CN101893524A - Air duct intelligent identifying, detecting and sampling robot - Google Patents
Air duct intelligent identifying, detecting and sampling robot Download PDFInfo
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- CN101893524A CN101893524A CN 201010195715 CN201010195715A CN101893524A CN 101893524 A CN101893524 A CN 101893524A CN 201010195715 CN201010195715 CN 201010195715 CN 201010195715 A CN201010195715 A CN 201010195715A CN 101893524 A CN101893524 A CN 101893524A
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Abstract
The invention relates to an air duct intelligent identifying, detecting and sampling robot which comprises a body, wherein the front end of the body is provided with a front infra-red sensor, a front camera and a front illuminating lamp, the left end and the right end of the body are respectively provided with a left infra-red sensor and a right infra-red sensor, the back end of the body is provided with a back camera, a back illuminating lamp and an aviation connector, the top end of the body is provided with a sampler, a marker and a main camera, main camera illuminating lamps are installed around the main camera, and the marker is provided with a main infra-red sensor. The robot has the functions of stamping, digital marking, ink jet marking, laser marking, electrostatic dust collection, coating dust collection, large-aperture substance dust collection, traveled distance measurement by gear rotation, traveled distance measurement by infrared sensing, traveled distance measurement by control cable scales, lighting, traveling, infrared sensing, omnidirectional shooting, digital storage and the like, and has the advantages of intelligent control, good working effect, stable equipment performance, convenient operation, high efficiency, precise structure, light weight and convenient storage and transportation.
Description
Technical field
The present invention relates to a kind of air duct intelligent identifying, detecting and sampling robot that is applicable to.
Background technology
Along with The development in society and economy, people more and more pay close attention to the pollution condition of dust in the ventilating duct, bacterium, virus, therefore, regularly space in the ventilating duct are detected, sample, identified very necessary automatically.Also be not used in the Intelligent robot of detection automatically, sampling, sign in the ventilating duct at present both at home and abroad.
Summary of the invention
The technical problem to be solved in the present invention is, defective at the prior art existence, a kind of air duct intelligent identifying, detecting and sampling robot is provided, it have affix one's seal, numeral is beaten sign indicating number, ink-jet is beaten yard, laser is beaten functions such as sign indicating number, electrostatic precipitation, gluing dust suction, large aperture material (sponge) dust suction, illumination, walking, infrared induction, comprehensive shooting, stored digital, intelligent microcomputer is controlled, good working effect, equipment performance are stable, easy to operate, efficient height, precise structure, in light weight, storing is convenient.
For achieving the above object, the technology used in the present invention solution is, described air duct intelligent identifying, detecting and sampling robot, there is the both sides correspondence that the fuselage of automatic travelling device is housed, described front fuselage is equipped with preceding infrared ray sensor, preceding camera and the front lamp that is positioned at preceding camera both sides, described fuselage left-hand end is equipped with left infrared ray sensor, the fuselage right-hand end is equipped with right infrared ray sensor, described back body is equipped with the back camera, rear lighting lamp and Aviation Connector, its design feature is, sampling thief is equipped with in described fuselage top middle portion position, the coding device and the main camera that can circumferentially rotate is equipped with on this sampling thief rear side fuselage top, around this main camera main camera illuminating lamp is housed, is equipped with on this coding device and can responds to the also main infrared ray sensor of automatic measurement machine device people displacement.
The structure of described automatic travelling device is, lower left side is equipped with left drive motor before fuselage, this left side drive motor axle joins with left driven wheel parafacies, this left side driving gear wheel set by left driving gear shaft with can link by the walk left driving gear of distance of number of revolutions automatic measurement machine device people, left driven gear shaft is housed on the fuselage of left driving gear rear side and is contained in left follower gear on the left driven gear shaft; On right side, the preceding bottom of fuselage right drive motor is housed, this right side drive motor axle joins with right driven wheel parafacies, this right side driving gear wheel set by right driving gear shaft with can link by the walk right driving gear of distance of number of revolutions automatic measurement machine device people, right driven gear shaft is housed on the fuselage of right driving gear rear side and is contained in right follower gear on the right driven gear shaft; Described left track holds left driving gear and left follower gear and is contained on this left side driving gear and the left follower gear, and described right side crawler belt holds right driving gear and right follower gear and is contained on this right side driving gear and the right follower gear.
By this gear transmission structure, by the number of times of gear counting wheel rotation, the distance of calculating robot's operation, thus the realization robot can measure the function of travel distance in the process of walking automatically.
The structure of described automatic travelling device also can be, lower left side is equipped with left drive motor before fuselage, and this left side drive motor axle links with left adhesion wheel, and left driven wheel is housed on the fuselage of left adhesion wheel rear side; On right side, the preceding bottom of fuselage right drive motor is housed, this right side drive motor axle links with right adhesion wheel, and right driven wheel is housed on the fuselage of right adhesion wheel rear side.
The structure of described sampling thief is that the sampling thief lifting motor that is contained in the fuselage links by sampling thief lifting tooth wheel set and sampling thief lifting screw; This push-rod electric machine links by push-rod electric machine gear pair and push rod screw rod, this push rod screw rod one side is equipped with an electrostatic generator, electrostatic precipitation plate and rubberised layer, large aperture material layer dust-catching board are equipped with in this electrostatic generator lower end, this rubberised layer, large aperture material layer dust-catching board downside are equipped with a base plate mobile rack by base plate motor and the secondary engagement of base plate motor gear, and this base plate mobile rack links to each other with movable base plate; Two ends, the electrostatic generator left and right sides by dust-catching board screens are installed respectively and dust-catching board installation screens spring is fixed on the pull bar cover plate, and this pull bar cover plate is contained on the fuselage by four guide poles.
Described main camera places in the main head shell, this main camera and main camera illuminating lamp are contained on the main camera support by main camera pitching gear shaft, and this can be taken pictures or the main camera pitching gear shaft of recorded video links by main camera pitching gear pair and main camera pitching motor at same position; Described main camera support is contained on the main camera rotary head, the main camera rotary head that is rotated in a circumferential direction by main camera rotary head motor-driven is contained on the main rotary head, and the main rotary head that is rotated in a circumferential direction by main rotary head motor-driven is contained on the fuselage; Described back camera and rear lighting lamp link to each other with a back camera turning axle, and this back camera turning axle links by back camera rotary teeth wheel set and back camera electric rotating machine.
Described coding device places in the coding device shell, and this coding device is contained on the coding device support by coding device pitch axis; This coding device pitch axis links by coding device pitching gear pair and coding device pitching motor; Described coding device support is contained on the coding device rotary head, and the coding device rotary head that is rotated in a circumferential direction by coding device rotary head motor-driven is contained on the main rotary head, and the main rotary head that is rotated in a circumferential direction by main rotary head motor-driven is contained on the fuselage.
In the described coding device shell seal and seal numeral are installed; Described seal links to each other with seal cylindrical shell gear pair, this direction seal cylindrical shell gear pair and the engagement of direction seal rotary teeth wheel set, and this direction seal rotary teeth wheel set and direction seal electric rotating machine link;
Described seal numeral comprises seal unit numbers and seal tens word, this seal numeral is fixed on seal cylindrical shell week upwards, this seal cylindrical shell is contained on the seal axle, this seal cylindrical shell and digital sealing rotary teeth wheel set engagement, this digital sealing rotary teeth wheel set and the engagement of seal units cylindrical shell gear pair, this digital sealing rotary teeth wheel set and digital sealing electric rotating machine link; The seal unit numbers driven tooth wheel set that is driven by seal units cylindrical shell gear pair links to each other with seal tens word gear pair, and this seal unit numbers driven tooth wheel set rotates a circle and drives seal tens word gear pair rotation 1/10th and enclose;
The both sides up and down of described seal numeral are equipped with and can be responded to the also main infrared ray sensor and the main infrared ray sensor circuit board of automatic measurement machine device people displacement.
Described scrambler also can be beaten harbour for the coding that is installed in the coding device shell, and this coding is beaten the harbour upper end and is provided with the ink-filling hole that is communicated with an ink container, and this ink container is beaten harbour by ink supply pipe and coding and is communicated with; Described coding is beaten harbour and is linked to each other with ink-jet control system;
The both sides up and down that harbour is beaten in described coding are equipped with and can be responded to and the main infrared ray sensor and the main infrared ray sensor circuit board of automatic measurement machine device people displacement.
Described scrambler can also be beaten harbour for the laser that is installed in the coding device shell, and this laser is beaten harbour and linked to each other with digital control and laser generation control system;
The both sides up and down that described laser is beaten harbour are equipped with and can be responded to and the main infrared ray sensor and the main infrared ray sensor circuit board of automatic measurement machine device people displacement.
Described infrared ray sensor is made up of infrared emission circuit and receiving circuit, and wherein the infrared emission circuit is responsible for producing, regulates and is driven and sends high-frequency pulse signal, and infrared receiving circuit is responsible for receiving the high-frequency pulse signal that returns.Obtain the modulated pulse signal of a 38kHz by 38kHz crystal oscillator and not circuit; The infrared light that infrared transmitting tube sends is received by infrared receiving module after the object reflection; Return a digital signal by receiving after the inner integrated circuit that carries of head is handled, this digital signal is input to micro controller I/O mouth, and the infrared pulse that the reception head receives 38kHz returns output low level, otherwise the output high level; By detection to the I/O mouth, with having or not of judgment object, detect whether step is arranged, prevent to fall; Power-supply management system is housed in the robot, and brownout can stop cleaning, and gets back to air duct intelligent identifying, detecting and sampling robot charger place automatically and charge.
By this infrared ray sensor, can respond to the distance of robot movement, thereby the realization robot can measure the function of travel distance in the process of walking automatically.
Further, described air duct intelligent identifying, detecting and sampling robot also comprises control circuit, described control circuit comprises first level shifting circuit, second level shifting circuit, single-chip microcomputer, 12V DC power supply circuit, the 24V DC power supply circuit, camera and illuminating lamp control circuit, back camera electric rotating machine driving circuit, base plate moves driving circuit, sampling thief lifting motor driving circuit, the push-rod electric machine driving circuit, main rotary head motor-drive circuit, coding device rotary head motor-drive circuit, main camera rotary head driving circuit, coding device pitching driving circuit, main camera pitching motor driving circuit, direction seal electric rotating machine driving circuit, digital sealing electric rotating machine driving circuit, the infrared sensor control circuit, laser head control circuit, control circuit of ink-ejecting head, laser light generator control circuit, the ink-jet system control circuit, the vehicle body left row is walked motor-drive circuit, vehicle body right side movable motor driving circuit; And:
But the signal input part that the serial ports output of the microcomputer of photo that playback is taken at same position or the video of recording is connected to single-chip microcomputer through first level shifting circuit and second level shifting circuit of interface circuit successively with signal cable;
The control signal interface of described single-chip microcomputer is also respectively with camera and illuminating lamp control circuit, back camera electric rotating machine driving circuit, base plate moves driving circuit, sampling thief lifting motor driving circuit, the push-rod electric machine driving circuit, main rotary head motor-drive circuit, coding device rotary head motor-drive circuit, main camera rotary head driving circuit, coding device pitching driving circuit, main camera pitching motor driving circuit, direction seal electric rotating machine driving circuit, digital sealing electric rotating machine driving circuit, infrared sensor control circuit, the laser head control circuit, control circuit of ink-ejecting head, laser light generator control circuit, ink-jet system control circuit, the vehicle body left row is walked motor-drive circuit, and the prime signal controlling end of vehicle body right side movable motor driving circuit connects;
The 12V DC power supply circuit provides working power through Voltage stabilizing module to single-chip microcomputer, the back level signal controlling end of described camera and illuminating lamp control circuit is respectively with described illuminating lamp, camera and video acquisition card connection, wherein the output signal of camera is delivered to microcomputer through video frequency collection card, the back level signal controlling end of back camera electric rotating machine driving circuit links to each other with back camera electric rotating machine, the back level signal controlling end that base plate moves driving circuit links to each other with the base plate mobile motor, the back level signal controlling end of sampling thief lifting motor driving circuit links to each other with the sampling thief lifting motor, the back level signal controlling end of push-rod electric machine driving circuit links to each other with push-rod electric machine, the back level signal controlling end of main rotary head motor-drive circuit links to each other with main rotary head motor, the back level signal controlling end of coding device rotary head motor-drive circuit links to each other with coding device rotary head, the back level signal controlling end of main camera rotary head driving circuit links to each other with main camera rotary head, the back level signal controlling end of coding device pitching driving circuit links to each other with coding device pitching motor, the back level signal controlling end of main camera pitching motor driving circuit links to each other with main camera pitching motor, the equidirectional seal electric rotating machine of back level signal controlling end of direction seal electric rotating machine driving circuit links to each other, the back level signal controlling end of digital sealing electric rotating machine driving circuit links to each other with the digital sealing electric rotating machine, the back level signal controlling end of infrared sensor control circuit links to each other with each infrared sensor, the back level signal controlling end of laser head control circuit links to each other with laser head, the back level signal controlling end of control circuit of ink-ejecting head links to each other with ink gun, the back level signal controlling end of laser light generator control circuit links to each other with laser generator, the back level signal controlling end of ink-jet system control circuit links to each other with ink-jet system, the back level signal controlling end that the vehicle body left row is walked motor-drive circuit links to each other with vehicle body left side movable motor, and the back level signal controlling end of vehicle body right side movable motor driving circuit links to each other with vehicle body right side movable motor.
Described control circuit comprises first level shifting circuit, second level shifting circuit, single-chip microcomputer, the 12V DC power supply circuit, 24V DC power supply circuit, camera and illuminating lamp control circuit, main camera and illuminating lamp pitching driving circuit, back camera and illuminating lamp pitching driving circuit, coding device pitching driving circuit, main The Cloud Terrace rotation driving circuit, coding device rotary head driving circuit, main camera rotary head driving circuit, each sensor control circuit, sampling thief lifting driving circuit, the push rod driving circuit, base plate moves driving circuit, and the vehicle body left row is walked motor-drive circuit, vehicle body right side movable motor driving circuit; And:
But the signal input part that the serial ports output of the microcomputer of photo that playback is taken at same position or the video of recording is connected to single-chip microcomputer through first level shifting circuit and second level shifting circuit of interface circuit successively with signal cable;
The control signal interface of described single-chip microcomputer is also respectively with each sensor control circuit, camera and illuminating lamp control circuit, main camera and illuminating lamp pitching driving circuit, back camera and illuminating lamp pitching driving circuit, coding device pitching driving circuit, main The Cloud Terrace rotation driving circuit, coding device rotary head driving circuit, main camera rotary head driving circuit, sampling thief lifting driving circuit, push rod driving circuit, base plate move letter back level number control end connections such as driving circuit;
The signal controlling end of described camera and illuminating lamp control circuit is respectively with described illuminating lamp, camera and video acquisition card connection, the output signal of camera is delivered to microcomputer through video frequency collection card, the back level signal controlling end of each sensor control circuit links to each other with corresponding sensor respectively, and the back level signal controlling end of each driving circuit links to each other with corresponding drive motor respectively.
Described each camera before cleaning and sterilizing with cleaning and sterilizing after, have at same position and take pictures or the function of recorded video, and show simultaneously when having playback before the cleaning and sterilizing with cleaning and sterilizing after the photograph image taken at same position or the function of recording video.
Described Aviation Connector links to each other on the cable with control, is printed on as the size scale mark on this control cable.
Principle of work of the present invention is as follows:
Start automatic travelling device, then realize before and after the vehicle body walking and about turn.
Start main rotary head motor, main rotary head side-to-side movement; Start main camera rotary head motor, the side-to-side movement of main camera rotary head starts main camera pitching motor, and main camera moves up and down; Start coding device rotary head motor, the side-to-side movement of coding device rotary head starts coding device pitching motor, and the coding device moves up and down.
Start the sampling thief lifting motor, realize that by the sampling thief lifting screw sampling thief moves up and down.Start push-rod electric machine, realize that by the push rod screw rod electrostatic generator horizontal direction moves forward and backward.
Start back camera electric rotating machine, realize that by back camera rotary teeth wheel set back camera, illuminating lamp rotate up and down.
Start the digital sealing electric rotating machine, realize that different numerals beats sign indicating number.
As known from the above, air duct intelligent identifying, detecting and sampling robot of the present invention, have affix one's seal, numeral is beaten sign indicating number, ink-jet is beaten yard, laser is beaten functions such as sign indicating number, electrostatic precipitation, gluing dust suction, large aperture material (sponge) dust suction, illumination, walking, infrared induction, comprehensive shooting, stored digital, intelligent microcomputer is controlled, good working effect, equipment performance are stable, easy to operate, efficient height, precise structure, in light weight, storing is convenient.
Description of drawings
Fig. 1 is the machine shape structural representation of an embodiment of the present invention;
Fig. 2 is the forward sight structural representation of device shown in Figure 1;
Fig. 3 is the backsight structural representation of device shown in Figure 1;
Fig. 4 is the left TV structure synoptic diagram of device shown in Figure 1;
Fig. 5 is the plan structure synoptic diagram of device shown in Figure 1;
Fig. 6 is the forward sight structural representation (band broken section) of device shown in Figure 1;
Fig. 7 is the backsight structural representation (band broken section) of device shown in Figure 1;
Fig. 8 is the left TV structure synoptic diagram (fuselage band broken section) of device shown in Figure 1;
Fig. 9 is the left TV structure synoptic diagram (rotating band broken section) of device shown in Figure 1;
Figure 10 is Fig. 1 plan structure synoptic diagram (a band broken section);
Figure 11 is the laser numbering device forward sight structural representation that installs shown in Fig. 1;
Figure 12 is the laser numbering device left side TV structure synoptic diagram (band broken section) that installs shown in Figure 11;
Figure 13 is the ink-jet numbering device forward sight structural representation that installs shown in Fig. 1;
Figure 14 is the ink-jet numbering device left side TV structure synoptic diagram (band broken section) that installs shown in Figure 13;
Figure 15 is the seal numbering device forward sight structural representation that installs shown in Figure 13;
Figure 16 is the seal numbering device left side TV structure synoptic diagram (band broken section) that installs shown in Fig. 1;
Figure 17 is the seal numbering device plan structure synoptic diagram (band broken section) that installs shown in Fig. 1;
Figure 18 is that Fig. 1 is the embodiment contour structures synoptic diagram of wheel type traveling mechanism of the present invention;
Figure 19 is the left TV structure synoptic diagram of wheel type traveling mechanism among Figure 18;
Figure 20 is the plan structure synoptic diagram of wheel type traveling mechanism among Figure 18;
Figure 21 is the control circuit block diagram of a kind of embodiment;
Figure 22 is a kind of embodiment main control chip circuit diagram of single-chip microcomputer among Figure 21;
Figure 23 is a kind of embodiment circuit of camera and illuminating lamp control circuit among Figure 21;
Figure 24 is a kind of embodiment circuit of first level shifting circuit among Figure 21, second level shifting circuit and 12V DC power supply circuit, 24V DC power supply circuit, Voltage stabilizing module;
Figure 25 is a kind of embodiment circuit of sensor signal processing circuit among Figure 21;
Figure 26 does one group of circuit in the driving circuit of motor drive power supply by the 24V DC power supply circuit among Figure 21;
Figure 27 does one group of circuit in the driving circuit of motor drive power supply by the 12V DC power supply circuit among Figure 21;
Figure 28 is Figure 21 middle infrared (Mid-IR) sensor embodiment circuit diagram;
Figure 29 is a kind of embodiment wiring diagram that drives buffer circuit described in Figure 21;
In the accompanying drawings:
1, fuselage; 2, left track; 3, the right side crawler belt;
4, C type afterbody; 5, left driving gear; 6, left follower gear;
7, left driving gear shaft; 8, left driven gear shaft; 9, a left side is outer panel initiatively;
10,11, left infrared ray sensor; 12, coding device shell; 13, main head shell;
14, left rear light; 15, right rear light; 16, back camera;
17, Aviation Connector; 18, main camera illuminating lamp; 19, main camera;
20,21, main infrared ray sensor; 23,24, front lamp; 25, preceding camera;
26,27, preceding infrared ray sensor; 28, the sampling block mounting groove; 29, sampling thief;
30, pull bar; 31, main rotary head; 32, coding device rotary head;
33, main camera rotary head; 34, right drive motor; 35, right driving gear wheel set;
36, left drive motor; 37, left driving gear wheel set; 38, left driving gear shaft;
39, main rotary head motor; 40, main camera rotary head motor;
41, coding device rotary head motor; 42, main camera pitching motor; 43, coding device pitching motor;
44, main camera pitching gear pair; 45, coding device pitching gear pair; 46, main camera pitching gear shaft;
47, coding device pitching gear shaft; 48,49, main camera support; 50,51, coding device support;
52, the base plate motor; 53, base plate motor gear pair; 54, back camera electric rotating machine;
55, back camera rotary teeth wheel set; 56, back camera turning axle; 57, sampling thief lifting tooth wheel set;
58, the sampling thief lifting screw; 59, the push-rod electric machine gear pair; 60, the push rod screw rod;
61, electrostatic generator; 62, the base plate mobile rack; 63, the electrostatic precipitation plate;
64, rubberised layer, large aperture material layer dust-catching board; 65, movable base plate;
66, left circuit board; 67,68, left infrared ray sensor circuit board;
69, right driving gear; 70,73, right infrared ray sensor; 72, right circuit board;
71,74 right infrared ray sensor circuit boards; 75, right follower gear;
76,77,78,79, guide pole; 80,81, dust-catching board is installed the screens spring;
82,83, dust-catching board is installed screens; 84, push-rod electric machine; 85, the sampling thief lifting motor;
86, the pull bar cover plate; 87, laser is beaten harbour; 90, harbour is beaten in coding;
88,89, main infrared ray sensor circuit board; 91, the ink supply pipe;
92, ink container; 93, ink-filling hole; 94, seal;
95, digital sealing rotary teeth wheel set; 96, the seal cylindrical shell; 98, the seal axle;
97, seal units cylindrical shell gear pair; 99, the seal numeral; 100, direction seal electric rotating machine;
101, direction seal rotary teeth wheel set; 102, direction seal cylindrical shell gear pair;
103, the digital sealing electric rotating machine; 104, seal unit numbers driven tooth wheel set;
105, seal tens word gear pair; 106, left adhesion wheel; 107, left driven wheel;
108, right adhesion wheel; 109, right driven wheel; 110, right driven gear shaft.
Embodiment
A kind of air duct intelligent identifying, detecting and sampling robot, shown in Fig. 1～3, there is the both sides correspondence that the fuselage 1 of automatic travelling device is housed, described fuselage 1 front end is equipped with preceding infrared ray sensor 26,27, preceding camera 25 and the front lamp 23 that is positioned at preceding camera 25 both sides, 24, described fuselage 1 left-hand end is equipped with left infrared ray sensor 10,11, fuselage 1 right-hand end is equipped with right infrared ray sensor 70,73, back camera 16 is housed on the C type afterbody of described fuselage 1 rear end, rear lighting lamp 14,15 and Aviation Connector 17, sampling thief 29 is equipped with in described fuselage 1 top middle portion position, the coding device 12 and the main camera 19 that can circumferentially rotate is equipped with on this sampling thief 29 rear side fuselages 1 top, around this main camera 19 main camera illuminating lamp 18 is housed, is equipped with on this coding device 12 and can responds to the also main infrared ray sensor 20 of automatic measurement machine device people displacement, 21.
Described Aviation Connector 17 links to each other on the cable with control, is printed on as the size scale mark on this control cable.
Shown in Fig. 1,4,5, the structure of described automatic travelling device is, lower left side is equipped with left drive motor 36 before fuselage 1,36 of this left side drive motor link with left driving gear wheel set 37, this left side driving gear wheel set 37 links by left driving gear shaft 7 and left driving gear 5, left driven gear shaft 8 is housed on the fuselage 1 of left driving gear 5 rear sides and is contained in left follower gear 6 on the left driven gear shaft 8; On right side, fuselage 1 preceding bottom right drive motor 34 is housed, 34 of this right side drive motor link with right driving gear wheel set 35, this right side driving gear wheel set 35 links by right driving gear shaft 38 and right driving gear 69, right driven gear shaft 110 is housed on the fuselage 1 of right driving gear 69 rear sides and is contained in right follower gear 75 on the right driven gear shaft 110; Described left track 2 holds left driving gear 5 and left follower gear 6 and is contained on this left side driving gear 5 and the left follower gear 6, and described right side crawler belt 3 holds right driving gear 69 and right follower gear 75 and is contained on this right side driving gear 69 and the right follower gear 75.Described crawler belt adopts great friction coefficient, elastomeric rubber to make.
Shown in Fig. 8,10, sampling thief 29 is equipped with at described fuselage 1 middle part, and the structure of described sampling thief 29 is that the sampling thief lifting motor 85 that is contained in the fuselage 1 links by sampling thief lifting tooth wheel set 57 and sampling thief lifting screw 58; This push-rod electric machine 84 links by push-rod electric machine gear pair 59 and push rod screw rod 60, these push rod screw rod 60 1 sides are equipped with an electrostatic generator 61, electrostatic precipitation plate 63 and rubberised layer, large aperture material layer dust-catching board 64 are equipped with in these electrostatic generator 61 lower ends, this rubberised layer, large aperture material layer dust-catching board 64 downsides are equipped with one by the base plate mobile rack 62 of base plate motor 52 with secondary 53 engagements of base plate motor gear, and this base plate mobile rack 62 links to each other with movable base plate 65; Two ends, electrostatic generator 61 left and right sides by dust-catching board screens 82,83 are installed respectively and dust-catching board installation screens spring 80,81 is fixed on the pull bar cover plate 86, and this pull bar cover plate 86 is contained on the fuselage 1 by four guide poles 76,77,78,79.
When described electrostatic generator 61 is worked, by electrostatic precipitation plate 63 absorption dusts; Also can cooperate rubberised layer, large aperture material layer dust-catching board 64, be preferably sponge, the absorption dust by electrostatic generator 61.
Shown in Fig. 6,7,10, described main camera 19 places in the main head shell 13, this main camera 19 and main camera illuminating lamp 18 are contained on the main camera support 48,49 by main camera pitching gear shaft 46, and this main camera pitching gear shaft 46 links with main camera pitching motor 42 by main camera pitching gear pair 44; Described main camera support 48,49 is contained on the main camera rotary head 33, drive the main camera rotary head 33 that rotates in a circumferential direction by main camera rotary head motor 40 and be contained on the main rotary head 31, drive the main rotary head 31 that rotates in a circumferential direction by main rotary head motor 39 and be contained on the fuselage 1; Described back camera 16 and rear lighting lamp 14,15 link to each other with a back camera turning axle 56, and this back camera turning axle 56 links by back camera rotary teeth wheel set 55 and back camera electric rotating machine 54.
Shown in Fig. 4,6, described coding device 12 places in the coding device shell 12, and this coding device 12 is contained on the coding device support 50,51 by coding device pitch axis 47; This coding device pitch axis 47 links by coding device pitching gear pair 45 and coding device pitching motor 43; Described coding device support 50,51 is contained on the coding device rotary head 32, drive the coding device rotary head 32 that rotates in a circumferential direction by coding device rotary head motor 41 and be contained on the main rotary head 31, drive the main rotary head 31 that rotates in a circumferential direction by main rotary head motor 39 and be contained on the fuselage 1.
Shown in Figure 15,16,17, in the described coding device shell 12 seal 94 and seal numeral 99 are installed; Described seal 94 links to each other with seal cylindrical shell gear pair 102, this direction seal cylindrical shell gear pair 102 and 101 engagements of direction seal rotary teeth wheel set, and this direction seal rotary teeth wheel set 101 links with direction seal electric rotating machine 100;
Described seal numeral 99 comprises seal unit numbers and seal tens word, this seal numeral 99 is fixed on 96 weeks of seal cylindrical shell upwards, this seal cylindrical shell 96 is contained on the seal axle 98, this seal cylindrical shell 96 and a digital sealing rotary teeth wheel set 95 engagements, this digital sealing rotary teeth wheel set 95 and 97 engagements of seal units cylindrical shell gear pair, this digital sealing rotary teeth wheel set 95 links with digital sealing electric rotating machine 103; The seal unit numbers driven tooth wheel set 104 that is driven by seal units cylindrical shell gear pair 97 links to each other with seal tens word gear pair 105, and this seal unit numbers driven tooth wheel set 104 rotates a circle and drives 105 rotations 1/10th of seal tens word gear pair and enclose.
Main infrared ray sensor (20,21) and main infrared ray sensor circuit board (88,89) are equipped with in the both sides up and down of described seal numeral (99).
Further, referring to Figure 21, described air duct intelligent identifying, detecting and sampling robot also comprises control circuit, described control circuit comprises first level shifting circuit, second level shifting circuit, single-chip microcomputer, the 12V DC power supply circuit, 24V DC power supply circuit, camera and illuminating lamp control circuit, back camera electric rotating machine driving circuit, base plate moves driving circuit, sampling thief lifting motor driving circuit, push-rod electric machine driving circuit, main rotary head motor-drive circuit, coding device rotary head motor-drive circuit, main camera rotary head driving circuit, coding device pitching driving circuit, main camera pitching motor driving circuit, direction seal electric rotating machine driving circuit, digital sealing electric rotating machine driving circuit, infrared sensor control circuit, the vehicle body left row is walked motor-drive circuit, vehicle body right side movable motor driving circuit; And:
But the signal input part that the serial ports output of the microcomputer of photo that playback is taken at same position or the video of recording is connected to single-chip microcomputer through first level shifting circuit and second level shifting circuit of interface circuit successively with signal cable;
The control signal interface of described single-chip microcomputer is also respectively with camera and illuminating lamp control circuit, back camera electric rotating machine driving circuit, base plate moves driving circuit, sampling thief lifting motor driving circuit, the push-rod electric machine driving circuit, main rotary head motor-drive circuit, coding device rotary head motor-drive circuit, main camera rotary head driving circuit, coding device pitching driving circuit, main camera pitching motor driving circuit, direction seal electric rotating machine driving circuit, digital sealing electric rotating machine driving circuit, infrared sensor control circuit, the laser head control circuit, control circuit of ink-ejecting head, laser light generator control circuit, ink-jet system control circuit, the vehicle body left row is walked motor-drive circuit, and the prime signal controlling end of vehicle body right side movable motor driving circuit connects;
The back level signal controlling end of described camera and illuminating lamp control circuit is respectively with described illuminating lamp, camera and video acquisition card connection, wherein the output signal of camera is delivered to microcomputer through video frequency collection card, the back level signal controlling end of back camera electric rotating machine driving circuit links to each other with back camera electric rotating machine, the back level signal controlling end that base plate moves driving circuit links to each other with the base plate mobile motor, the back level signal controlling end of sampling thief lifting motor driving circuit links to each other with the sampling thief lifting motor, the back level signal controlling end of push-rod electric machine driving circuit links to each other with push-rod electric machine, the back level signal controlling end of main rotary head motor-drive circuit links to each other with main rotary head motor, the back level signal controlling end of coding device rotary head motor-drive circuit links to each other with coding device rotary head, the back level signal controlling end of main camera rotary head driving circuit links to each other with main camera rotary head, the back level signal controlling end of coding device pitching driving circuit links to each other with coding device pitching motor, the back level signal controlling end of main camera pitching motor driving circuit links to each other with main camera pitching motor, the equidirectional seal electric rotating machine of back level signal controlling end of direction seal electric rotating machine driving circuit links to each other, the back level signal controlling end of digital sealing electric rotating machine driving circuit links to each other with the digital sealing electric rotating machine, the back level signal controlling end of infrared sensor control circuit links to each other with each infrared sensor, the back level signal controlling end that the vehicle body left row is walked motor-drive circuit links to each other with vehicle body left side movable motor, and the back level signal controlling end of vehicle body right side movable motor driving circuit links to each other with vehicle body right side movable motor.
Also include the driving buffer circuit that is used for isolating microprocessor and motor in the described control circuit.
Described 12V DC power supply circuit each operating circuit of single-chip microcomputer left side in Figure 20 provides working power and provides working power through Voltage stabilizing module to single-chip microcomputer, and 24V DC power supply circuit each operating circuit of single-chip microcomputer right side in Figure 20 provides working power.
Figure 22 is a kind of embodiment main control chip circuit diagram of single-chip microcomputer among Figure 21, and wherein U1 is the main control chip of robot, and the run action of robot and the collection of various environmental parameters and processing all will be processed processing by this microprocessor.
Figure 23 is a kind of embodiment circuit diagram of camera and illuminating lamp control circuit among Figure 21, wherein (a) is lighting control circuit, J5 is the gang socket of light, the switching of light is to realize by the shutoff of triode Q9, Q12 and conducting, and the adjusting of the power of light is to regulate by PWM to realize; (b) be the camera control circuit, J6 is the gang socket of camera, and the switching of camera is to realize by the shutoff of triode Q1, Q5 and conducting.
Figure 24 is a kind of embodiment circuit of first level shifting circuit among Figure 21, second level shifting circuit and 12V DC power supply circuit, 24V DC power supply circuit, Voltage stabilizing module.Wherein (a) is the hardware watchdog circuit, and JPI is a hardware watchdog chip, and its main effect is at microprocessor because fortuitous event is out of control back from new startup microprocessor, thereby the safety of assurance system operation is leaned on; (b) be the line interface, promptly J1 is the line interface of drive part and microprocessor portion; Instruction after the J1 output conversion, (c) Voltage stabilizing module, wherein J2 is the power input of control circuit part, J2 connects the serial ports of microcomputer (host computer), obtains stable+5V voltage carrying out voltage stabilizing by integrated voltage stabilizing chip; (d) and (e) be respectively+the 12V power supply ,+the 24V power supply, wherein J3, J4 are the integrated regulators of driving circuit, for motor-driven provides stable voltage.
Figure 25 is a kind of embodiment circuit of sensor signal processing circuit among Figure 21 (interface circuit), and wherein J7 is corresponding sensor interface.
Figure 26 does one group of circuit in the driving circuit of motor drive power supply by the 24V DC power supply circuit among Figure 21, and U1, U2 are the driving circuit of large-current electric machine, mechanical motor wherein, and movable motor is all driven by them.
Figure 27 does one group of circuit in the driving circuit of motor drive power supply by the 12V DC power supply circuit among Figure 21, and U14, U15 are the driving circuit of little current motor, and the electric rotating machine of illuminating lamp, camera is driven by this circuit.
Referring to Fig. 1 and Figure 28, around the described fuselage 16 infrared ray sensors are housed altogether, 2 infrared ray sensors are housed on every kind of numbering device, each infrared ray sensor is made up of infrared emission circuit and receiving circuit, described infrared ray sensor is made up of infrared emission circuit and receiving circuit, and shown in Figure 30 (a), wherein the transmission high-frequency pulse signal is responsible for producing, regulates and is driven to the infrared emission circuit, shown in Figure 30 (b), infrared receiving circuit is responsible for receiving the high-frequency pulse signal that returns.Be the circuit of a kind of infrared ray sensor embodiment among Figure 21 as shown in figure 28, obtain the modulated pulse signal of a 38kHz by 38kHz crystal oscillator and not circuit; The infrared light that power valve sends is received by infrared receiving module after the object reflection; Return a digital signal by receiving after the inner integrated circuit that carries of head is handled, this digital signal is input to micro controller I/O mouth, and the infrared pulse that the reception head receives 38kHz returns output low level, otherwise the output high level; By the detection to the I/O mouth, whether can judgment object have or not detects near tube wall, prevents collision.
Figure 29 is a kind of embodiment wiring diagram of described driving buffer circuit, and wherein U10 plays microprocessor and the motor-driven effect isolated.
Such scheme adopts microcomputer control, has the operating platform of intelligent, robotization and software implementation, and device volume is little, flexible and convenient to use, walking, play a sign indicating number accurate positioning, shooting is conveniently timely with video recording, can directly generate video files.
The mechanical mechanism course of work of the present invention is as follows:
Referring to Fig. 1 to Figure 10, start left track drive motor 36 shown in Figure 10, left track seesaws; Start right side track drive motor 34, left track seesaws; By driver control vehicle body both sides crawler belt, then realize before and after the vehicle body walking and about turn.
Referring to Fig. 1 to Figure 10, start main rotary head motor 39 shown in Figure 6, main rotary head side-to-side movement; Start main camera rotary head motor 40, the side-to-side movement of main camera rotary head starts main camera pitching motor 42, and main camera moves up and down; Start coding device rotary head motor 41, the side-to-side movement of coding device rotary head starts coding device pitching motor 43, and the coding device moves up and down.
Referring to Fig. 1 to Figure 10, start sampling thief lifting motor 57 shown in Figure 8, realize that by the sampling thief lifting screw sampling thief moves up and down.Start push-rod electric machine 59, realize that by the push rod screw rod electrostatic generator horizontal direction moves forward and backward.
Referring to Fig. 1 to Figure 10, start back shown in Figure 8 camera electric rotating machine 54, realize that by back camera rotary teeth wheel set back camera, illuminating lamp rotate up and down.
Referring to Fig. 1 to Figure 10, start digital sealing electric rotating machine 103 shown in Figure 8, realize the different yardage words of beating.
Air duct intelligent identifying, detecting and sampling robot technical parameter of the present invention has:
1, drive part index: irregular slalom thing obstacle clearing capability is greater than 4.5cm, and climbing capacity is greater than 45 °.
2, monitor portion index: camera 800 everything elements; 360 ° of camera rotations.
3, beat the sign indicating number part index number: can about, the comprehensive sign indicating number of beating in the left and right sides.
A kind of air duct intelligent identifying, detecting and sampling robot, shown in Fig. 1～3, there is the both sides correspondence that the fuselage 1 of automatic travelling device is housed, described fuselage 1 front end is equipped with preceding infrared ray sensor 26,27, preceding camera 25 and the front lamp 23 that is positioned at preceding camera 25 both sides, 24, described fuselage 1 left-hand end is equipped with left infrared ray sensor 10,11, fuselage 1 right-hand end is equipped with right infrared ray sensor 70,73, back camera 16 is housed on the C type afterbody of described fuselage 1 rear end, rear lighting lamp 14,15 and Aviation Connector 17, sampling thief 29 is equipped with in described fuselage 1 top middle portion position, the coding device 12 and the main camera 19 that can circumferentially rotate is equipped with on this sampling thief 29 rear side fuselages 1 top, around this main camera 19 main camera illuminating lamp 18 is housed, is equipped with on this coding device 12 and can responds to the also main infrared ray sensor 20 of automatic measurement machine device people displacement, 21.
Shown in Figure 18～20, the structure of described automatic travelling device is, lower left side is equipped with left drive motor 36 before fuselage 1, and 36 of this left side drive motor link with left adhesion wheel 106, and left driven wheel 107 is housed on the fuselage 1 of left adhesion wheel 106 rear sides; On right side, fuselage 1 preceding bottom right drive motor 34 is housed, 34 of this right side drive motor link with right adhesion wheel 108, and right driven wheel 109 is housed on the fuselage 1 of right adhesion wheel 108 rear sides.Described each wheel adopts great friction coefficient, elastomeric rubber to make.
Under the control of left circuit board 66 and right circuit board 72, revolver drive motor 36 and right wheel drive motor 34 drive revolver adhesion wheel 106 and right wheel adhesion wheel 108 rotations respectively, realize that air duct intelligent identifying, detecting and sampling robot advances automatically, retreats or turns to.
As shown in Figure 9, left infrared ray sensor 10,11 is equipped with in left circuit board 66 both sides, and these left side infrared ray sensor 10,11 one sides are equipped with left infrared ray sensor circuit board 67,68.
Shown in Figure 13～14, in the described coding device shell 12 coding is installed and beats harbour 90, this coding is beaten harbour 90 upper ends and is provided with the ink-filling hole 93 that is communicated with an ink container 92, and this ink container 92 is beaten harbour 90 by ink supply pipe 91 and coding and is communicated with; Described coding is beaten harbour 90 and is linked to each other with ink-jet control system.Main infrared ray sensor 20,21 and main infrared ray sensor circuit board 88,89 are equipped with in the both sides up and down that harbour 90 is beaten in described coding.
As shown in figure 21, described air duct intelligent identifying, detecting and sampling robot also comprises and comprises control circuit of ink-ejecting head in the control circuit, the ink-jet system control circuit, the back level signal controlling end of described control circuit of ink-ejecting head links to each other with ink gun, and the back level signal controlling end of ink-jet system control circuit links to each other with ink-jet system.
Structure composition and its control mode of each parts of other of described air duct intelligent identifying, detecting and sampling robot are identical with embodiment 1, repeat no more.
A kind of air duct intelligent identifying, detecting and sampling robot, shown in Fig. 1～3, there is the both sides correspondence that the fuselage 1 of automatic travelling device is housed, described fuselage 1 front end is equipped with preceding infrared ray sensor 26,27, preceding camera 25 and the front lamp 23 that is positioned at preceding camera 25 both sides, 24, described fuselage 1 left-hand end is equipped with left infrared ray sensor 10,11, fuselage 1 right-hand end is equipped with right infrared ray sensor 70,73, back camera 16 is housed on the C type afterbody of described fuselage 1 rear end, rear lighting lamp 14,15 and Aviation Connector 17, sampling thief 29 is equipped with in described fuselage 1 top middle portion position, the coding device 12 and the main camera 19 that can circumferentially rotate is equipped with on this sampling thief 29 rear side fuselages 1 top, around this main camera 19 main camera illuminating lamp 18 is housed, is equipped with on this coding device 12 and can responds to the also main infrared ray sensor 20 of automatic measurement machine device people displacement, 21.
Shown in Figure 13～14, in the described coding device shell 12 laser is installed and beats harbour 87, this laser is beaten harbour 87 and is linked to each other with digital control and laser generation control system.
Main infrared ray sensor 20,21 and main infrared ray sensor circuit board 88,89 are equipped with in the both sides up and down that described laser is beaten harbour 87.
As shown in figure 21, comprise the laser head control circuit in the control circuit of described air duct intelligent identifying, detecting and sampling robot, laser light generator control circuit, the back level signal controlling end of described laser head control circuit links to each other with laser head, and the back level signal controlling end of laser light generator control circuit links to each other with laser generator.
Structure composition and its control mode of each parts of other of described air duct intelligent identifying, detecting and sampling robot are identical with embodiment 1, repeat no more.
Claims (11)
1. air duct intelligent identifying, detecting and sampling robot, there is the both sides correspondence that the fuselage (1) of automatic travelling device is housed, described fuselage (1) front end is equipped with preceding infrared ray sensor (26,27), before camera (25) and be positioned at the front lamp (23 of preceding camera (25) both sides, 24), described fuselage (1) left-hand end is equipped with left infrared ray sensor (10,11), fuselage (1) right-hand end is equipped with right infrared ray sensor (70,73), back camera (16) is equipped with in described fuselage (1) rear end, rear lighting lamp (14,15) and Aviation Connector (17), it is characterized in that, sampling thief (29) is equipped with in described fuselage (1) top middle portion position, the coding device (12) and the main camera (19) that can circumferentially rotate is equipped with on this sampling thief (29) rear side fuselage (1) top, this main camera (19) is equipped with main camera illuminating lamp (18) all around, is equipped with on this coding device (12) to respond to the also main infrared ray sensor (20 of automatic measurement machine device people displacement, 21).
2. air duct intelligent identifying, detecting and sampling robot according to claim 1, it is characterized in that, the structure of described automatic travelling device is, in the preceding lower left side of fuselage (1) left drive motor (36) is housed, this left side drive motor (36) axle links with left driving gear wheel set (37), this left side driving gear wheel set (37) by left driving gear shaft (7) with can link by the walk left driving gear (5) of distance of number of revolutions automatic measurement machine device people, left driven gear shaft (8) is housed on the fuselage (1) of left driving gear (5) rear side and is contained in left follower gear (6) on the left driven gear shaft (8); On right side, the preceding bottom of fuselage (1) right drive motor (34) is housed, this right side drive motor (34) axle links with right driving gear wheel set (35), this right side driving gear wheel set (35) by right driving gear shaft (38) with can link by the walk right driving gear (69) of distance of number of revolutions automatic measurement machine device people, right driven gear shaft (110) is housed on the fuselage (1) of right driving gear (69) rear side and is contained in right follower gear (75) on the right driven gear shaft (110); Described left track (2) hold left driving gear (5) and left follower gear (6) and be contained in this left side driving gear (5) and left follower gear (6) on, described right side crawler belt (3) hold right driving gear (69) and right follower gear (75) and be contained in this right side driving gear (69) and right follower gear (75) on.
3. air duct intelligent identifying, detecting and sampling robot according to claim 1, it is characterized in that, the structure of described automatic travelling device is, in the preceding lower left side of fuselage (1) left drive motor (36) is housed, this left side drive motor (36) axle links with left adhesion wheel (106), on the fuselage (1) of left adhesion wheel (106) rear side left driven wheel (107) is housed; On right side, the preceding bottom of fuselage (1) right drive motor (34) is housed, this right side drive motor (34) axle links with right adhesion wheel (108), on the fuselage (1) of right adhesion wheel (108) rear side right driven wheel (109) is housed.
4. air duct intelligent identifying, detecting and sampling robot according to claim 1, it is characterized in that, the structure of described sampling thief (29) is that the sampling thief lifting motor (85) that is contained in the fuselage (1) links by sampling thief lifting tooth wheel set (57) and sampling thief lifting screw (58); This push-rod electric machine (84) links by push-rod electric machine gear pair (59) and push rod screw rod (60), these push rod screw rod (60) one sides are equipped with an electrostatic generator (61), electrostatic precipitation plate (63) and rubberised layer, large aperture material layer dust-catching board (64) are equipped with in this electrostatic generator (61) lower end, this rubberised layer, large aperture material layer dust-catching board (64) downside are equipped with one by the base plate mobile rack (62) of base plate motor (52) with base plate motor gear pair (53) engagement, and this base plate mobile rack (62) links to each other with movable base plate (65); Electrostatic generator (61) two ends, the left and right sides by dust-catching board screens (82,83) are installed respectively and dust-catching board installation screens spring (80,81) is fixed on the pull bar cover plate (86), this pull bar cover plate (86) is by four guide poles (76,77,78,79) be contained on the fuselage (1).
5. air duct intelligent identifying, detecting and sampling robot according to claim 1, it is characterized in that, described main camera (19) places in the main head shell (13), this can be taken pictures or the main camera (19) and the main camera illuminating lamp (18) of recorded video are contained in by main camera pitching gear shaft (46) on the main camera support (48,49) at same position, and this main camera pitching gear shaft (46) links by main camera pitching gear pair (44) and main camera pitching motor (42); Described main camera support (48,49) is contained on the main camera rotary head (33), drive the main camera rotary head (33) that rotates in a circumferential direction by main camera rotary head motor (40) and be contained on the main rotary head (31), drive the main rotary head (31) that rotates in a circumferential direction by main rotary head motor (39) and be contained on the fuselage (1); Described back camera (16) and rear lighting lamp (14,15) link to each other with a back camera turning axle (56), and this back camera turning axle (56) links by back camera rotary teeth wheel set (55) and back camera electric rotating machine (54).
6. air duct intelligent identifying, detecting and sampling robot according to claim 1 is characterized in that, described coding device (12) places in the coding device shell (12), and this coding device (12) is contained on the coding device support (50,51) by coding device pitch axis (47); This coding device pitch axis (47) links by coding device pitching gear pair (45) and coding device pitching motor (43); Described coding device support (50,51) is contained on the coding device rotary head (32), drive the coding device rotary head (32) that rotates in a circumferential direction by coding device rotary head motor (41) and be contained on the main rotary head (31), drive the main rotary head (31) that rotates in a circumferential direction by main rotary head motor (39) and be contained on the fuselage (1).
7. air duct intelligent identifying, detecting and sampling robot according to claim 6 is characterized in that, seal (94) and seal numeral (99) are installed in the described coding device shell (12); Described seal (94) links to each other with seal cylindrical shell gear pair (102), this direction seal cylindrical shell gear pair (102) and direction seal rotary teeth wheel set (101) engagement, and this direction seal rotary teeth wheel set (101) links with direction seal electric rotating machine (100);
Described seal numeral (99) comprises seal unit numbers and seal tens word, this seal numeral (99) is fixed on seal cylindrical shell (96) week upwards, this seal cylindrical shell (96) is contained on the seal axle (98), this seal cylindrical shell (96) and a digital sealing rotary teeth wheel set (95) engagement, this digital sealing rotary teeth wheel set (95) and seal units cylindrical shell gear pair (97) engagement, this digital sealing rotary teeth wheel set (95) links with digital sealing electric rotating machine (103); The seal unit numbers driven tooth wheel set (104) that is driven by seal units cylindrical shell gear pair (97) links to each other with seal tens word gear pair (105), and this seal unit numbers driven tooth wheel set (104) rotates a circle and drives seal tens word gear pair (105) and rotate 1/10th and enclose;
The both sides up and down of described seal numeral (99) are equipped with and can be responded to the also main infrared ray sensor (20,21) and the main infrared ray sensor circuit board (88,89) of automatic measurement machine device people displacement.
8. air duct intelligent identifying, detecting and sampling robot according to claim 6, it is characterized in that, coding is installed in the described coding device shell (12) beats harbour (90), this coding is beaten harbour (90) upper end and is provided with the ink-filling hole (93) that is communicated with an ink container (92), and this ink container (92) is beaten harbour (90) by ink supply pipe (91) and coding and is communicated with; Described coding is beaten harbour (90) and is linked to each other with ink-jet control system;
The both sides up and down that harbour (90) is beaten in described coding are equipped with and can be responded to and the main infrared ray sensor (20,21) and the main infrared ray sensor circuit board (88,89) of automatic measurement machine device people displacement.
9. air duct intelligent identifying, detecting and sampling robot according to claim 6 is characterized in that, laser is installed in the described coding device shell (12) beats harbour (87), and this laser is beaten harbour (87) and linked to each other with digital control and laser generation control system;
The both sides up and down that described laser is beaten harbour (87) are equipped with and can be responded to and the main infrared ray sensor (20,21) and the main infrared ray sensor circuit board (88,89) of automatic measurement machine device people displacement.
10. according to the described air duct intelligent identifying, detecting and sampling robot of one of claim 1～9, it is characterized in that, it also comprises control circuit, and described control circuit comprises first level shifting circuit, second level shifting circuit, single-chip microcomputer, the 12V DC power supply circuit, 24V DC power supply circuit, camera and illuminating lamp control circuit, back camera electric rotating machine driving circuit, base plate moves driving circuit, sampling thief lifting motor driving circuit, push-rod electric machine driving circuit, main rotary head motor-drive circuit, coding device rotary head motor-drive circuit, main camera rotary head driving circuit, coding device pitching driving circuit, main camera pitching motor driving circuit, direction seal electric rotating machine driving circuit, digital sealing electric rotating machine driving circuit, infrared sensor control circuit, the laser head control circuit, control circuit of ink-ejecting head, laser light generator control circuit, ink-jet system control circuit, the vehicle body left row is walked motor-drive circuit, vehicle body right side movable motor driving circuit; And:
But the signal input part that the serial ports output of the microcomputer of photo that playback is taken at same position or the video of recording is connected to single-chip microcomputer through first level shifting circuit and second level shifting circuit of interface circuit successively with signal cable;
The control signal interface of described single-chip microcomputer is also respectively with camera and illuminating lamp control circuit, back camera electric rotating machine driving circuit, base plate moves driving circuit, sampling thief lifting motor driving circuit, the push-rod electric machine driving circuit, main rotary head motor-drive circuit, coding device rotary head motor-drive circuit, main camera rotary head driving circuit, coding device pitching driving circuit, main camera pitching motor driving circuit, direction seal electric rotating machine driving circuit, digital sealing electric rotating machine driving circuit, infrared sensor control circuit, the laser head control circuit, control circuit of ink-ejecting head, laser light generator control circuit, ink-jet system control circuit, the vehicle body left row is walked motor-drive circuit, and the prime signal controlling end of vehicle body right side movable motor driving circuit connects;
The 12V DC power supply circuit provides working power through Voltage stabilizing module to single-chip microcomputer, the back level signal controlling end of described camera and illuminating lamp control circuit is respectively with described illuminating lamp, camera and video acquisition card connection, wherein the output signal of camera is delivered to microcomputer through video frequency collection card, the back level signal controlling end of back camera electric rotating machine driving circuit links to each other with back camera electric rotating machine, the back level signal controlling end that base plate moves driving circuit links to each other with the base plate mobile motor, the back level signal controlling end of sampling thief lifting motor driving circuit links to each other with the sampling thief lifting motor, the back level signal controlling end of push-rod electric machine driving circuit links to each other with push-rod electric machine, the back level signal controlling end of main rotary head motor-drive circuit links to each other with main rotary head motor, the back level signal controlling end of coding device rotary head motor-drive circuit links to each other with coding device rotary head, the back level signal controlling end of main camera rotary head driving circuit links to each other with main camera rotary head, the back level signal controlling end of coding device pitching driving circuit links to each other with coding device pitching motor, the back level signal controlling end of main camera pitching motor driving circuit links to each other with main camera pitching motor, the equidirectional seal electric rotating machine of back level signal controlling end of direction seal electric rotating machine driving circuit links to each other, the back level signal controlling end of digital sealing electric rotating machine driving circuit links to each other with the digital sealing electric rotating machine, the back level signal controlling end of infrared sensor control circuit links to each other with each infrared sensor, the back level signal controlling end of laser head control circuit links to each other with laser head, the back level signal controlling end of control circuit of ink-ejecting head links to each other with ink gun, the back level signal controlling end of laser light generator control circuit links to each other with laser generator, the back level signal controlling end of ink-jet system control circuit links to each other with ink-jet system, the back level signal controlling end that the vehicle body left row is walked motor-drive circuit links to each other with vehicle body left side movable motor, and the back level signal controlling end of vehicle body right side movable motor driving circuit links to each other with vehicle body right side movable motor.
11. air duct intelligent identifying, detecting and sampling robot according to claim 1 is characterized in that, described Aviation Connector (17) links to each other on the cable with control, is printed on as the size scale mark on this control cable.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010101957159A CN101893524B (en) | 2010-06-09 | 2010-06-09 | Air duct intelligent identifying, detecting and sampling robot |
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| CN2010101957159A CN101893524B (en) | 2010-06-09 | 2010-06-09 | Air duct intelligent identifying, detecting and sampling robot |
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| CN101893524A true CN101893524A (en) | 2010-11-24 |
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| CN102193558A (en) * | 2011-03-04 | 2011-09-21 | 北京交通大学 | Stretchable driven type detection robot based on tumbleweed simulation |
| CN102896122A (en) * | 2012-05-16 | 2013-01-30 | 李坚 | Multifunctional cleaning robot for pipeline |
| CN102661740A (en) * | 2012-05-29 | 2012-09-12 | 李坚 | Intelligent measurement robot |
| CN103138398B (en) * | 2012-12-07 | 2014-12-17 | 国网浙江富阳市供电公司 | Electrical equipment viewing system |
| CN103138398A (en) * | 2012-12-07 | 2013-06-05 | 富阳市供电局 | Electrical equipment viewing system |
| CN103123030B (en) * | 2013-01-30 | 2015-03-18 | 北京信息科技大学 | Visual detection system of small pipe robot |
| CN103123030A (en) * | 2013-01-30 | 2013-05-29 | 北京信息科技大学 | Visual detection system of small pipe robot |
| CN103837535A (en) * | 2014-02-28 | 2014-06-04 | 成都大漠石油机械有限公司 | Detection equipment |
| CN103837535B (en) * | 2014-02-28 | 2016-01-20 | 成都大漠石油机械有限公司 | A kind of checkout equipment |
| CN103913350A (en) * | 2014-03-28 | 2014-07-09 | 环境保护部华南环境科学研究所 | Intelligent active mist drop sampling device |
| CN103913350B (en) * | 2014-03-28 | 2016-02-17 | 环境保护部华南环境科学研究所 | A kind of intelligent active cloud and mist drips sampling apparatus |
| CN106662877A (en) * | 2014-09-03 | 2017-05-10 | 戴森技术有限公司 | A mobile robot |
| CN104843100A (en) * | 2015-04-30 | 2015-08-19 | 王英英 | All-terrain movable measurement robot |
| CN105204086A (en) * | 2015-09-25 | 2015-12-30 | 番禺得意精密电子工业有限公司 | Laser detecting device |
| CN110211357A (en) * | 2019-06-03 | 2019-09-06 | 淮南师范学院 | A kind of robot wireless telecommunication system based on Corba middleware Technology Yu Ad hoc network |
| CN110211357B (en) * | 2019-06-03 | 2020-04-28 | 淮南师范学院 | Robot wireless communication system based on Corba middleware technology and Ad hoc network |
| CN113183105A (en) * | 2021-05-08 | 2021-07-30 | 重庆电子工程职业学院 | Quick-release maintenance platform for computer hardware |
| CN113586907A (en) * | 2021-06-08 | 2021-11-02 | 中绘云图信息科技有限公司 | Acquisition, investigation and compilation comprehensive processing device for space-time data of natural resources |
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