CN104070540A - Industrial inspection robot - Google Patents
Industrial inspection robot Download PDFInfo
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- CN104070540A CN104070540A CN201310612852.1A CN201310612852A CN104070540A CN 104070540 A CN104070540 A CN 104070540A CN 201310612852 A CN201310612852 A CN 201310612852A CN 104070540 A CN104070540 A CN 104070540A
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Abstract
The invention relates to an industrial inspection robot which comprises a wheel type walking mechanism for walking, a communication module adopting WIFI, 3G, Zigbee, GPRS or the CDMA network, a monitoring camera shooting module for acquiring an image signal, a security alarm module for acquiring onsite security alarm signals, a processing unit connected with the wheel type walking mechanism, the communication module, the monitoring camera shooting module and the security alarm module and a power supply circuit. A remote control can be utilized to control the robot, and the network can also be utilized to remotely control the robot to walk, conduct moving monitoring and remotely control an electric appliance switch. Image monitoring signals and alarm signals can be transmitted to remote terminals like a computer, a mobile phone and a PDA automatically through the Internet, so that the industrial inspection robot is an intelligent robot integrating functions of remote control, mobile monitoring, security alarm and the like.
Description
Technical field
The present invention is a kind of industrial crusing robot, has especially Long-distance Control, security alarm and mobile monitoring function.
Background technology
Industry crusing robot is that a Long-distance Control, mobile monitor, the security alarm function gathered is in the intelligent robot of one.
Industry crusing robot, except possessing the function such as walking, remote control of robot, has also been realized the functions such as remote monitoring, radio alarming, mobile detection, real-time recording.The built-in wireless network communication module of industry crusing robot, local without configuration computer, can directly surf the Net, far-end is addressable by WIFI, 3G, Zigbee, GPRS or cdma network access, by issuing control order, robot in accordance with the instructions track route carries out safety monitoring, and possesses mobile detection function, can automatic camera or video recording when detecting after mobile object, and send to appointment mailbox, mobile phone, meet the multiple needs such as Subscriber Unit safety monitoring, equipment routing inspection, detecting/warning.
Industry crusing robot is applicable to the ground such as factory, station, airport, stadiums, unattended machine room, warehouse.
Industry crusing robot has met the higher pursuit of Subscriber Unit to safety monitoring alarming, equipment inspection conscientiously, makes to realize no longer just dream of mobile monitor, remote alarms by robot, makes robotics development move towards practical.
Summary of the invention
The object of this invention is to provide a kind of industrial crusing robot with the function such as security alarm and RMON and intelligent electric appliance control.
The object of the present invention is achieved like this, and a kind of industrial crusing robot comprises the communication module that adopts WIFI, 3G, Zigbee, GPRS or CDMA; And security alarm module, electrical control module and wheel type traveling mechanism and power-supplying circuit for walking, characterized by further comprising: the monitoring camera module of pickup image signal; And the receiver of remote-control sytem of reception remote controller control signal; And connect the processing unit of described receiver of remote-control sytem, power-supplying circuit, wheel type traveling mechanism, electrical control module, monitoring camera module, security alarm module, communication module.
Communication module of the present invention is made up of the antenna for receiving and transmitting signal and the network system with user end computer communication based on WIFI, 3G, Zigbee, GPRS or CDMA.
Industrial crusing robot of the present invention also comprises a security alarm module, and it comprises: the infrared remote receiver of the wireless signal that the transmitter of reception temperature sensor, humidity sensor, vibrating sensor is launched; And connect the output of described infrared remote receiver multiple decoder elements (31-1,31-2 ... 31-n), described multiple decoder elements (31-1,31-2 ... 31-n) connect processing unit via bus.
Described security alarm module realizes embedded-type electric with communication module and is connected, under the control of processing unit, utilize communication module and RTU as computer, mobile phone, PAD realize long-range security alarm function.
Industrial crusing robot of the present invention also comprises a monitoring camera module, and it is made up of The Cloud Terrace, support and the infrared CCD video camera that is contained in protective cover.
Industrial crusing robot of the present invention also comprises an electrical control module, and it comprises: the multiple coding units that connect respectively described processing unit; And connect the transmitting set of described multiple coding unit output;
Described transmitting set is the radiofrequency launcher with modulator, power promotion level and antenna.
Wheel type traveling mechanism of the present invention receives by receiver of remote-control sytem control signal that remote controller sends or by communication module receiving remote control instruction and be transferred to processing unit, processing unit control signal output is connected with the drive motors control end of wheel type traveling mechanism, by controlling the rotation of drive motors to wheel type traveling mechanism sending controling instruction, control the track route of industrial crusing robot.
Industrial crusing robot of the present invention also comprises a power-supplying circuit, and it comprises a charging power source device with automatic charging function.
Receiver of remote-control sytem of the present invention receives the control signal that remote controller sends and is transferred to processing unit; Wherein said processing unit control signal output is connected with the The Cloud Terrace drive motors control end of monitoring camera module, rotation by controlling The Cloud Terrace drive motors, to monitoring camera module sending controling instruction, is controlled the camera luffing angle of industrial crusing robot and rotates in a circumferential direction; Wherein said processing unit control signal output is connected with the drive motors control end of wheel type traveling mechanism, by controlling the rotation of drive motors to wheel type traveling mechanism sending controling instruction, controls the track route of industrial crusing robot.
Industrial crusing robot of the present invention can manipulate by remote terminal and two kinds of modes of remote controller.
Technique effect of the present invention is that the device that can pass through WIFI, 3G, Zigbee, GPRS or CDMA receiving remote control instruction is set on intelligent robot, and send and monitor and the device of alarm signal from trend remote terminal by wireless network, thereby make intelligent robot there is remote monitoring function, intelligent robot is become integrate the security assistant of monitoring, warning, Based Intelligent Control and equipment routing inspection.
Below in conjunction with accompanying drawing, the present invention is described in detail.
Brief description of the drawings
Fig. 1 is industrial crusing robot structure chart of the present invention;
Fig. 2 is the circuit theory diagrams of the security alarm module in Fig. 1;
Fig. 3 is the circuit theory diagrams of the electrical control module in Fig. 1;
Fig. 4 is family's electric control application scenarios data flowchart based on industrial crusing robot of the present invention;
The security alarm application scenarios data flowchart of Fig. 5 based on industrial crusing robot of the present invention;
Fig. 6 has shown an application scenarios data flowchart of industrial crusing robot of the present invention.
Detailed description of the invention
Fig. 1 has shown the structure of industrial crusing robot of the present invention.As shown in Figure 1, industrial crusing robot comprises the communication module 2 that adopts WIFI, 3G, Zigbee, GPRS or CDMA.
Described communication module 2 is via the access device interconnection network of WIFI, 3G, Zigbee, GPRS or CDMA, so that the remote operation instruction that receiving remote terminal sends via network, and send local monitor information via network to remote terminal.
Industrial crusing robot of the present invention also comprises: security alarm module 3, electrical control module 5 and wheel type traveling mechanism 6 and power-supplying circuit 7 for walking; And the monitoring camera module 4 of pickup image signal; And the receiver of remote-control sytem 8 of reception remote controller control signal; And connect the processing unit 1 of described receiver of remote-control sytem 8, power-supplying circuit 7, wheel type traveling mechanism 6, electrical control module 5, monitoring camera module 4, security alarm module 3, communication module 2.
Communication module 2 of the present invention is by the antenna for receiving and transmitting signal, and based on network system composition WIFI, 3G, Zigbee, GPRS or CDMA and user end computer communication.
The present invention also comprises the security alarm module 3 that connects processing unit 1.As shown in Figure 2, this security alarm module 3 is infrared remote receivers 32 of the wireless signal launched by the transmitter that receives temperature sensor, humidity sensor, vibrating sensor to the structure of this security alarm module 3; And connect multiple decoder elements that described infrared remote receiver 32 exports (31-1,31-2 ... 31-n) connect processing unit 1 via bus.
The wireless receiver 32 of the wireless signal that the transmitter of each alarm sensors 12 such as reception temperature sensor, humidity sensor is launched; Connect multiple decoder element 31-1,31-2 that described wireless receiver 32 exports ... 31-n, described multiple decoder element 31-1,31-2 ... 31-n connects processing unit 1 via bus.
The transmitter of alarm sensor 12 sends the wireless signal of the sensor coding respectively each sensor being detected, therefore by multiple decoder elements this wireless signal of decoding, just can determine that received wireless alarm signal belongs to the signal which sensor detects, like this, process and send to after remote terminal by communication module 2 by predetermined protocol via processing unit 1, remote terminal just can show the sensor that detects abnormal conditions.
Described security alarm module 3 realizes embedded-type electric with communication module 2 and is connected, under the control of processing unit 1, utilize communication module 2 and RTU as computer, mobile phone, PDA realize long-range security alarm function.
Monitoring camera module 4 of the present invention is made up of the infrared CCD video camera that is arranged on The Cloud Terrace, the support in robot and be contained in protective cover.
Monitoring camera module 4 comprises monitoring camera module 4 and comprises 1 infrared CCD CCTV camera, and the instruction works that monitoring camera can send according to remote terminal 11 also can be used as and monitors that probe carries out real time monitoring.The image that monitoring camera module 4 is absorbed carries out after image processing (can comprise the dsp processor of a special disposal image in this processing unit 1) via processing unit 1, be connected to WIFI, 3G, Zigbee, GPRS or cdma network via communication module 2 and send to remote terminal 11, the user of remote terminal 11 just can be by watching screen to monitor in real time like this, and the walking of the image control robot that can observe.
Electrical control module 5 of the present invention, as shown in Figure 3, this electrical control module 5 comprises the structure of this electrical control module 5: connect respectively multiple coding unit 51-1 of described processing unit 1,51-2,51-n; And connect described multiple coding unit 51-1,51-2, the transmitting set 52 of 51-n output.
Described transmitting set 52 is the wireless control signal through coding to each electric appliance wireless receiver transmitting, the electric appliance wireless receiver of this wireless control signal of decodable code is (not shown, can be separately positioned near corresponding electrical equipment) by this wireless control signal of decoding, make its make and break contact be serially connected in relay switch or the electronic switch action on mains supply loop, thereby be switched on or switched off electrical equipment 12 (referring to Fig. 6).
For example, in the time that processing unit 1 receives that via Wireless LAN module 2 remote terminal 11 is opened the instruction of No. 1 electrical equipment, processing unit 1 will send to coding unit 51-1 according to corresponding address to open command that should instruction, coding unit 51-1 can be to No. 1 electric appliance wireless receiver of No. 1 electrical equipment of the control of its decoding through being transmitted to by transmitting set 52 after instruction encoding to opening, and this receiver is connected the mains supply of No. 1 electrical equipment subsequently.
Wireless launcher 52 can be radiofrequency launcher or RF transmitter.If radiofrequency launcher, should have modulator, power promotion level and antenna.
Wheel type traveling mechanism 6 of the present invention receives by receiver of remote-control sytem 8 control signal that remote controller 10 sends or by communication module 2 receiving remote control instructions and be transferred to processing unit 1, processing unit 1 control signal output is connected with the drive motors control end of wheel type traveling mechanism 6, by controlling the rotation of drive motors to wheel type traveling mechanism 6 sending controling instructions, control the track route of industrial crusing robot.
Power-supplying circuit 7 of the present invention comprises a charging power source device with automatic charging function.
Receiver of remote-control sytem 8 of the present invention receives the control signal that remote controller 10 sends and is transferred to processing unit 1; Wherein said processing unit 1 control signal output is connected with the The Cloud Terrace drive motors control end of monitoring camera module 4, rotation by controlling The Cloud Terrace drive motors, to monitoring camera module 4 sending controling instructions, is controlled the camera luffing angle of industrial crusing robot and rotates in a circumferential direction; Wherein said processing unit 1 control signal output is connected with the drive motors control end of wheel type traveling mechanism 6, by controlling the rotation of drive motors to wheel type traveling mechanism 6 sending controling instructions, controls the track route of industrial crusing robot.
Processing unit 1 of the present invention is resolved the operational order that wireless local module 2 receives from remote terminal via network, is decomposed into corresponding sub-instructions data, so that
1) control the corresponding motor work of the wheels walking in wheel type traveling mechanism 6, thereby can make robot walk according to the instruction of remote terminal;
2) control the corresponding motor work of the driving cloud platform rotation in monitoring camera module 4, carry out angle of pitch adjustment and circumferentially rotate according to the instruction of remote terminal thereby can make to be arranged on robot ccd video camera with it.
Coordinate diagram below, the application scenarios of the present invention's industry crusing robot is described by 3 examples.
Electrical equipment control operating process as shown in Figure 4, in the time that processing unit 1 receives that via communication module 2 remote terminal 11 is opened the instruction of electrical equipment 12 (such as electric light), processing unit 1 will send to coding unit 51-1 according to corresponding address to open command that should instruction, coding unit 51-1 can be to the wireless receiver of the control apparatus of its decoding 12 (such as electric light) through being transmitted to by transmitting set 52 after instruction encoding to opening, and this receiver is connected the mains supply of electrical equipment 12 (such as electric light) subsequently.Electrical equipment 12 (such as electric light) can return to the remote terminal 11 (step 4 and 5) of operating result to user after opening.
Monitoring alarm working method as shown in Figure 5, imagination has suddenly a robber to enter in Subscriber Unit, in unit, the video camera of industrial crusing robot triggers mobile detection function, dials immediately the 3G mobile warning that keeper carries, and starts video record and camera function (step 1); 3G robot on the one hand by 3G mobile communication network by video flowing and picture-storage to the memory space of specifying, on the other hand by voice call to User Alarms (step 2-3); Keeper is receiving after the audio alert information of phone, can starting hand-set video, implement to check the situation in workshop, and alert notice workshop security personnel and police immediately.User can utilize video file and the picture of industrial crusing robot transmission and backup to provide strong evidence to the police afterwards.
Fig. 6 has shown concrete application of the present invention.As shown in Figure 6, industrial crusing robot 9 is connected with Internet wide area network by WLAN (WLAN WAP, router), thereby forms remote signal passage.Remote signal passage is used for transmitting image, warning message and remote control signal.
Industry crusing robot 9 has two kinds of communication modes, with remote controller 10 close range wireless communications, or be connected with WIFI, 3G, Zigbee, GPRS or cdma network by communication module, thereby form remote signal passage, industrial crusing robot 9 is used for transmitting image, warning message and remote control signal by connecting remote signal passage.
Industry crusing robot 9 utilizes 315M/433M/868M/915M to exempt from licence plate frequency range wireless transmission technology in the time of work, adopt the alarm for safety guards 13 such as encryption communication agreement and thermometric, hygrometric, survey cigarette, vibration measuring to form on-site signal passage, on-site signal passage is used for transmitting security alarm information.
Industry crusing robot 9 can be transmitted control signal and be commanded it to work at the scene by the computer of remote controller 10 or remote terminal 11, walk arbitrarily by controlling wheel type traveling mechanism 6 controls, and can be by controlling monitoring camera module 4, adjust the setting of camera parameter, optionally in remote computer, watch, store all on-the-spot situations.
Industry crusing robot 9 has electric control function, can send by remote computer electrical equipment 12 working methods at remote control signal control scene.
Industry crusing robot 9 has warning function, and in the time that the alarms 13 such as thermometric, hygrometric, survey cigarette, vibration measuring produce alert, the machine sends the computer of discernible alarm signal to remote terminal 11.
Industry crusing robot 9 can utilize automatic charging module (charging by received RF electric energy) to carry out automatic charging.
In sum, the present invention by arranging the device that can pass through WIFI, 3G, Zigbee, GPRS or cdma network receiving remote control instruction on intelligent robot, and send and monitor and the device of alarm signal from trend remote terminal by network, thereby make intelligent robot there is remote monitoring function, intelligent robot is become integrate the security assistant of remote monitoring, security alarm, electrical equipment control and equipment routing inspection.
Although above the present invention is had been described in detail, but the invention is not restricted to this, those skilled in the art of the present technique can carry out the amendment on various forms according to principle of the present invention, for example, draw that the present invention has obviously used but not shown mould/number and digital-to-analog converter outside processor frame.Therefore, all amendments of doing according to the principle of the invention, all should be understood to fall into protection scope of the present invention.
Claims (9)
1. an industrial crusing robot, comprises the communication module (2) that adopts WIFI, 3G, Zigbee, GPRS or CDMA; And
Security alarm module (3), electrical control module (5) and for the wheel type traveling mechanism (6) of walking and
Power-supplying circuit (7), characterized by further comprising:
The monitoring camera module (4) of pickup image signal; And
Receive the receiver of remote-control sytem (8) of remote controller control signal; And
Connect the processing unit (1) of described receiver of remote-control sytem (8), power-supplying circuit (7), wheel type traveling mechanism (6), electrical control module (5), monitoring camera module (4), security alarm module (3), communication module (2).
2. industrial crusing robot according to claim 1, is characterized in that described communication module (2) is made up of the antenna for receiving and transmitting signal and the network system with remote terminal computer communication based on WIFI, 3G, Zigbee, GPRS or CDMA.
3. industrial crusing robot according to claim 1, is characterized in that described security alarm module (3) comprising:
The infrared remote receiver (32) of the wireless signal that the transmitter of reception temperature sensor, humidity sensor, vibrating sensor is launched; And
Connect multiple decoder element (31-1 of described infrared remote receiver (32) output, 31-2 ... 31-n), described multiple decoder element (31-1,31-2 ... 31-n) connect processing unit (1) via bus.
4. industrial crusing robot according to claim 3, it is characterized in that described security alarm module (3) realizes embedded-type electric with communication module (2) and is connected, under the control of processing unit (1), utilize communication module (2) and RTU to realize long-range security alarm function.
5. industrial crusing robot according to claim 1, is characterized in that described monitoring camera module (4) is made up of The Cloud Terrace, support and the infrared CCD video camera that is contained in protective cover.
6. industrial crusing robot according to claim 1, is characterized in that described electrical control module (5) comprising:
Connect respectively multiple coding units (51-1,51-2,51-n) of described processing unit (1); And
Connect the transmitting set (52) of described multiple coding unit (51-1,51-2,51-n) output;
Wherein said transmitting set (52) is the radiofrequency launcher with modulator, power promotion level and antenna.
7. industrial crusing robot according to claim 1, it is characterized in that described wheel type traveling mechanism (6) receives by receiver of remote-control sytem (8) control signal that remote controller (10) sends or by communication module (2) receiving remote control instruction and be transferred to processing unit (1), processing unit (1) control signal output is connected with the drive motors control end of wheel type traveling mechanism (6), by controlling the rotation of drive motors to wheel type traveling mechanism (6) sending controling instruction, control the track route of industrial crusing robot.
8. industrial crusing robot according to claim 1, is characterized in that described power-supplying circuit (7) comprises a charging power source device with automatic charging function.
9. industrial crusing robot according to claim 1, is characterized in that described receiver of remote-control sytem (8) receives the control signal that remote controller (10) sends and is transferred to processing unit (1);
Wherein said processing unit (1) control signal output is connected with the The Cloud Terrace drive motors control end of monitoring camera module (4), rotation by controlling The Cloud Terrace drive motors, to monitoring camera module (4) sending controling instruction, is controlled the camera luffing angle of industrial crusing robot and rotates in a circumferential direction;
Wherein said processing unit (1) control signal output is connected with the drive motors control end of wheel type traveling mechanism (6), by controlling the rotation of drive motors to wheel type traveling mechanism (6) sending controling instruction, control the track route of industrial crusing robot.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310612852.1A CN104070540A (en) | 2013-11-28 | 2013-11-28 | Industrial inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310612852.1A CN104070540A (en) | 2013-11-28 | 2013-11-28 | Industrial inspection robot |
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| CN104070540A true CN104070540A (en) | 2014-10-01 |
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| CN104325455A (en) * | 2014-10-21 | 2015-02-04 | 国家电网公司 | System and method for controlling movement of railway robot in valve hall room |
| CN104714550A (en) * | 2015-03-11 | 2015-06-17 | 武汉汉迪机器人科技有限公司 | Mecanum wheel omni-directional mobile inspection robot |
| CN106531484A (en) * | 2016-11-23 | 2017-03-22 | 国网四川省电力公司成都供电公司 | High-voltage switchgear onsite opening automatic operation robot |
| CN106976090A (en) * | 2017-06-07 | 2017-07-25 | 合肥汇之新机械科技有限公司 | A kind of security protection industrial robot |
| CN107135517A (en) * | 2017-05-18 | 2017-09-05 | 北京艾瑞思机器人技术有限公司 | A kind of communication system for being applied to storage mobile robot |
| CN107407936A (en) * | 2015-03-17 | 2017-11-28 | 亚马逊技术股份有限公司 | To promote the system and method that man/machine interacts |
| CN107972040A (en) * | 2017-11-10 | 2018-05-01 | 深圳市赛亿科技开发有限公司 | Intelligent robot |
| CN108092969A (en) * | 2017-12-13 | 2018-05-29 | 国家电网公司 | The system and method for Intelligent Mobile Robot acquisition image access electric power Intranet |
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| CN104325455A (en) * | 2014-10-21 | 2015-02-04 | 国家电网公司 | System and method for controlling movement of railway robot in valve hall room |
| CN104714550A (en) * | 2015-03-11 | 2015-06-17 | 武汉汉迪机器人科技有限公司 | Mecanum wheel omni-directional mobile inspection robot |
| CN107407936A (en) * | 2015-03-17 | 2017-11-28 | 亚马逊技术股份有限公司 | To promote the system and method that man/machine interacts |
| CN106531484A (en) * | 2016-11-23 | 2017-03-22 | 国网四川省电力公司成都供电公司 | High-voltage switchgear onsite opening automatic operation robot |
| CN106531484B (en) * | 2016-11-23 | 2018-12-25 | 国网四川省电力公司成都供电公司 | A kind of high-tension switch cabinet separating brake automated handling machines people on the spot |
| CN107135517A (en) * | 2017-05-18 | 2017-09-05 | 北京艾瑞思机器人技术有限公司 | A kind of communication system for being applied to storage mobile robot |
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| CN106976090A (en) * | 2017-06-07 | 2017-07-25 | 合肥汇之新机械科技有限公司 | A kind of security protection industrial robot |
| CN107972040A (en) * | 2017-11-10 | 2018-05-01 | 深圳市赛亿科技开发有限公司 | Intelligent robot |
| CN108092969A (en) * | 2017-12-13 | 2018-05-29 | 国家电网公司 | The system and method for Intelligent Mobile Robot acquisition image access electric power Intranet |
| CN109991892A (en) * | 2017-12-29 | 2019-07-09 | 中国科学院沈阳自动化研究所 | A kind of inside transformer detection robot control system and control method |
| CN109676623A (en) * | 2019-01-23 | 2019-04-26 | 广东水利电力职业技术学院（广东省水利电力技工学校） | Assist management robot |
| CN110083117A (en) * | 2019-05-21 | 2019-08-02 | 河南赛普斯特仪器仪表有限公司 | A kind of intelligent inspection robot and system for warehouse logistics |
| CN110576456A (en) * | 2019-09-22 | 2019-12-17 | 国网山东省电力公司莱芜供电公司 | Robot patrols line terminal based on electric power engineering |
| CN111255216A (en) * | 2020-03-09 | 2020-06-09 | 上海雅跃智能科技有限公司 | Movable chassis |
| CN111708289A (en) * | 2020-05-25 | 2020-09-25 | 北京金盛通科技发展有限责任公司 | Monitoring device for machine room safety detection |
| CN111648584A (en) * | 2020-06-15 | 2020-09-11 | 上海雅跃智能科技有限公司 | Inspection robot based on climbing frame |
| CN111965259A (en) * | 2020-08-19 | 2020-11-20 | 深圳职业技术学院 | Fault detection and inspection system based on sound waves |
| CN111965259B (en) * | 2020-08-19 | 2021-05-07 | 深圳职业技术学院 | Fault detection and inspection system based on sound waves |
| CN112184521A (en) * | 2020-09-22 | 2021-01-05 | 江苏恒鑫安工业科技有限公司 | Security supervision management platform based on Internet of things |
| CN115122319A (en) * | 2022-03-23 | 2022-09-30 | 洛阳紫垣信息技术有限公司 | Automatic control system of agricultural inspection robot |
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