CN105345806A - Monitoring robot capable of ascending and descending automatically - Google Patents
Monitoring robot capable of ascending and descending automatically Download PDFInfo
- Publication number
- CN105345806A CN105345806A CN201510887939.9A CN201510887939A CN105345806A CN 105345806 A CN105345806 A CN 105345806A CN 201510887939 A CN201510887939 A CN 201510887939A CN 105345806 A CN105345806 A CN 105345806A
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- Prior art keywords
- robot
- monitoring
- control
- climbing
- controlling
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 31
- 230000001174 ascending effect Effects 0.000 title abstract description 3
- 238000012806 monitoring device Methods 0.000 claims abstract description 29
- 230000009194 climbing Effects 0.000 claims abstract description 18
- 230000007613 environmental effect Effects 0.000 claims description 21
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 18
- 239000000741 silica gel Substances 0.000 claims description 18
- 229910002027 silica gel Inorganic materials 0.000 claims description 18
- 238000012545 processing Methods 0.000 claims description 16
- 238000004891 communication Methods 0.000 claims description 9
- 230000001681 protective effect Effects 0.000 claims description 4
- 230000001012 protector Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 6
- 238000013461 design Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a monitoring robot capable of ascending and descending automatically. The monitoring robot comprises a machine frame, a climbing rod device, a traveling device, a monitoring device and a control device. The climbing rod device, the traveling device and the monitoring device are arranged on the machine frame. The climbing rod device is used for climbing a column. The traveling device is used for movement of the robot. The monitoring device is used for collecting environment data. The control device is connected with the climbing rod device, the traveling device and the monitoring device and used for receiving a control command, controlling the robot to be moved to a specified position through the traveling device and the climbing rod device, controlling the monitoring device to collect the environment data and outputting the environment data. According to the monitoring robot, real-time images can be transmitted to a far end through a camera in a manual remote-control way. Under the condition that people cannot enter a high-risk site, the robot can be directly moved to the high-risk site through direct remote control for monitoring instead of people, and thus the site condition can be known in the first time and the number of rescue causalities can be effectively reduced through observation and prediction.
Description
Technical Field
The invention relates to the technical field of monitoring, in particular to an autonomous lifting monitoring robot.
Background
Although the society is developed, natural disasters and human accidents often happen, such as fire, collapse, earthquake and the like, and any disaster site is dangerous and is not suitable for people to enter. For the rescue workers, it is important to grasp the disaster site conditions. And no matter which place, almost all can have like the wire pole, the higher cylinder of lamp pole this type, with the help of these cylinders climbing to the eminence to monitor and observe, can obtain better on-the-spot information, also can let rescue team know the on-the-spot condition, under this kind of condition, need a kind of equipment that can enter the calamity scene and carry out environmental data acquisition urgently.
Disclosure of Invention
For the problems mentioned in the background technology, the invention provides an autonomous lifting monitoring robot which can enter a disaster site to acquire environmental data. The staff can enter and complete the high-risk monitoring task through remote control of the robot, and timely control over dangerous field conditions is achieved. Especially when meeting the high-risk field condition, the inconvenient entering of personnel, then can directly remote control the robot, directly move the robot to high-risk scene, replace the people to monitor, can know the site condition in the very first time like this and predict effectual reduction rescue personnel casualties through observing again. This automatic lift supervisory-controlled robot possess manual system, make things convenient for the staff operation.
In order to achieve the above object, the present invention provides an autonomous lifting monitoring robot, comprising: the device comprises a rack, a pole-climbing device, a walking device, a monitoring device and a control device; the pole-climbing device, the walking device and the monitoring device are arranged on the rack; the climbing rod device is used for climbing the column body; the walking device is used for moving the robot; the monitoring device is used for collecting environmental data; the control device is connected with the pole-climbing device, the walking device and the monitoring device and used for receiving a control instruction, controlling the walking device and the pole-climbing device to move the robot to a specified position, controlling the monitoring device to collect environmental data and outputting the environmental data.
Further, the pole climbing device comprises: a plurality of direct current motors and a plurality of silica gel wheels; the direct current motors are used for controlling the silica gel wheels to rotate.
Furthermore, the plurality of direct current motors are arranged on the rack in parallel and symmetrically.
Further, the robot further includes: a clamping device; wherein, this clamping device includes: odd direct current motors, odd lead screws, odd sliding groove plates and a plurality of silica gel wheels; the odd direct current motors are arranged on the rack, the odd lead screws are connected with the odd direct current motors through couplers, the odd chute plates are arranged on the rack, and the plurality of silica gel wheels are arranged on the odd chute plates.
Furthermore, the robot also comprises a limiter for automatically controlling the direct current motor to run or stop according to the position relation between the robot and the cylinder.
Further, the walking device comprises: a plurality of direct current motors and a plurality of wheels; the plurality of direct current motors are used for controlling the plurality of wheels to rotate.
Further, the robot further includes: a guard; wherein, this protector includes: the device comprises a worm and gear motor, a protective arm and a plurality of rubber wheels; the worm and gear motor is arranged on the rack and used for controlling the protection arm to rotate, and the plurality of rubber wheels are arranged on the protection arm.
Further, the monitoring device includes: the camera is arranged on the rack and used for collecting environmental data.
Further, the monitoring device further comprises: and the steering engine is arranged on the rack, is connected with the camera and is used for rotating the camera.
Further, the control device includes: the system comprises a wireless communication module and an instruction processing module; the wireless communication module is used for receiving a control instruction, sending the control instruction to the instruction processing module, and receiving and outputting environmental data acquired by the monitoring device; and the instruction processing module is used for processing control instructions, controlling the walking device and the pole-climbing device to move the robot to a specified position, and controlling the monitoring device to acquire environmental data.
Further, the instruction processing module is an 89C52 singlechip.
Further, the robot further includes: and the data receiving module is used for receiving the environment data output by the control device.
Further, the robot further comprises; and the remote sensing control module is in communication connection with the control device and is used for sending out a control command.
The autonomous lifting monitoring robot provided by the invention can transmit a real-time image to a far end through the camera in a manual remote control mode. When the person inconveniently enters the high-risk field condition, the robot can be directly remotely controlled to directly move to the high-risk field to replace the person to monitor, so that the person can know the field condition at the first time and predict the casualties of the rescue workers effectively through observation.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
fig. 1 is a schematic structural diagram of an autonomous lifting monitoring robot according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a climbing apparatus according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a dc motor and a lead screw in the clamping device according to an embodiment of the invention.
Fig. 4 is a schematic structural diagram of a chute plate in the clamping device according to an embodiment of the invention.
Fig. 5 is a schematic structural diagram of a protection device according to an embodiment of the invention.
The reference numbers illustrate:
the device comprises a frame 1, a direct current motor 2, a silica gel wheel 3, a direct current motor 4, wheels 5, a direct current motor 6, a lead screw 7, a silica gel wheel 8, a camera 9, a steering engine 10, a worm gear motor 11, a protective arm 12, a sliding chute plate 13 and a rubber wheel 14.
Detailed Description
The technical means adopted by the invention to achieve the preset object are further described below by combining the drawings and the preferred embodiments of the invention.
Fig. 1 is a schematic structural diagram of an autonomous lifting monitoring robot according to an embodiment of the present invention. As shown in fig. 1, the robot includes: the device comprises a frame 1, a pole-climbing device, a walking device, a monitoring device and a control device; the climbing rod device, the walking device and the monitoring device are arranged on the frame 1; wherein,
the pole-climbing device includes: a plurality of direct current motors 2 and a plurality of silica gel wheels 3 which are used for climbing the column body;
the walking device comprises: a plurality of direct current motors 4 and a plurality of wheels 5, which are used for moving the robot;
the monitoring device includes: the camera 9 and the steering engine 10 are used for acquiring environmental data;
the control device (not shown) is connected with the pole-climbing device, the walking device and the monitoring device and used for receiving a control instruction, controlling the walking device and the pole-climbing device to move the robot to a specified position, controlling the monitoring device to collect environmental data and outputting the environmental data.
In this embodiment, the working environment of the robot can be a disaster site, and because the ground is relatively complex, a four-wheel mechanism can be preferably adopted to adapt to different road conditions. In view of the space limitation and the requirements of the vehicle body weight, strength and economy, in a preferred embodiment, the frame 1 can adopt a frame structure, so that not only can materials be saved and the weight can be reduced, but also the design is simple and easy to realize.
In an embodiment, the structure of the climbing rod device can be shown in fig. 1 and fig. 2, which includes: a plurality of direct current motors 2 and a plurality of silica gel wheels 3; wherein, a plurality of direct current motors 2 are parallelly and symmetrically arranged on the frame 1, and the plurality of direct current motors 2 are used for controlling the rotation of a plurality of silica gel wheels 3.
When the robot needs to climb upwards, the plurality of direct current motors 2 control the plurality of silica gel wheels 3 to rotate so that the robot climbs upwards along the column body, and a worker can adjust the ascending speed by adjusting the rotating speed.
In an embodiment, the robot further comprises: the structure of the clamping device can be seen in fig. 1, 3 and 4.
Wherein, this clamping device includes: odd direct current motors 6, odd lead screws 7, odd sliding groove plates 13 and a plurality of silica gel wheels 8. Odd direct current motors 6 are arranged on the frame 1, odd lead screws 7 are connected with the odd direct current motors 6 through couplers, odd chute plates 13 are arranged on the frame 1, and a plurality of silica gel wheels 8 are arranged on the odd chute plates 13.
After the robot moves to the designated position, the direct current motor 6 can drive the lead screw 7, the robot clamps two ends of the cylinder tightly through the lead screw nut, the plurality of silica gel wheels 3 are in full contact with the cylinder, and meanwhile, the sliding chute plate 13 moves through the sliding chutes at two sides of the cylinder at 45 degrees, so that the silica gel wheels 8 abut against the other end of the cylinder.
In order to better control the clamping of the robot to the column body, the robot further comprises a limiting stopper which is used for automatically controlling the running or stopping of the direct current motor according to the position relation between the robot and the column body.
In one embodiment, as shown in fig. 1, the walking device includes: a plurality of direct current motors 4, a plurality of wheels 5; wherein, the plurality of direct current motors 4 are used for controlling the plurality of wheels 5 to rotate, so that the robot can move.
In an embodiment, the robot further comprises: a guard; the structure of which can be seen in fig. 1 and 5.
Wherein, this protector includes: a worm gear motor 11, a protective arm 12 and a plurality of rubber wheels 14; the worm gear motor 11 is arranged on the frame 1 and used for controlling the rotation of the protection arm 12, and the plurality of rubber wheels 14 are arranged on the protection arm 12.
After the robot moves to a designated position and the clamping device enables the robot to clamp two ends of a cylinder, the protection device drives the protection arm 12 to rotate through the worm gear motor 11, so that the plurality of rubber wheels 14 abut against the clamped cylinder, and the robot is prevented from inclining and toppling in the climbing process.
In one embodiment, as shown in fig. 1, the monitoring device comprises: the camera 9 and the steering engine 10 are arranged on the rack 1, the steering engine 10 is connected with the camera 9 and used for rotating the camera 9, and the camera 9 is used for collecting environmental data.
In this embodiment, the control device includes: the system comprises a wireless communication module and an instruction processing module; the wireless communication module is used for receiving a control instruction, sending the control instruction to the instruction processing module, and receiving and outputting environmental data collected by the monitoring device; and the instruction processing module is used for processing control instructions, controlling the walking device and the pole-climbing device to move the robot to a specified position, and controlling the monitoring device to acquire environmental data. The instruction processing module can adopt an 89C52 singlechip.
The main control system of the autonomous lifting monitoring robot mainly comprises a single chip microcomputer control system, an image transmission system and a motor driving system 3. The processor of the single chip microcomputer control system adopts a domestic chip STC12C52RC which can meet the calculation and processing speed requirements of the robot. The motion system mainly controls each motor through a plurality of paths of PWM signals given by the singlechip. The sensor system comprises an ultrasonic ranging sensor, a camera module and the like. Each part adopts modular design, has certain expansibility, and is simple and easy to develop and maintain.
In the above embodiment, the robot further includes: and the data receiving module is used for receiving the environmental data output by the control device.
In the above embodiment, the robot further comprises; and the remote sensing control module is in communication connection with the control device and is used for sending out a control command.
The data receiving module and the rocker control module are arranged at the far end and are not arranged on the robot.
The power supply system of the robot is divided into two parts: the singlechip needs a +5V power supply, and the direct current motor needs a +24V voltage for driving. The robot system adopts a +24V model airplane battery for power supply, and performs voltage reduction treatment through a voltage stabilizing chip so as to obtain +5V voltage.
The autonomous lifting monitoring robot provided by the invention can transmit a real-time image to a far end through the camera in a manual remote control mode. When the person inconveniently enters the high-risk field condition, the robot can be directly remotely controlled to directly move to the high-risk field to replace the person to monitor, so that the person can know the field condition at the first time and predict the casualties of the rescue workers effectively through observation.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (13)
1. An autonomous lift monitoring robot, the robot comprising: the device comprises a rack, a pole-climbing device, a walking device, a monitoring device and a control device; wherein,
the climbing rod device, the walking device and the monitoring device are arranged on the rack;
the climbing rod device is used for climbing the column body;
the walking device is used for moving the robot;
the monitoring device is used for collecting environmental data;
the control device is connected with the pole-climbing device, the walking device and the monitoring device and used for receiving a control instruction, controlling the walking device and the pole-climbing device to move the robot to a specified position, controlling the monitoring device to collect environmental data and outputting the environmental data.
2. The autonomous lift monitoring robot of claim 1, wherein said pole-climbing device comprises: a plurality of direct current motors and a plurality of silica gel wheels; the direct current motors are used for controlling the silica gel wheels to rotate.
3. The autonomous lift monitoring robot of claim 2, wherein said plurality of dc motors are mounted in parallel and symmetrically on the frame.
4. The autonomous lift monitoring robot of claim 1, further comprising: a clamping device; wherein,
the clamping device includes: odd direct current motors, odd lead screws, odd sliding groove plates and a plurality of silica gel wheels; the odd direct current motors are arranged on the rack, the odd lead screws are connected with the odd direct current motors through couplers, the odd chute plates are arranged on the rack, and the plurality of silica gel wheels are arranged on the odd chute plates.
5. The autonomous lifting monitoring robot of claim 4, further comprising a stopper for automatically controlling the dc motor to operate or stop according to a positional relationship between the robot and the cylinder.
6. The autonomous lift monitoring robot of claim 1, wherein the walking means comprises: a plurality of direct current motors and a plurality of wheels; the plurality of direct current motors are used for controlling the plurality of wheels to rotate.
7. The autonomous lift monitoring robot of claim 1, further comprising: a guard; wherein,
this protector includes: the device comprises a worm and gear motor, a protective arm and a plurality of rubber wheels; the worm and gear motor is arranged on the rack and used for controlling the protection arm to rotate, and the plurality of rubber wheels are arranged on the protection arm.
8. The autonomous lift monitoring robot of claim 1, wherein said monitoring means comprises: the camera is arranged on the rack and used for collecting environmental data.
9. The autonomous lift monitoring robot of claim 8, wherein said monitoring means further comprises: and the steering engine is arranged on the rack, is connected with the camera and is used for rotating the camera.
10. The autonomous lift monitoring robot of claim 1, wherein said control means comprises: the system comprises a wireless communication module and an instruction processing module; wherein,
the wireless communication module is used for receiving a control instruction, sending the control instruction to the instruction processing module, and receiving and outputting environmental data acquired by the monitoring device;
and the instruction processing module is used for processing control instructions, controlling the walking device and the pole-climbing device to move the robot to a specified position, and controlling the monitoring device to acquire environmental data.
11. The autonomous lifting monitoring robot of claim 1, wherein the command processing module is an 89C52 single chip microcomputer.
12. The autonomous lift monitoring robot of any of claims 1-11, further comprising: and the data receiving module is used for receiving the environment data output by the control device.
13. The autonomous lift monitoring robot of any of claims 1 to 11, further comprising; and the remote sensing control module is in communication connection with the control device and is used for sending out a control command.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510887939.9A CN105345806B (en) | 2015-12-07 | 2015-12-07 | Autonomous lifting supervisory-controlled robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510887939.9A CN105345806B (en) | 2015-12-07 | 2015-12-07 | Autonomous lifting supervisory-controlled robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105345806A true CN105345806A (en) | 2016-02-24 |
| CN105345806B CN105345806B (en) | 2017-10-27 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510887939.9A Active CN105345806B (en) | 2015-12-07 | 2015-12-07 | Autonomous lifting supervisory-controlled robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN105345806B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109557173A (en) * | 2019-01-17 | 2019-04-02 | 中国石油大学(北京) | Non-destructive testing device |
| CN118201179A (en) * | 2024-05-20 | 2024-06-14 | 无锡照明股份有限公司 | Multifunctional interactive lamplight showing device and method |
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| CN104163215A (en) * | 2014-08-28 | 2014-11-26 | 东南大学 | Transport vehicle capable of climbing cylinders |
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| US20150090504A1 (en) * | 2012-01-31 | 2015-04-02 | Mohsen Bagheri | Climbing robot for masts |
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2015
- 2015-12-07 CN CN201510887939.9A patent/CN105345806B/en active Active
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| US20150090504A1 (en) * | 2012-01-31 | 2015-04-02 | Mohsen Bagheri | Climbing robot for masts |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109557173A (en) * | 2019-01-17 | 2019-04-02 | 中国石油大学(北京) | Non-destructive testing device |
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| CN118201179A (en) * | 2024-05-20 | 2024-06-14 | 无锡照明股份有限公司 | Multifunctional interactive lamplight showing device and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105345806B (en) | 2017-10-27 |
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