-11-24 | 陕西宝智通科技发展有限公司 | Crawler-type inspection robot with self-balancing system |
| CN113357503A (en) * | 2021-06-04 | 2021-09-07 | 中国北方车辆研究所 | Foot type robot sensing device based on variable configuration multi-sensing fusion |
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| CN107117276A (en) * | 2017-04-18 | 2017-09-01 | 西北工业大学 | A kind of propulsion of portable autonomous submarine navigation device is with manipulating integrated control unit |
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| CN107284551A (en) * | 2017-06-23 | 2017-10-24 | 江苏工程职业技术学院 | A kind of sniffing robot for being applicable complicated landform |
| CN107364506B (en) * | 2017-07-12 | 2019-08-09 | 清华大学 | A kind of track combined quadruped robot of foot |
| CN107364506A (en) * | 2017-07-12 | 2017-11-21 | 清华大学 | A kind of track combined quadruped robot of foot |
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| CN108183423A (en) * | 2017-12-05 | 2018-06-19 | 国网浙江省电力公司丽水供电公司 | A kind of mobile inspection tour system and method for Electric Power Patrol |
| CN109848963A (en) * | 2019-01-10 | 2019-06-07 | 武汉职业技术学院 | A kind of toxic gas detection robot |
| CN109916457A (en) * | 2019-04-23 | 2019-06-21 | 国网安徽省电力有限公司电力科学研究院 | A kind of deformation method of the miniature crusing robot of cable duct of substation and its inspection cable duct |
| CN109916457B (en) * | 2019-04-23 | 2023-08-22 | 国网安徽省电力有限公司电力科学研究院 | Miniature inspection robot for cable trench of transformer substation and deformation method for inspection cable trench |
| CN110757465A (en) * | 2019-11-22 | 2020-02-07 | 江苏方时远略科技咨询有限公司 | Control system of climbing and obstacle-crossing crawler-type mobile robot |
| CN111068216A (en) * | 2020-01-16 | 2020-04-28 | 聊城大学 | Wheel-foot hybrid fire-fighting robot |
| CN111068216B (en) * | 2020-01-16 | 2024-03-01 | 聊城大学 | Wheel-foot hybrid fire-fighting robot |
| CN111238886A (en) * | 2020-01-17 | 2020-06-05 | 新乡学院 | All-terrain crawler-type sampling robot |
| CN111975737A (en) * | 2020-07-22 | 2020-11-24 | 陕西宝智通科技发展有限公司 | Crawler-type inspection robot with self-balancing system |
| CN113357503A (en) * | 2021-06-04 | 2021-09-07 | 中国北方车辆研究所 | Foot type robot sensing device based on variable configuration multi-sensing fusion |
| CN113357503B (en) * | 2021-06-04 | 2022-08-16 | 中国北方车辆研究所 | Foot type robot sensing device based on variable configuration multi-sensing fusion |
| CN116163651A (en) * | 2023-04-24 | 2023-05-26 | 北京欧钻科技有限公司 | Rotary drilling rig |
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Application publication date: 20170329 |