CN101251033A - Tunnel detecting robot - Google Patents
Tunnel detecting robot Download PDFInfo
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- CN101251033A CN101251033A CNA2008100525521A CN200810052552A CN101251033A CN 101251033 A CN101251033 A CN 101251033A CN A2008100525521 A CNA2008100525521 A CN A2008100525521A CN 200810052552 A CN200810052552 A CN 200810052552A CN 101251033 A CN101251033 A CN 101251033A
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Abstract
The invention relates to a tunnel detection robot, which comprises a machine body, and a battery, a motor and a tracked travel mechanism which are connected with each other in turn, wherein, the machine body consists of an outer shell the inside of which is connected with a support and a frame, and a machine cover. The invention is characterized in that: the tunnel detection robot comprises an automatic detection host computer and an automatic detection lower computer, wherein, the lower computer consists of a camera which is arranged on the top in the front of the machine cover and provided with a tripod head, and a control panel which is arranged inside the machine body; the control panel is respectively connected with a data acquisition module and an optical communication module; the optical communication module and a video acquisition module are connected with the host computer PC. The tunnel detection robot has the advantages that: the robot can be put into a tunnel for investigation from a tunnel manhole opening by utilization of a hinge when emergency cases like tunnel fire breakout and so on occur in a cable tunnel and workers can not determine the conditions in the tunnel and can not enter into the tunnel for processing. Moreover, the tunnel detection robot can directly provide images, voice, the ambient temperature, the temperature of detected objects, the content of harmful gases like carbon monoxide and so on, etc. in the tunnel to a ground control system.
Description
Technical field
The invention belongs to the tunnel checkout equipment, relate in particular to a kind of tunnel burst accident of can realizing and survey the tunnel detecting robot of automation.
Background technology
The electric power tunnel that substitutes aerial cable has become the main developing direction of urban electric power transmission by domestic and international extensive use.The cable tunnel is built by steel concrete, is implemented in underground apart from 3-5 rice, the face of land.The turnover cable tunnel need rely on the cat ladder of reserving on the hoistway wall.Well head adds and is stamped double-deck well lid.The GSM network signal is thrown light on, do not had to no low-tension supply, nothing in the tunnel, and the wireless transmission distance decay is serious.The temperature remains within the normal range throughout the year in the tunnel, and individual lot has ponding.The underground cable tunnel is long and narrow because of the space, and obstruction is more, inner combustible complexity, and high temperature dense smoke is easy to gather during breaking out of fire, and the personnel that put out a fire to save life and property are difficult in time know the situation in the tunnel, can't put out a fire to save life and property timely and effectively.For a long time, in the tunnel context of detection, main still by manually carrying out.The consequence that the cable tunnel goes wrong and causes if weigh with economic worth, is to be measurement unit with the second.Therefore, demanding developing a kind of scene of the accident situation that can reflect in time in the industry urgently provides reliable basis and the economic loss that the cable tunnel fire is caused is dropped to minimum tunnel checkout equipment for leader's decision-making.
Summary of the invention
The objective of the invention is to overcome the deficiency of above-mentioned technology, and provide a kind of tunnel burst accident of can realizing to survey the tunnel detecting robot of automation, it can carry out the live video collection at the volley, and control system provides pernicious gas content such as image in the tunnel, voice, environment temperature, detection object temperature, carbon monoxide earthward, and personnel provide field condition the most intuitively for control.
For achieving the above object, by the following technical solutions: a kind of tunnel detecting robot, comprise by the interior support that is connected with and reach battery, motor, the crawler type walking mechanism that is connected successively with the body that the shell and the cover of framework are formed, it is characterized in that: the upper and lower machine that comprises automatic detection, described slave computer is provided with the video camera of band cloud platform and is placed the control panel in the body to form by the anterior top of cover, described control panel is connected with data acquisition module, optical communications module respectively, and described optical communications module is connected with host computer PC with video acquisition module.
Described data acquisition module comprises gas concentration device, humiture probe, motor control module, lighting control module and is connected with the single-chip microcomputer of control panel that the monolithic of control panel is connected with The Cloud Terrace decoder and video camera again.
Described slave computer adopts the ZCRT protocol communication by serial ports and host computer.
Described walking mechanism is a crawler type walking mechanism, include support, road wheel, auxiliary wheel, sprocket wheel, chain and crawler belt, described support links to each other with framework, the output fixed chain wheels of motor also links by chain and the hinge wheel that is fixed on the support, and described auxiliary wheel is connected and is connected with road wheel by crawler belt with hinge wheel is coaxial.
Beneficial effect of the present invention: on fire in cable tunnel generation emergency such as tunnel, the staff can't determine situation in the tunnel, in the time of can't entering the tunnel and handle, robot is put into the tunnel with hinge from tunnel inspection well head, reconnoitre, and control system provides pernicious gas content such as image in the tunnel, voice, environment temperature, detection object temperature, carbon monoxide earthward.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is that host computer is connected block diagram with the slave computer control circuit;
Fig. 3 is a circuit connection diagram of the present invention;
Fig. 4 is the structural representation of crawler type walking mechanism.
The specific embodiment
Accompanying drawing is embodiments of the invention, describes the specific embodiment of the present invention in detail below in conjunction with accompanying drawing.
With reference to accompanying drawing, a kind of tunnel detecting robot, comprise by the interior support 1 that is connected with and reach battery 6, motor 7, the crawler type walking mechanism 8 that is connected successively with the body 5 that the shell 3 and the cover 4 of framework 2 are formed, and comprise the upper and lower machine of automatic detection, described slave computer is provided with the video camera 10 of band cloud platform 9 and is placed the control panel 11 in the body to form by the anterior top of cover, and cover adopts stainless steel material.Video camera ball cover 12 has water-proof function.Described control panel is connected with data acquisition module, optical communications module respectively, and described optical communications module is connected with host computer PC with video acquisition module.Described data acquisition module comprises gas concentration device 19, humiture probe 20, motor control module, lighting control module and is connected with the single-chip microcomputer of control panel that the monolithic of control panel is connected with The Cloud Terrace decoder and video camera again.Described slave computer adopts the ZCRT protocol communication by serial ports and host computer.Described walking mechanism is a crawler type walking mechanism, comprise support 1, road wheel 13, auxiliary wheel 14, sprocket wheel 15, chain 16 and crawler belt 17, described support links to each other with framework, the output fixed chain wheels of motor also links by chain and the hinge wheel 18 that is fixed on the support, and described auxiliary wheel is connected and is connected with road wheel by crawler belt with hinge wheel is coaxial.Framework adopts stainless steel square tube welding fabrication, and meshed portion adopts 4-5mm thick sheet metal and framework welding.Described sprocket wheel and the chain that is looped around on the sprocket wheel are formed chain-drive mechanism.Company's joint by chain during work transmits motion and power with the engagement of sprocket teeth.Adopt the crawler-type traveling pattern, be fit to the walking of this complicated ground environment in tunnel, the 200mm that can paddle, climbing vertical obstacle height 200mm, 55 ° of climbing slope maximum inclination angles, 0 turning radius can be crossed over hole, Φ 400mm hole.Adopt optical fiber that line traffic control is arranged, robot takes action in the tunnel apart from being not less than 200 meters.The control of tunnel detecting robot mainly realizes by control panel (main control chip is 51 series monolithics), finishes the motion and the data acquisition of robot.Video acquisition module collection site video uploads to host computer by optical communications module, and personnel provide field condition the most intuitively for control.Overall dimensions of a car is: long 1100mm * wide 430mm * high 450mm.Because the particular surroundings in the tunnel is provided the 24v20Ah lead-acid battery for oneself in the body, the while also can external interchange 220v power supply, and body is from tape adapter unit.The walking power of robot is from 2 three-phase hybrid stepping motors.Robot is equipped with 3 cameras, lays respectively at rear and front end and middle part (wherein the middle part is 22 times of 480 line colorful digital camera) of robot fuselage, is connected with industrial control host by video card, realizes the remote transmission and the control of image.There is high intensity cold light supply to follow camera to rotate synchronously on the The Cloud Terrace of 360 ° of rotations.
Operating principle: tunnel detecting robot is wanted first opening power before entering the tunnel, with hinge robot is put into the tunnel from tunnel inspection well head.Each data sampling sensor (as: humiture, gas concentration etc.) is communicated by letter with control panel by serial ports, and video acquisition and control panel insert optical communications module simultaneously, at last by optical communications module and host computer PC swap data.Host computer is the control maincenter, sends various command to control panel.The ZCRT agreement adopts fixed length instruction format (25 byte), comprises frame head, control instruction byte, data byte and check byte.Host computer is packaged into the ZCRT packet to order and sends to slave computer by serial ports, after slave computer receives data, takes out effective instruction from packet, carries out corresponding actions then.If the data acquisition instruction, then single-chip microcomputer reads humiture and gas concentration data from transmitter, is packaged into the ZCRT packet then and beams back host computer.If the robot motion instruction, single-chip microcomputer is just issued electric machine controller by serial ports with the corresponding actions instruction, and the control robot advances or retreats.If the light control instruction, then single-chip microcomputer opens or closes corresponding light.If the cradle head control instruction, single-chip microcomputer sends the action of command adapted thereto (adopting the PELCO_D agreement) control The Cloud Terrace to the The Cloud Terrace decoder.Simultaneously slave computer also is responsible for handling some fortuitous events, run into the place ahead temperature too high or contact impassable obstacle in allow motor stop or retreating.
The above only is preferred embodiment of the present invention, is not structure of the present invention is done any pro forma restriction.Every foundation technical spirit of the present invention all still belongs in the scope of technical scheme of the present invention any simple modification, equivalent variations and modification that above embodiment did.
Claims (4)
1. tunnel detecting robot, comprise by the interior support that is connected with and reach battery, motor, the crawler type walking mechanism that is connected successively with the body that the shell and the cover of framework are formed, it is characterized in that: the upper and lower machine that comprises automatic detection, described slave computer is provided with the video camera of band cloud platform and is placed the control panel in the body to form by the anterior top of cover, described control panel is connected with data acquisition module, optical communications module respectively, and described optical communications module is connected with host computer PC with video acquisition module.
2. tunnel detecting robot according to claim 1, it is characterized in that: described data acquisition module comprises gas concentration device, humiture probe, motor control module, lighting control module and is connected with the single-chip microcomputer of control panel that the monolithic of control panel is connected with The Cloud Terrace decoder and video camera again.
3. tunnel detecting robot according to claim 1 is characterized in that: described slave computer adopts the ZCRT protocol communication by serial ports and host computer.
4. tunnel detecting robot according to claim 1, it is characterized in that: described walking mechanism is a crawler type walking mechanism, include support, road wheel, auxiliary wheel, sprocket wheel, chain and crawler belt, described support links to each other with framework, the output fixed chain wheels of motor also links by chain and the hinge wheel that is fixed on the support, and described auxiliary wheel is connected and is connected with road wheel by crawler belt with hinge wheel is coaxial.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008100525521A CN101251033A (en) | 2008-03-28 | 2008-03-28 | Tunnel detecting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008100525521A CN101251033A (en) | 2008-03-28 | 2008-03-28 | Tunnel detecting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101251033A true CN101251033A (en) | 2008-08-27 |
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| CNA2008100525521A Pending CN101251033A (en) | 2008-03-28 | 2008-03-28 | Tunnel detecting robot |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101436038B (en) * | 2008-12-05 | 2011-12-28 | 中国国家博物馆 | Archaeological excavation on site intelligent pre-probing system |
| CN102562154A (en) * | 2010-12-29 | 2012-07-11 | 沈阳新松机器人自动化股份有限公司 | Cable tunnel routing inspection robot |
| CN101746423B (en) * | 2008-11-28 | 2012-09-26 | 沈阳新松机器人自动化股份有限公司 | Search and rescue robot used in pit |
| CN102768517A (en) * | 2012-07-11 | 2012-11-07 | 华北电力大学 | Cable tunnel monitoring robot system |
| CN102882919A (en) * | 2011-07-15 | 2013-01-16 | 中国科学院深圳先进技术研究院 | Tunnel construction monitoring system |
| CN103147789A (en) * | 2013-03-07 | 2013-06-12 | 中国矿业大学 | System and method for controlling underground coal mine rescue robot |
| CN104092978A (en) * | 2014-06-20 | 2014-10-08 | 国家电网公司 | Crawler-type electrical power monitoring and controlling vehicle |
| CN104385259A (en) * | 2014-11-14 | 2015-03-04 | 福建省泉州市第七中学 | Traveling robot for complicated road conditions |
| CN104807505A (en) * | 2015-05-22 | 2015-07-29 | 合肥昊诚工贸有限责任公司 | Novel tunnel condition detecting device |
| CN104807506A (en) * | 2015-05-22 | 2015-07-29 | 合肥昊诚工贸有限责任公司 | Tunnel situation detector |
| CN104843100A (en) * | 2015-04-30 | 2015-08-19 | 王英英 | All-terrain movable measurement robot |
| CN104849083A (en) * | 2015-05-22 | 2015-08-19 | 合肥昊诚工贸有限责任公司 | Tunnel detection apparatus |
| CN112330930A (en) * | 2020-09-09 | 2021-02-05 | 北京潞电电气设备有限公司 | Urban tunnel traffic monitoring method, system and platform |
-
2008
- 2008-03-28 CN CNA2008100525521A patent/CN101251033A/en active Pending
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101746423B (en) * | 2008-11-28 | 2012-09-26 | 沈阳新松机器人自动化股份有限公司 | Search and rescue robot used in pit |
| CN101436038B (en) * | 2008-12-05 | 2011-12-28 | 中国国家博物馆 | Archaeological excavation on site intelligent pre-probing system |
| CN102562154A (en) * | 2010-12-29 | 2012-07-11 | 沈阳新松机器人自动化股份有限公司 | Cable tunnel routing inspection robot |
| CN102882919A (en) * | 2011-07-15 | 2013-01-16 | 中国科学院深圳先进技术研究院 | Tunnel construction monitoring system |
| CN102768517A (en) * | 2012-07-11 | 2012-11-07 | 华北电力大学 | Cable tunnel monitoring robot system |
| CN103147789B (en) * | 2013-03-07 | 2015-03-25 | 中国矿业大学 | System and method for controlling underground coal mine rescue robot |
| CN103147789A (en) * | 2013-03-07 | 2013-06-12 | 中国矿业大学 | System and method for controlling underground coal mine rescue robot |
| CN104092978A (en) * | 2014-06-20 | 2014-10-08 | 国家电网公司 | Crawler-type electrical power monitoring and controlling vehicle |
| CN104385259A (en) * | 2014-11-14 | 2015-03-04 | 福建省泉州市第七中学 | Traveling robot for complicated road conditions |
| CN105438299A (en) * | 2014-11-14 | 2016-03-30 | 福建省泉州市第七中学 | Amphibious data acquisition complex road condition walking robot |
| CN104385259B (en) * | 2014-11-14 | 2016-08-24 | 福建省泉州市第七中学 | Complex road condition walking robot |
| CN105438299B (en) * | 2014-11-14 | 2017-10-03 | 福建省泉州市第七中学 | The complex road condition walking robot of amphibious data acquisition |
| CN104843100A (en) * | 2015-04-30 | 2015-08-19 | 王英英 | All-terrain movable measurement robot |
| CN104807505A (en) * | 2015-05-22 | 2015-07-29 | 合肥昊诚工贸有限责任公司 | Novel tunnel condition detecting device |
| CN104807506A (en) * | 2015-05-22 | 2015-07-29 | 合肥昊诚工贸有限责任公司 | Tunnel situation detector |
| CN104849083A (en) * | 2015-05-22 | 2015-08-19 | 合肥昊诚工贸有限责任公司 | Tunnel detection apparatus |
| CN112330930A (en) * | 2020-09-09 | 2021-02-05 | 北京潞电电气设备有限公司 | Urban tunnel traffic monitoring method, system and platform |
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Open date: 20080827 |