CN104267731B - Indoor track type intelligent patrolling robot system based on combined track - Google Patents
Indoor track type intelligent patrolling robot system based on combined track Download PDFInfo
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- CN104267731B CN104267731B CN201410563606.6A CN201410563606A CN104267731B CN 104267731 B CN104267731 B CN 104267731B CN 201410563606 A CN201410563606 A CN 201410563606A CN 104267731 B CN104267731 B CN 104267731B
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Abstract
The invention discloses an indoor track type intelligent patrolling robot system based on a combined track. The system comprises the combined track and a robot body. The robot body comprises a drive system, a detecting assembly, a holder, a synchronous belt system, a movable platform and a control system, wherein the control system is arranged on the movable platform, the holder is fixed to the upper end of the movable platform, the detecting assembly is fixed to the holder, the synchronous belt system is fixedly connected with the combined track, the driving system is fixed to the movable platform, the movable platform is placed on the combined track, and the drive system provides power to enable a robot to move along the combined track. The wall-mounted combined track is adopted, the robot can move in two or more vertical planes, the combined mode meets the diverse and complex detecting requirements of indoor equipment detection, and according to the actual detecting requirement, a horizontal track or a vertical track can be independently taken out to independently form a system detection robot system.
Description
Technical field
The invention belongs to robot field is and in particular to indoor track type intelligent inspection robot system based on combined track
System.
Background technology
Indoor power equipment one side needs enough reliabilities, is on the other hand also required in time detection to find simultaneously
There is the equipment of potential risk it is ensured that power system normally runs in maintenance.To guarantee, it reliably pacifies the real-time detection of indoor equipment
Row for the national games is significant.Real-time detection easily and flexibly can be carried out using track machine people to indoor equipment, understand equipment
Running status.
The technical problem that existing interior track type intelligent inspection robot exists is as follows:
1st, current mobile robot is mainly by the way of wheeled, crawler belt or composite flooding.Because of the interior space and detection
The restriction of device layout, will realize omnibearing detection function, need the robot can be orthogonal two or more flat
In-plane moving, and can independently realize the transfer between different motion plane.Conventional drum drives or crawler type type of drive is real
Motion transfer relative difficulty between existing vertical plane, and the monitoring time that the detection of indoor equipment is required is long, positioning precision is high,
Using the requirement that cannot meet detection time from charged pool.
2, currently used for the mobile robot patrolling and examining indoor equipment information, have the equipment of high electrical-magnetic compatibility for interior
On the one hand electromagnetic disturbance should be able to be produced as small as possible, on the other hand electromagnetic disturbance to external world should have relatively low susceptibility.?
In electronic device design, using structual shield method be conventional raising Electro Magnetic Compatibility means.Structure electromagnetic shielding will
Ask and between faying face, have good electric continuity.All there is deformation in processing in hardware, especially for platy structure
It is more prone to big deformation and cannot correct, so result in that to combine in two structural members be to produce gap and affect to shield
Effect.
3 have some defects, for example currently used for the mobile robot patrolling and examining indoor equipment information, ventilation and heat part:
Shielding vent window is mainly used at the necessary ventilation orifice of electronic equipment, can take into account the dual work of emi shielding and good ventilation
With.Existing electromagnetic shielding window has the disadvantage in that (a) existing electromagnetic shielding window does not have dust-proof function, divulges information and makes
Become the dust accumulation in casing, dust can greatly reduce the service life of equipment；Between (b) existing electromagnetic shielding window and casing
Sealing effectiveness bad, there is gap between electromagnetic shielding window and casing, the effect of impact electromagnetic shielding.
4 Indoor Robots easily cause the jiggly problem of operation during running.
Content of the invention
The present invention is in order to solve the above problems it is proposed that a kind of indoor rail mounted intelligent inspection machine based on combined track
People's system, is originally arranged on two or more indoor walls orthogonal, passes through camber track in two wall corners real
Existing continued access.The space that combined track is formed covers the equipment needing detection, and detection components can accurately reach in detection plane
Optional position, realize visible ray and the infrared detection of indoor equipment of interest.
To achieve these goals, the present invention adopts the following technical scheme that
Based on the indoor track type intelligent inspection robot system of combined track, including Surveillance center, described Surveillance center
Pass through network connection with least one robot terminal system, described robot terminal system includes combined track and robot basis
Body, robot body includes drive system, detection components, head, Timing Belt system, mobile platform and control system, wherein, moves
Control system is fixed on moving platform, mobile platform upper end is fixed with head, and detection components are fixed on head, Timing Belt system with
Combined track is fixedly connected, and drive system is fixed on mobile platform, and mobile platform is positioned on combined track, and drive system carries
For power, Robot combined track is made to move.
Described Surveillance center includes at least one server, at least one monitoring host computer and corresponding alarm device；Wherein,
Described monitoring host computer has all of supervision in video monitoring center, control and management function, and Land use models technology of identification is to regarding
Frequency and picture carry out intellectual analysis；Described server storage temporal information, photo and video file, for quick-searching；Report to the police
Device is system hardware and software anomaly alarming device or/and monitoring alarm, and wherein, it is different that monitoring alarm is selected from environmental information
Often alarm device, fire fighting alarm device, break in one or more of alarm device, video movable alarm device.
Described combined track, including horizontal rail and vertical rail, horizontal rail includes the Liang Tiaoshui be arrangeding in parallel up and down
Plate turn track, two tracks are provided with tooth bar, two flat bank tracks are respectively equipped with a level and can turn to mobile putting down
Platform, can turn to equipped with motor and gear on mobile platform, gear engages drive with the tooth bar on track and can turn to mobile platform water
Flat motion.
Described two flat bank track installation are on indoor wall；
The two ends of described vertical rail can turn to mobile platform with upper and lower two respectively and be fixedly connected.
The described mobile platform that turns to can also include installing plate, two groups of rollers and bearing, and two groups of rollers are by bearing even
Connect on a mounting board.
Depending on the spacing of described upper and lower two flat bank tracks is according to detection range requirement, it is 1 meter～10 meters.
Trolley is installed on described flat bank track.
The two ends of described horizontal rail and vertical rail, equipped with limit switch, prevent from causing in motor process to collide.
Described drive system includes gear-rack drive system and synchronous belt drive system, and gear-rack drive system is contained in
On flat bank track；Synchronous belt drive system is arranged on vertical rail.
Described gear-rack drive system includes horizontal movement main drive motor and horizontal movement from motor, Timing Belt
Drive system includes Timing Belt system drive motor, described motor, is servo drive motor, and is connected with encoder.
Described mobile platform includes turning to mobile platform and rectilinear movement platform, can turn to mobile platform and is contained in level and turns
On curved track, rectilinear movement platform is contained on vertical rail and is connected with Timing Belt；Head and detection components are contained in linear motion
On platform.
Described control system is arranged on rectilinear movement platform, or is positioned in control chamber, is arranged on indoor wall.
Described control system includes motor control case, and described motor control case is transported with mounting formula control chamber, level respectively
Dynamic main drive motor, Timing Belt system drive motor, horizontal movement are from motor, horizontal level detection means, upright position
Detection means and terminal communication case connect, and described mounting formula control chamber is connected with detection components and head respectively, and described terminal is led to
Mailbox is communicated with remote monitoring center by optical fiber.
It is connected by trolley between described terminal communication case and motor control case.
It is connected by drag chain between described motor control case and described mounting formula control chamber.
Described motor control case is arranged on vertical rail.
Described terminal communication case is arranged near the initiating terminal of horizontal rail, maintains static.
Described mounting formula control chamber is arranged on the moving sliding base of vertical rail, moves up and down with slide.
Described steering installs current collector on mobile platform, when vertical rail span is less than setting value, vertical rail one
The power supply to equipment on slide and communication, equipped with drag chain installing plate and drag chain, are realized in side；Then adopt when span is more than setting value
Trolley and current collector.
Described steering is respectively provided with horizontal movement main drive motor and horizontal movement from motor on mobile platform, and two
Flexible coupling and gear are respectively provided with the output shaft of individual motor, wheel and rack engages, formation level can turn to mobile flat
The motion of platform and driving force.
Described trolley includes copper conductor and insulating sheath, and copper conductor makes tongue or sleeve-shaped, current collector has with
The wire of the same mutually insulated of trolley radical is connected with the wire wiping of trolley, and current collector installs additional extension spring.
Described Timing Belt system includes Timing Belt, roller box and motor, and wherein, vertical rail section bar groove is built with same
Step band, equipped with synchronous wheeled box, lower end is equipped with Timing Belt system drive motor for upper and lower ends.Described motor and servo-drive
Device connects.
Equipped with slide moving up and down on described Timing Belt, vertical slide is connected with Timing Belt, turning with Timing Belt
Move and can slide up and down, equipped with mounting formula control chamber on vertical slide.
Described Timing Belt motor drives rectilinear movement platform to realize moving up and down of detection components.
The motor that described gear-rack drive system and synchronous belt drive system are filled is motor and carries brake and volume
Code device is connected with control system, reaches specified location by several pulse mode precise control detection components and realizes detection.
Described detection components include thermal infrared imager, visible light camera, smog alarm sensor, field intensity detector and purple
Outer detector.
Described horizontal level detection means can be turned to alignment sensor and installation level on mobile platform by the level of being contained in
Control strip code composition on turning track, vertical position detection means by the alignment sensor being contained on slide and is contained in vertical rail
Control strip code composition on road.
The alignment sensor of the alignment sensor of described horizontal level detection means and vertical position detection means all with fortune
Dynamic control chamber communication.
Described robot terminal system in power supply and communication, by the way of towing cable and trolley power carrier combine,
Wherein, vertical rail is installed towing cable to realize power supply and communicate, horizontal rail installs slide wire power supply, and adopts power carrier
Mode is communicated, and is powered with the untethered realizing the big stroke of level and communicates.
Described power carrier mode allows to change leaky wave cable or microwave technology into.
Described mounting formula control chamber sets built with the control device of detection components, detection signal processing equipment, cradle head control
Standby and switch communication equipment, can be controlled to the running status of the control device of detection components by cradle head control equipment
System, and just detection signal passes to motor control case after processing；There is power carrier modem, to detection in motor control case
After signal and control signal are modulated, Terminal communication system is passed to by trolley；The terminal communication case of Terminal communication system
Interior installation power carrier modem and optical-electrical converter, all signals are changed into after optical signal, by optical fiber defeated to long-range
Surveillance center.
It is also equipped with vertical rail horizontal movement and the motion control apparatus moving vertically and servo in described motor control case
Driving equipment and switch.
Described motor control case accepts the instruction from remote monitoring center, controls horizontal drive electricity in motion control apparatus
Machine and the work of vertical motor, drive detection components to carry out horizontal movement and vertical motion, to reach desired detecting position
Put, motor control case is communicated with horizontal level detection means and vertical position detection means in real time, so that detection run location is
No arrival desired locations, terminal communication case then plays the effect of carrier signal modulation demodulation photoelectric signal transformation.
It is provided with electromagnetic shield module box in the inside of described motor control case, terminal communication case and cradle head control case, described
Electromagnetic shield module box is used for depositing the circuit board needing shielding.
Described electromagnetic shield module box, including box body and shielding cover board, described shielding cover board is arranged on box body, described screen
Cover cover plate and include metallic plate, flexible liner and the tinsel that ecto-entad is sequentially overlapped, described tray interior is cavity, box body
Inner arm is provided with step.
Installing hole is had on described shielding cover board, step is provided with out screwed hole, standard fasteners passes through installing hole and spiral shell
Box body is fixedly connected by pit with shielding cover board.
Described motor control case side is provided with dust control by ventilation electromagnetic shielding window, described dust control by ventilation electromagnetic shielding window, including
First frame and the second frame, two frames open ring-shaped step for fixing ventilated plates；Open loop shape on second frame
Rectangle shallow slot, described conductive rubber strip passes through conduction and is adhesive in the rectangular channel of the second frame, cellular ventilated plates and anti-
Dirt net is encapsulated in upper and lower metal edge frame successively.
The casing of described terminal communication case is fixed on the ground by safety ground post.
The invention has the benefit that
(1) present invention is wall combined orbit, can achieve the position transfer in two or more vertical planes, combination side
Formula meet indoor substation, in transformer station diversified, the complicated detection of cell or the detection of converter station valve hall equipment require, according to
Actual detection needs individually horizontal rail or vertical rail can be taken out independent constructing system detection robot system use；
(2) track of the present invention adopts profiled rail and conventional drive system, and profile structure intensity is high, and rigidity is big, fortune
Row is steadily reliable, and material is readily available, and can faster realize system building, and the drive system kinematic accuracy of employing is high, can expire
Sufficient Any Fixed Point detection demand, by continued access, it is possible to achieve big stroke detection requires；
(3) servomotor that detection components move up and down is driven to carry brake in the present invention, can be reliable when stopping
The locked braking in ground；
(4) the flat bank rail portion of the present invention adopts trolley and current collector power taking, and vertically movable part is using dragging
Chain or trolley, and alternative adopts PLC technology, overcome using during radio communication because of electromagnetism ring complicated in the valve Room
The interference that border is caused to communication, and transmission bandwidth is bigger, enables the transmitting of video and signal of communication, compact conformation；
(5), using wired power taking so that autonomous monitoring time is not limited by battery capacity, detection time is cleverer for the present invention
Live, can achieve and continuously patrol and examine work for a long time；
(6) the control system part of the present invention can be contained on the linear motion platform of vertical rail, also can be used as independent
It is partially contained in control chamber, Control System Design is flexible；
(7) detection components of the present invention can be arranged in pairs or groups visible ray, infrared and ultraviolet detector according to actually used demand,
By the collocation with application software in control system, can conveniently realize different detections and require.
(8) the electromagnetic shield module box of the present invention makes the sealing effectiveness of shielding cover board more preferable because of the presence of flexible liner；
Shielding cover board installation step is left on box body.Box body can be formed using block of metal milling, and shield effectiveness is good；Using flexible liner
Simple with the shielding cover board structure of tinsel, lower than the infrastructure cost being shielded using conductive material.
(9) dust control by ventilation electromagnetic shielding window is applied and is required in shielding case body that is higher and requiring ventilation in electromagnetic sealing
Portion.It is arranged on the position needing perforate, because metallic honeycomb forms good electromagnetic wave shielding；Install on second frame
Conductive rubber strip, enhances the sealing effectiveness between metal edge frame and casing, prevents from forming gap between shielding windows and casing, carries
High effectiveness；Dust can greatly reduce the service life of equipment.Air Filter can effectively prevent from causing because of ventilation
Dust accumulation in casing, improves the service life of equipment.
Brief description
Fig. 1 is combined track crusing robot system structure axonometric drawing；
Fig. 2 is the power pack structure axonometric drawing of combined track robot；
Fig. 3 is combined track crusing robot system structure rearview；
Fig. 4 is the turned to mobile platform structural representation of robot system.
Fig. 5 is shroud module Standard figure；
Fig. 6 is box body structure figure；
Fig. 7 is cover plate explosive view；
Fig. 8 assembles explosive view for dust control by ventilation electromagnetic shielding window；
Fig. 9 assembles explosive view for dust control by ventilation electromagnetic shielding window；
Figure 10 installs the step schematic diagram of ventilated plates for upper and lower side frame；
Figure 11 is control block diagram.
Wherein, 1 is flat bank track, is formed by structural member continued access by straight line portion and angle section；2 is level fortune
Dynamic main drive motor, 3 is Timing Belt system, and 4 is detection components, and 5 is head, and 6 is mounting formula control chamber, and 7 is Timing Belt system
Motor, 8 be horizontal movement from motor, 9 be vertical rail, 10 be drag chain, 11 be current collector, 12 be trolley, 13
For horizontal platen, 14 is slide, and 15 is assembly pulley, and 16 is flexible coupling, and 17 is tooth bar, and 18 is lead, and 19 is drag chain peace
Dress plate, 20 is vertical rail mounting bracket, and 21 is pulley connecting plate, and 22 is bearing.23 can turn to mobile platform for level, and 24 are
Gear, 25 is synchronous wheeled box,
41 connectors, 42 standard fasteners, 43 robot terminal systems；46 shielding cover boards, 47 box bodys, 48 motor controles
Case, 46-1 metallic plate, 46-2 flexible liner, 46-3 tinsel；47-1 box body outer wall, 47-2 screwed hole, 47-3 step, 47-4
Connector installing hole；
49 frames, 49-1 first frame, 49-2 second frame, 49-3 first, second frame is installed ventilated plates
Step, 50 cellular ventilated plates, 51 Air Filters, 52 conductive rubber strips；
53-1 hex nut one, 53-2 hex nut two, 53-3 hex nut three, 54-1 plain washer one, 54-2 plain washer
Two, 54-3 plain washer three, 55 grounding screws, 56 wing nuts, 57 cabinet holes, 58 cabinet arms, the center of 59 grounding screw one end
Hole, the oval type of 60, ring flange, 61 grounding screw other ends processing or d type；
62 remote monitoring centers, 63 optical fiber, 64 horizontal level detection means, 65 upright position detection means, 66 terminals are led to
Mailbox.
Specific embodiment:
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
As Figure 1-4, main body of the present invention by two parallel 1, vertical rails 9 of flat bank track, can turn to
Mobile platform system 23, the tracks system of slide 14 composition and be made up of seating control case 6, head 5 and detection components 4
Detecting system forms.
Wherein, flat bank track 1 is divided into upper and lower two, and it is formed by straight line portion and turn fractions continued access.Upper and lower two
Depending on the spacing of bar is according to detection range requirement, can be at 1 meter～10 meters.Trolley 12, a left side are installed on flat bank track 1
Right two leads 18 and tooth bar 17.Two groups of assembly pulleys 15 in front and back that mobile platform system 23 can be turned to are contained in flat bank rail
On road 1.Single assembly pulley 15 is consisted of pulley connecting plate 21 left and right two pulley, and former and later two assembly pulleys pass through axle respectively
Hold 22 to be connected with horizontal platen 13, composition level can turn to mobile platform 23.Level can turn to platform 23 pass through four pulleys with
The lead 18 being arranged on flat bank track coordinates, and forms guiding and bearing capacity.Upper and lower two levels can turn to movement
Horizontal movement main drive motor 2 and horizontal movement are respectively provided with platform 23 divide on motor 8, the output shaft of two motors
Not equipped with flexible coupling 16 and gear 24, gear 24 is engaged with tooth bar 17, and formation level can turn to the motion of mobile platform 23
And driving force.
The upper and lower ends of vertical rail 9 are respectively connected with horizontal platen 13 by a vertical rail mounting bracket 20, two water
Landing slab 13 is synchronized with the movement and upright guide rail 9 entirety can be driven to realize horizontal movement.Vertical rail section bar groove is built with synchronization
Band 3, equipped with synchronous wheeled box 25, lower end is equipped with Timing Belt system drive motor 7 for upper and lower ends.Slide 14 is connected with Timing Belt 3,
Motor drives Timing Belt 3 to rotate and realize the up and down motion of slide 14.Equipped with mounting formula control chamber 6 on slide 14.Head 5
It is contained on mounting formula control chamber 6, detection components 4 are contained on head 5.By the horizontal movement of the entirety of vertical rail 9, slide 14
Up and down motion and the level of head 5 and pitch rotation, realize comprehensive in the space of detection components 4 in rail formation
Detection.
Trolley 12 is made up of two strands or multiply tongue shape or other odd-shaped cross section wire and insulating base, and it is contained in level and turns
On curved guide rail 1.Equipped with current collector 11 and trolley 12 sliding contact on horizontal platen 13.When vertical rail span is less, erect
The power supply to equipment on slide and communication, equipped with drag chain installing plate 19 and drag chain 10, are realized in straight rail side；When vertical rail across
When should not adopt drag chain when spending larger, can be powered using wiping line structure.
Trolley 12 can adopt two strands or multiply.When using two strands of trolleys, the carrier communication skill of practical electric lines of force
Art, is furnished with power carrier instrument in present posture control chamber 6, realize no towing cable during motion and power and reliable communication.Using multiply
When, holding wire can not be directly realized by using PLC technology and separate with electric lines of force.Specifically can root using which kind of trolley
Determine according to actual demand.
The horizontal movement motor 1,2 adopting in system and vertically movable motor 7 are servomotor, with volume
Code device, can reach the optional position in the detection range requiring by control system precise control detection components 4.
At the two ends of horizontal rail 1 and vertical rail 9 equipped with limit switch, prevent from causing in motor process to collide.
As illustrated in figs. 5-7, a kind of electromagnetic shield module box, including box body 47 and shielding cover board 46, described shielding cover board 46
Be arranged on box body 47, described shielding cover board 46 include metallic plate 46-1, flexible liner 46-2 that ecto-entad is sequentially overlapped and
Tinsel 46-3, described box body 47 is internal to be cavity, and box body 47 inner arm is provided with step 47-3.
Installing hole is had on shielding cover board 46, step 47-3 is provided with out screwed hole 47-2, standard fasteners 42 passes through peace
Box body 47 and shielding cover board 46 are fixedly connected by dress hole with screwed hole 47-2.
Metallic plate 46-1 is steel plate, aluminium sheet or copper coin.The material of flexible liner 46-2 is the soft bubble with gum
Cotton material.Tinsel 46-3 carries aluminium foil or the Copper Foil of gum for thickness 0.01mm to 0.1mm.
The material of box body 47 is aluminium alloy or copper alloy.Metallic plate 46-1, flexible liner 46-2 and tinsel 46-3
Length and width are identical, are rectangle, and described box body 47 is cuboid.Box body 47 is using block of metal milling
Body structure.Box body 2 includes box body outer wall 47-1.Can be according to external the connecing of built-in circuit plate or electronic device on described box body
Mouth requires, and opens connector installing hole 47-4, and described plug-in unit installing hole 47-4 installs electromagnetic compatibility type connector 41.
The present invention is mainly made up of shielding cover board 46 and box body 47.Shielding cover board is integrated part for 46, before use, first
Flexible liner 46-2, tinsel 46-3 are pasted onto one entirety of formation on metallic plate 46-1.Then by shielding cover board 46 He
Cover plate 47 is installed together by standard fasteners 42, forms the good confined space of electromagnetic shielding.Electronic device is as needed
It is contained in shielding cavity.
When described electromagnetic shield module box uses: first flexible liner is pasted on a metal plate using front, then by metal forming
Piece is pasted onto on flexible liner so that three is assembled into one.Cavity is had in box body.Step is left on box wall, so that
Cover plate ensures good sealing after installing.Screwed hole is opened on step, for installing cover plate.
As seen in figs. 8-10, frame 49 is combined by the first frame 49-1 and the second frame 49-2, and both pass through welding
Or bonding or mode connects for screw form.The rectangular channel of open loop shape on second frame 49-2, conductive rubber strip 52 passes through conducting resinl
It is bonded in the rectangular channel of the second frame 49-2, be encapsulated in the cellular ventilated plates of first, second frame 50 and Air Filter 51
In metal edge frame 49, form complete ventilation electromagnetic shielding window.Before first, second frame combination, need first will divulge information metal
Plate 50 and Air Filter 51 are installed in 49-3 in the step of two frames, as shown in Figure 10.
Dust control by ventilation electromagnetic shielding window is applied and is required inside shielding case body that is higher and requiring ventilation in electromagnetic sealing.
It is arranged on the position needing perforate, because metallic honeycomb forms good electromagnetic wave shielding.Install on second frame and lead
Electric rubber strip 52, enhances the sealing effectiveness between frame and casing, prevents from forming gap between shielding windows and casing, improves
Effectiveness.
Dust can greatly reduce the service life of equipment.Air Filter 3 can effectively prevent from causing in casing because of ventilation
Dust accumulates, and improves the service life of equipment.
As shown in figure 11, in control, robot terminal system 43 is provided with three control chambers, respectively mounting formula control chamber
6th, motor control case 48 and terminal communication case 66.Wherein, what mounting formula control chamber 6 was arranged on vertical rail 9 vertically moves slide
On, can move up and down with slide；Motor control case 48 is used for horizontal and vertical movement is controlled, and it is arranged on vertical rail
On road 9, can move horizontally with vertical rail 9, but can not move up and down；Terminal communication case 66 plays the effect of communication transfer,
It is installed near the initiating terminal of horizontal rail, maintains static.It is respectively arranged with position on vertical shift track and horizontal movement track
Detection means.Described terminal communication case 66 is communicated with remote monitoring center 62 by optical fiber 63.Search book terminal communication case 66 and fortune
Movement controller 48 communicates, described motor control case 48 respectively with mounting formula control chamber 6, horizontal movement main drive motor 2, Timing Belt
System drive motor 7, horizontal movement connect from motor 8, horizontal level detection means 64 and upright position detection means 65,
Described mounting formula control chamber 6 is connected with detection components 4 and head 5 respectively.
In movement position detection, horizontal level detection means 64 and vertical position detection means 65, wherein, level are set
Position detecting device 64 can turn to the alignment sensor on mobile platform by the level of being contained in and install the control on flat bank track 1
Bar code composition processed.Vertical position detection means 65 is by the alignment sensor being contained on slide and the control being contained on vertical rail 9
Bar code forms.Horizontally and vertically position-detection sensor is all communicated with motor control case 48, to carry out real time position detection.
In power supply and communication, by the way of towing cable and trolley power carrier combine.Wherein, vertical rail 9 is installed
Drag chain towing cable is realized power supply and is communicated, and horizontal rail installs slide wire power supply, and is communicated using power carrier mode, with
The untethered realizing big horizontal throw is powered and is communicated.
Mounting formula control chamber 6 built with detection components control device, detection signal processing equipment, cradle head control equipment and
The communication equipments such as switch, after the running status of head testing equipment being controlled it is possible to process detection signal,
Pass to motor control case 48；There is power carrier modem in motor control case 48, detection signal and control signal are carried out
After modulation, terminal communication case 66 is passed to by trolley；Power carrier modem and photoelectricity are installed in terminal communication case 66
Transducer, all signals are changed into after optical signal, are transferred to remote monitoring center 62.Motor control case 48 is built with horizontal movement
With vertical movement motion control apparatus and servo-drive equipment, and switch and power carrier modem etc. communication set
Standby.Motor control case 48 accepts the instruction from remote control center, controls horizontal drive motor and the work of vertical motor,
Detection components 4 are driven to carry out horizontal movement and vertical motion, to reach desired test position.Motor control case 48 in real time with
Horizontal level detection means 64 and vertical position detection means 65 communicate, so that whether detection run location reaches desired locations.
Terminal communication case 66 then plays the effect of carrier signal modulation demodulation photoelectric signal transformation.
Although the above-mentioned accompanying drawing that combines is described to the specific embodiment of the present invention, not model is protected to the present invention
The restriction enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme, and those skilled in the art are not
Need to pay the various modifications that creative work can make or deformation still within protection scope of the present invention.
Claims (25)
1. the indoor track type intelligent inspection robot system based on combined track, is characterized in that, including Surveillance center, described prison
Network connection is passed through with least one robot terminal system in control center, and described robot terminal system includes combined track and machine
Device human body, robot body includes drive system, detection components, head, Timing Belt system, mobile platform and control system,
Wherein, mobile platform is fixed control system, mobile platform upper end is fixed with head, and detection components are fixed on head, synchronous
Band system is fixedly connected with combined track, and drive system is fixed on mobile platform, and mobile platform is positioned on combined track, drives
Dynamic system provides power, so that Robot combined track is moved；
Described combined track, including horizontal rail and vertical rail, two levels that horizontal rail includes be arrangeding in parallel up and down turn
Curved track, two tracks are provided with tooth bar, two flat bank tracks are respectively equipped with a level and can turn to mobile platform, can
Turn on mobile platform equipped with motor and gear, gear is engaged drive and can turn to mobile platform level fortune with the tooth bar on track
Dynamic；
Described drive system includes gear-rack drive system and synchronous belt drive system, and gear-rack drive system is contained in level
On turning track；Synchronous belt drive system is arranged on vertical rail.
2. the indoor track type intelligent inspection robot system based on combined track as claimed in claim 1, is characterized in that, institute
State Surveillance center and include at least one server, at least one monitoring host computer and corresponding alarm device；Wherein, described monitoring master
Machine has all of supervision in video monitoring center, control and management function, and Land use models technology of identification is entered to video and picture
Row intellectual analysis；Described server storage temporal information, photo and video file, for quick-searching；Alarm device is system
Software and hardware anomaly alarming device or/and monitoring alarm, wherein, monitoring alarm is selected from environmental information abnormal alarm and fills
Put, fire fighting alarm device, break in one or more of alarm device, video movable alarm device.
3. the indoor track type intelligent inspection robot system based on combined track as claimed in claim 1, is characterized in that, institute
State two flat bank track installation to indoor wall；The two ends of described vertical rail can turn to movement with upper and lower two respectively
Platform is fixedly connected.
4. the indoor track type intelligent inspection robot system based on combined track as claimed in claim 1, is characterized in that,
The two ends of described horizontal rail and vertical rail, equipped with limit switch, prevent from causing in motor process to collide.
5. the indoor track type intelligent inspection robot system based on combined track as claimed in claim 1, is characterized in that,
Described gear-rack drive system includes horizontal movement main drive motor and horizontal movement from motor, and Timing Belt drives
System includes Timing Belt system drive motor, described motor, is servo drive motor, and is connected with encoder.
6. the indoor track type intelligent inspection robot system based on combined track as claimed in claim 1, is characterized in that,
Described mobile platform includes turning to mobile platform and rectilinear movement platform, can turn to mobile platform and be contained in flat bank rail
On road, rectilinear movement platform is contained on vertical rail and is connected with the Timing Belt of Timing Belt system；Head and detection components are contained in
On linear motion platform.
7. the indoor track type intelligent inspection robot system based on combined track as claimed in claim 1, is characterized in that,
Described control system is arranged on rectilinear movement platform, or is positioned in control chamber, is arranged on indoor wall.
8. the indoor track type intelligent inspection robot system based on combined track as claimed in claim 1, is characterized in that,
Described control system includes motor control case, described motor control case respectively with mounting formula control chamber, horizontal movement master
Motor, Timing Belt system drive motor, horizontal movement are from motor, horizontal level detection means, upright position detection
Device and terminal communication case connect, and described mounting formula control chamber is connected with detection components and head respectively, described terminal communication case
Communicated with remote monitoring center by optical fiber.
9. the indoor track type intelligent inspection robot system based on combined track as claimed in claim 8, is characterized in that,
It is connected by trolley between described terminal communication case and motor control case.
10. the indoor track type intelligent inspection robot system based on combined track as claimed in claim 8, is characterized in that,
It is connected by drag chain between described motor control case and described mounting formula control chamber.
The 11. indoor track type intelligent inspection robot systems based on combined track as claimed in claim 1, is characterized in that,
Described steering installs current collector on mobile platform, when vertical rail span is less than setting value, vertical rail side fills
There are drag chain installing plate and drag chain, realize the power supply to equipment on slide and communication；Then adopt wiping when span is more than setting value
Line and current collector.
The 12. indoor track type intelligent inspection robot systems based on combined track as claimed in claim 1, is characterized in that,
Described steering is respectively provided with horizontal movement main drive motor and horizontal movement from motor on mobile platform, two electricity
Flexible coupling and gear are respectively provided with the output shaft of machine, wheel and rack engages, formation level can turn to mobile platform
Motion and driving force.
The 13. indoor track type intelligent inspection robot systems based on combined track as claimed in claim 9, is characterized in that,
Described trolley includes copper conductor and insulating sheath, and copper conductor makes tongue or sleeve-shaped, current collector has and trolley root
The same wire of mutually insulated of number is connected with the wire wiping of trolley, and current collector installs additional extension spring.
The 14. indoor track type intelligent inspection robot systems based on combined track as claimed in claim 1, is characterized in that,
Described Timing Belt system includes Timing Belt, roller box and motor, wherein, vertical rail section bar groove built with Timing Belt, on
Equipped with synchronous wheeled box, lower end is equipped with Timing Belt system drive motor at lower two ends.
The 15. indoor track type intelligent inspection robot systems based on combined track as claimed in claim 6, is characterized in that,
Equipped with slide moving up and down on described Timing Belt, vertical slide and Timing Belt are connected, with Timing Belt rotation can more than
Lower slider, equipped with mounting formula control chamber on vertical slide.
The 16. indoor track type intelligent inspection robot systems based on combined track as claimed in claim 4, is characterized in that,
The motor that described gear-rack drive system and synchronous belt drive system are filled is motor and carries brake and encoder
It is connected with control system, reach specified location by several pulse mode precise control detection components and realize detection.
The 17. indoor track type intelligent inspection robot systems based on combined track as claimed in claim 1, is characterized in that,
Described detection components include thermal infrared imager, visible light camera, smog alarm sensor, field intensity detector and ultraviolet inspection
Survey instrument.
The 18. indoor track type intelligent inspection robot systems based on combined track as claimed in claim 8, is characterized in that,
Described horizontal level detection means can turn to the alignment sensor on mobile platform by the level of being contained in and install flat bank
Control strip code composition on track, vertical position detection means by the alignment sensor being contained on slide and is contained on vertical rail
Control strip code composition；The alignment sensor of described horizontal level detection means and the alignment sensor of vertical position detection means
All communicate with motor control case.
The 19. indoor track type intelligent inspection robot systems based on combined track as claimed in claim 1, is characterized in that,
Described robot terminal system in power supply and communication, by the way of towing cable and trolley power carrier combine, wherein,
Drag chain towing cable is installed on vertical rail realize power supply and communicate, horizontal rail installs slide wire power supply, and adopts power carrier
Mode is communicated, and is powered with the untethered realizing the big stroke of level and communicates.
The 20. indoor track type intelligent inspection robot systems based on combined track as claimed in claim 8, is characterized in that,
Described mounting formula control chamber built with the control device of detection components, detection signal processing equipment, cradle head control equipment with
And switch communication equipment, the running status of the control device of detection components can be controlled by cradle head control equipment,
And just detection signal passes to kinetic control system after processing；Power carrier is had to modulate in the motor control case of kinetic control system
Demodulator, after detection signal and control signal are modulated, passes to Terminal communication system by trolley；Terminal communication system
Terminal communication case in power carrier modem and optical-electrical converter are installed, all signals are changed into after optical signal, transmission
To remote monitoring center.
The 21. indoor track type intelligent inspection robot systems based on combined track as claimed in claim 8, is characterized in that,
It is also equipped with vertical rail horizontal movement and the motion control apparatus moving vertically and servo-drive in described motor control case
Equipment and switch.
The 22. indoor track type intelligent inspection robot systems based on combined track as claimed in claim 8, is characterized in that,
It is provided with electromagnetic shield module box, described electromagnetism in the inside of described motor control case, terminal communication case and cradle head control case
Shroud module box is used for depositing the circuit board needing shielding.
The 23. indoor track type intelligent inspection robot systems based on combined track as claimed in claim 22, is characterized in that,
Described electromagnetic shield module box, including box body and shielding cover board, described shielding cover board is arranged on box body, described screening cover
Plate includes metallic plate, flexible liner and the tinsel that ecto-entad is sequentially overlapped, and described tray interior is cavity, box body inner arm
It is provided with step.
The 24. indoor track type intelligent inspection robot systems based on combined track as claimed in claim 23, is characterized in that,
Installing hole is had on described shielding cover board, step is provided with out screwed hole, standard fasteners passes through installing hole and screwed hole
Box body is fixedly connected with shielding cover board.
The 25. indoor track type intelligent inspection robot systems based on combined track as claimed in claim 8, is characterized in that,
Described motor control case side is provided with dust control by ventilation electromagnetic shielding window, and described dust control by ventilation electromagnetic shielding window, including first
Frame and the second frame, two frames open ring-shaped step for fixing ventilated plates；The rectangle of open loop shape on second frame
Shallow slot, conductive rubber strip passes through conduction and is adhesive in the rectangular channel of the second frame, and cellular ventilated plates and Air Filter are successively
It is encapsulated in upper and lower metal edge frame.
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| CN201410563606.6A CN104267731B (en) | 2014-10-21 | 2014-10-21 | Indoor track type intelligent patrolling robot system based on combined track |
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Effective date of registration: 20201215 Address after: 250101 power intelligent robot production project 101 south of Feiyue Avenue and east of No.26 Road (in ICT Industrial Park) in Suncun District of Gaoxin, Jinan City, Shandong Province Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: 750000 to the west of Tongda South Street and north of Jinfeng Road, Jinfeng District, Yinchuan City, Ningxia Hui Autonomous Region Patentee before: STATE GRID NINGXIA ELECTRIC POWER CO., LTD. MAINTENANCE Co. Patentee before: National Network Intelligent Technology Co.,Ltd. Patentee before: STATE GRID CORPORATION OF CHINA |