CN102768517A - Cable tunnel monitoring robot system - Google Patents
Cable tunnel monitoring robot system Download PDFInfo
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- CN102768517A CN102768517A CN2012102413368A CN201210241336A CN102768517A CN 102768517 A CN102768517 A CN 102768517A CN 2012102413368 A CN2012102413368 A CN 2012102413368A CN 201210241336 A CN201210241336 A CN 201210241336A CN 102768517 A CN102768517 A CN 102768517A
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Abstract
The invention discloses a cable tunnel monitoring robot system relating to the design field of robot systems. The technical scheme is as follows: the robot system comprises a monitoring center and a tunnel detection robot, wherein the tunnel detection robot comprises a microcontroller (MCU), an image collecting module, a motion control module, a communication module, a sensor module, an electronic label module, a battery power monitoring module, a fault data storage module and a clock module. The tunnel monitoring robot system disclosed by the invention is simple in structure and convenient to install, and the aim of monitoring the environment and the device state of a tunnel in real time is realized.
Description
Technical field
The invention belongs to the robot system design field, relate in particular to a kind of cable tunnel monitoring machinery robot system.
Background technology
Using underground space resource efficiently is an important means that solves problems such as the soil is in short supply in the urban development, and subterranean tunnel itself is the space of a relative closure, is not easy to find potential safety hazard.Thereby the real-time monitoring of environment in the tunnel and equipment just seemed particularly important.
Present existing tunnel monitoring equipment is primarily aimed at fire in the tunnel, and mainly adopts quantity of states such as cigarette sense, temperature to judge whether that fire takes place, and does not monitor the state of all the other equipment in the tunnel in real time.To also have a kind of mode with monitoring system be that the purpose that camera reaches real-time monitoring is placed at equal intervals distance and position point place in the tunnel in the tunnel in addition, and this kind mode needs the camera number many, and device structure too complicacy is not easy to install.
Summary of the invention
To the tunnel monitoring equipment of the present use of describing in the top technical background, the deficiency that aspect the device structure rationality, exists the present invention proposes a kind of cable tunnel monitoring machinery robot system.
Technical scheme of the present invention is, a kind of cable tunnel monitoring machinery robot system is characterized in that, said robot system comprises Surveillance center and tunnel detection machine people; Said tunnel monitoring robot comprises microcontroller MCU, image capture module, motion-control module, communication module, sensor assembly, electronic module tag, battery electric quantity monitoring modular, fault data memory module and clock module;
Wherein, said Surveillance center is connected through wireless signal with said tunnel detection machine people, and the state that is used to receive the tunnel monitoring robot is uploaded and the issuing of Surveillance center's steering order;
Said microcontroller MCU is connected with clock module with said image capture module, motion-control module, communication module, sensor assembly, electronic module tag, battery electric quantity monitoring modular, fault data memory module respectively, is used to obtain the relevant information of sensor assembly, electronic module tag, battery electric quantity monitoring modular and clock module;
Said image capture module is connected with said microcontroller MCU; Be used to gather the image information of tunnel environment;
Said motion-control module is connected with said microcontroller MCU; Be used to control tunnel monitoring robot travel direction and speed;
Said sensor assembly is connected with said microcontroller MCU; Be used for calculating in real time the attitude of tunnel monitoring robot and monitor the ambient temperature and humidity in the tunnel in real time;
Said communication module is connected with said microcontroller MCU; Be used for the state of tunnel monitoring robot is uploaded to Surveillance center, receive the steering order that Surveillance center sends simultaneously;
Said electronic module tag is connected with said microcontroller MCU; Be used to write down the information that the tunnel monitoring robot goes; Said information comprises upward slope, descending and turning;
Said battery electric quantity monitoring modular is connected with said microcontroller MCU; Be used for monitoring to tunnel monitoring robot battery electric quantity, prevent itself because electric weight is not enough situation out of service;
Said fault data memory module is connected with said microcontroller MCU; Be used for writing down the unusual condition of tunnel monitoring robot operational process;
Said clock module is connected with said microcontroller MCU; Time when clock log when being used to the total system operation is provided and record trouble take place.
Said sensor assembly comprises barometric pressure sensor, electronic gyroscope, methane transducer, temperature/humidity sensor and noise transducer; Be used to gather the various information in the tunnel.
Said tunnel monitoring robot moves on the orbit that has laid.
When said Surveillance center and said tunnel robot carry out data transmission, employing be transmitted in both directions; When said Surveillance center and said tunnel robot carry out the image transmission, employing be one-way transmission
The present invention is simple in structure, be convenient to install, and realized the purpose that the environment and the equipment state in tunnel are monitored in real time.
Description of drawings
Fig. 1 is the structural representation of a kind of cable tunnel provided by the invention monitoring machinery robot system;
Fig. 2 is the tunnel monitoring robot structural representation of a kind of cable tunnel provided by the invention monitoring machinery robot system.
Embodiment
Below in conjunction with accompanying drawing, preferred embodiment is elaborated.Should be emphasized that following explanation only is exemplary, rather than in order to limit scope of the present invention and application thereof.
Fig. 1 is the structural representation of a kind of cable tunnel provided by the invention monitoring machinery robot system.Among Fig. 1, a kind of cable tunnel monitoring machinery robot system comprises Surveillance center and tunnel monitoring robot, communicates through wireless signal between the two, and the state of accomplishing the tunnel monitoring robot is uploaded and the issuing of Surveillance center's steering order.
Fig. 2 is the tunnel monitoring robot structural representation of a kind of cable tunnel provided by the invention monitoring machinery robot system.Among Fig. 2, the tunnel monitoring robot comprises microcontroller MCU, image capture module, motion-control module, communication module, sensor assembly, electronic module tag, battery electric quantity monitoring modular, fault data memory module and clock module; Said sensor assembly comprises barometric pressure sensor, electronic gyroscope, methane transducer, temperature/humidity sensor and noise transducer; Said microcontroller MCU is connected with clock module with said image capture module, motion-control module, communication module, sensor assembly, electronic module tag, battery electric quantity monitoring modular, fault data memory module respectively, is used to obtain the relevant information of sensor assembly, electronic module tag, battery electric quantity monitoring modular, clock module.
Image capture module is used to gather the image information of tunnel environment, and is uploaded to Surveillance center; Motion-control module is used to control tunnel monitoring robot travel direction and speed; Sensor assembly is used for calculating in real time the attitude of tunnel monitoring robot and monitors the ambient temperature and humidity in the tunnel in real time; Communication module is used for the state of tunnel monitoring robot itself is uploaded to Surveillance center, receives the steering order that Surveillance center sends simultaneously; Electronic module tag is used to write down the tunnel relevant information of monitoring robot running rail and comprises upward slope, descending, turning etc.; The battery electric quantity monitoring modular is mainly used in the monitoring to tunnel monitoring robot battery electric quantity, prevent itself because electric weight is not enough situation out of service; The fault data memory module is used for writing down the unusual condition of tunnel monitoring robot operational process; Time when clock log when clock module is used to the total system operation is provided and record trouble take place.
The tunnel monitoring robot is a core with microcontroller MCU, through the cooperating between each module, and common the completion to environment in the tunnel and the equipment work of monitoring in real time.Microcontroller MCU is in each program in the performance period; Obtain the relevant information of sensor assembly, electronic module tag, battery electric quantity monitoring modular, clock module; According to these information motion-control module is sent instruction, control tunnel monitoring robot travel direction and speed, and through communication module with these information uploadings to Surveillance center; These information real-time are reflected in the Surveillance center, supply the operational monitoring personnel to check.
The above; Be merely the preferable embodiment of the present invention, but protection scope of the present invention is not limited thereto, any technician who is familiar with the present technique field is in the technical scope that the present invention discloses; The variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.
Claims (4)
1. a cable tunnel monitoring machinery robot system is characterized in that, said robot system comprises Surveillance center and tunnel detection machine people; Said tunnel monitoring robot comprises microcontroller MCU, image capture module, motion-control module, communication module, sensor assembly, electronic module tag, battery electric quantity monitoring modular, fault data memory module and clock module;
Wherein, said Surveillance center is connected through wireless signal with said tunnel detection machine people, and the state that is used to receive the tunnel monitoring robot is uploaded and the issuing of Surveillance center's steering order;
Said microcontroller MCU is connected with clock module with said image capture module, motion-control module, communication module, sensor assembly, electronic module tag, battery electric quantity monitoring modular, fault data memory module respectively, is used to obtain the relevant information of sensor assembly, electronic module tag, battery electric quantity monitoring modular and clock module;
Said image capture module is connected with said microcontroller MCU; Be used to gather the image information of tunnel environment;
Said motion-control module is connected with said microcontroller MCU; Be used to control tunnel monitoring robot travel direction and speed;
Said sensor assembly is connected with said microcontroller MCU; Be used for calculating in real time the attitude of tunnel monitoring robot and monitor the ambient temperature and humidity in the tunnel in real time;
Said communication module is connected with said microcontroller MCU; Be used for the state of tunnel monitoring robot is uploaded to Surveillance center, receive the steering order that Surveillance center sends simultaneously;
Said electronic module tag is connected with said microcontroller MCU; Be used to write down the information that the tunnel monitoring robot goes; Said information comprises upward slope, descending and turning;
Said battery electric quantity monitoring modular is connected with said microcontroller MCU; Be used for monitoring to tunnel monitoring robot battery electric quantity, prevent itself because electric weight is not enough situation out of service;
Said fault data memory module is connected with said microcontroller MCU; Be used for writing down the unusual condition of tunnel monitoring robot operational process;
Said clock module is connected with said microcontroller MCU; Time when clock log when being used to the total system operation is provided and record trouble take place.
2. a kind of cable tunnel according to claim 1 monitoring machinery robot system is characterized in that said sensor assembly comprises barometric pressure sensor, electronic gyroscope, methane transducer, temperature/humidity sensor and noise transducer; Be used to gather the various information in the tunnel.
3. a kind of cable tunnel according to claim 1 monitoring machinery robot system is characterized in that said tunnel monitoring robot moves on the orbit that has laid.
4. a kind of cable tunnel according to claim 1 monitoring machinery robot system is characterized in that, when said Surveillance center and said tunnel robot carry out data transmission, employing be transmitted in both directions; When said Surveillance center and said tunnel robot carry out the image transmission, employing be one-way transmission.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012102413368A CN102768517A (en) | 2012-07-11 | 2012-07-11 | Cable tunnel monitoring robot system |
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| CN2012102413368A CN102768517A (en) | 2012-07-11 | 2012-07-11 | Cable tunnel monitoring robot system |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102998594A (en) * | 2012-11-21 | 2013-03-27 | 河南理工大学 | Underground cable inspection and fault positioning device |
| CN104792356A (en) * | 2015-03-17 | 2015-07-22 | 国家电网公司 | Cable tunnel state monitoring system based on broadband leaky cable technology and design method thereof |
| EP2915634A1 (en) * | 2014-03-05 | 2015-09-09 | Kabushiki Kaisha Yaskawa Denki | Robot system, robot monitoring device, and robot monitoring method |
| CN105783997A (en) * | 2016-04-11 | 2016-07-20 | 中铁大桥科学研究院有限公司 | Automatic detection device and method of bridge box girder |
| CN108318084A (en) * | 2018-04-18 | 2018-07-24 | 山西尚风科技股份有限公司 | Totally-enclosed coal bunker monitors system |
| CN109458945A (en) * | 2018-12-26 | 2019-03-12 | 深圳市市政设计研究院有限公司 | A kind of tunnel deformation monitoring system and method based on digital photogrammetry technology |
| CN109990832A (en) * | 2019-02-28 | 2019-07-09 | 芜湖赛宝机器人产业技术研究院有限公司 | One kind being based on ZigBee technology Portable industrial robot monitoring device |
| CN110140094A (en) * | 2016-12-22 | 2019-08-16 | 罗博艾特有限责任公司 | Autonomous mobile robot and method for controlling autonomous mobile robot |
| CN112071317A (en) * | 2020-08-21 | 2020-12-11 | 国网山东省电力公司诸城市供电公司 | Cable tunnel monitoring management system |
| CN113433266A (en) * | 2021-06-10 | 2021-09-24 | 山东欧齐珞信息科技有限公司 | Method and system for monitoring gas components in whole tunnel |
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| JP2008085890A (en) * | 2006-09-28 | 2008-04-10 | Sumitomo Electric System Solutions Co Ltd | Radio transmission system and mobile station therefor |
| CN101468664A (en) * | 2007-12-24 | 2009-07-01 | 上海市电力公司电缆输配电公司 | Small-sized caterpillar belt inspect robot system for cable tunnel hazardous environment |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102998594A (en) * | 2012-11-21 | 2013-03-27 | 河南理工大学 | Underground cable inspection and fault positioning device |
| CN102998594B (en) * | 2012-11-21 | 2015-03-18 | 河南理工大学 | Underground cable inspection and fault positioning device |
| US9545722B2 (en) | 2014-03-05 | 2017-01-17 | Kabushiki Kaisha Yaskawa Denki | Robot system, robot monitoring device, and robot monitoring method |
| EP2915634A1 (en) * | 2014-03-05 | 2015-09-09 | Kabushiki Kaisha Yaskawa Denki | Robot system, robot monitoring device, and robot monitoring method |
| CN104890009A (en) * | 2014-03-05 | 2015-09-09 | 株式会社安川电机 | Robot system, robot monitoring device, and robot monitoring method |
| CN104792356A (en) * | 2015-03-17 | 2015-07-22 | 国家电网公司 | Cable tunnel state monitoring system based on broadband leaky cable technology and design method thereof |
| CN105783997A (en) * | 2016-04-11 | 2016-07-20 | 中铁大桥科学研究院有限公司 | Automatic detection device and method of bridge box girder |
| CN110140094A (en) * | 2016-12-22 | 2019-08-16 | 罗博艾特有限责任公司 | Autonomous mobile robot and method for controlling autonomous mobile robot |
| CN108318084A (en) * | 2018-04-18 | 2018-07-24 | 山西尚风科技股份有限公司 | Totally-enclosed coal bunker monitors system |
| CN109458945A (en) * | 2018-12-26 | 2019-03-12 | 深圳市市政设计研究院有限公司 | A kind of tunnel deformation monitoring system and method based on digital photogrammetry technology |
| CN109990832A (en) * | 2019-02-28 | 2019-07-09 | 芜湖赛宝机器人产业技术研究院有限公司 | One kind being based on ZigBee technology Portable industrial robot monitoring device |
| CN112071317A (en) * | 2020-08-21 | 2020-12-11 | 国网山东省电力公司诸城市供电公司 | Cable tunnel monitoring management system |
| CN113433266A (en) * | 2021-06-10 | 2021-09-24 | 山东欧齐珞信息科技有限公司 | Method and system for monitoring gas components in whole tunnel |
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Inventor after: Yang Guotian Inventor after: Li Zhao Inventor after: Wu Hua Inventor after: Liu Changan Inventor after: Liu Chunyang Inventor before: Yang Guotian Inventor before: Wu Hua Inventor before: Liu Changan Inventor before: Liu Chunyang Inventor before: Li Zhao |
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Free format text: CORRECT: INVENTOR; FROM: YANG GUOTIAN WU HUA LIU CHANGAN LIU CHUNYANG LI ZHAO TO: YANG GUOTIAN LI ZHAO WU HUA LIU CHANGAN LIU CHUNYANG |
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Application publication date: 20121107 |