CN105345806B - Autonomous lifting supervisory-controlled robot - Google Patents
Autonomous lifting supervisory-controlled robot Download PDFInfo
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- CN105345806B CN105345806B CN201510887939.9A CN201510887939A CN105345806B CN 105345806 B CN105345806 B CN 105345806B CN 201510887939 A CN201510887939 A CN 201510887939A CN 105345806 B CN105345806 B CN 105345806B
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- 238000012806 monitoring device Methods 0.000 claims abstract description 29
- 230000007613 environmental effect Effects 0.000 claims abstract description 24
- 230000009194 climbing Effects 0.000 claims abstract description 17
- 238000012544 monitoring process Methods 0.000 claims description 25
- 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
- 230000034994 death Effects 0.000 abstract 1
- 231100000517 death Toxicity 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 238000013461 design Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 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
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- 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 kind of autonomous lifting supervisory-controlled robot, the robot includes：Frame, pole climbing device, running gear, monitoring device and control device；Pole climbing device, running gear, monitoring device are arranged in frame；Pole climbing device is used to climb cylinder；Running gear is used for the movement of robot；Monitoring device is used to gather environmental data；Control device connection pole climbing device, running gear and monitoring device, for receiving control instruction, control running gear moves the robot into specified location, control monitoring device collection environmental data with pole climbing device, and the environmental data is exported.The robot of the present invention can give realtime graphic distally by thecamera head by manual-remote remote control mode.Be inconvenient to, into fashionable, directly robot can be directly moved to remote control high-risk scene running into high-risk field condition people, to be monitored instead of people, field condition can be so understood in the very first time and reduces rescue personnel's injures and deaths further through observation prediction is effective.
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: an even number of direct current motors and an even number of silica gel wheels; the even number of direct current motors are used for controlling the even number of silica gel wheels to rotate.
Furthermore, the even number 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 screw rods, odd sliding groove plates and even 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 even 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: an even number of direct current motors and an even number of wheels; wherein the even number of direct current motors are used for controlling the even number 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 an even number of rubber wheels; the worm and gear motor is arranged on the rack and used for controlling the protection arm to rotate, and the even number 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: the even number of direct current motors 2 and the even number of silica gel wheels 3 are used for climbing the column body;
the walking device comprises: the even number of direct current motors 4 and the even number of wheels 5 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: an even number of direct current motors 2 and an even number of silica gel wheels 3; the even number of direct current motors 2 are arranged on the frame 1 in parallel and symmetrically, and the even number of direct current motors 2 are used for controlling the even number of silica gel wheels 3 to rotate.
When the robot needs to climb upwards, the even number of direct current motors 2 control the even number 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 even 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 sliding groove plates 13 are arranged on the frame 1, and even silica gel wheels 8 are arranged on the odd sliding groove plates 13.
After the robot moves to the designated position, the direct current motor 6 can drive the screw rod 7, the robot clamps two ends of the cylinder body through the screw rod nut, the even number of silica gel wheels 3 are fully contacted with the cylinder body, and meanwhile, the sliding chute plate 13 moves through the sliding chutes at the two sides of the cylinder body at 45 degrees, so that the silica gel wheels 8 abut against the other end of the cylinder body.
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: an even number of direct current motors 4, an even number of wheels 5; wherein, the even number of direct current motors 4 are used for controlling the even number 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 an even number 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 an even number 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 even number of rubber wheels 14 are abutted 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 (12)
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;
the control device includes: 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.
2. The autonomous lift monitoring robot of claim 1, wherein said pole-climbing device comprises: an even number of direct current motors and an even number of silica gel wheels; the even number of direct current motors are used for controlling the even number of silica gel wheels to rotate.
3. The autonomous lift monitoring robot of claim 2, wherein the even number 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 screw rods, odd sliding groove plates and even 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 even 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: an even number of direct current motors and an even number of wheels; wherein the even number of direct current motors are used for controlling the even number 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 an even number of rubber wheels; the worm and gear motor is arranged on the rack and used for controlling the protection arm to rotate, and the even number 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 lifting monitoring robot of claim 1, wherein the command processing module is an 89C52 single chip microcomputer.
11. The autonomous lift monitoring robot of any of claims 1-10, further comprising: and the data receiving module is used for receiving the environment data output by the control device.
12. The autonomous lift monitoring robot of any of claims 1 to 10, 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 |
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| Publication Number | Publication Date |
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| CN105345806A CN105345806A (en) | 2016-02-24 |
| CN105345806B true CN105345806B (en) | 2017-10-27 |
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| CN201510887939.9A Active CN105345806B (en) | 2015-12-07 | 2015-12-07 | Autonomous lifting supervisory-controlled robot |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109557173B (en) * | 2019-01-17 | 2023-12-22 | 中国石油大学(北京) | Nondestructive 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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| CN101204809A (en) * | 2007-12-16 | 2008-06-25 | 孙东彪 | Climbing level robot |
| CN102923206A (en) * | 2012-11-02 | 2013-02-13 | 上海电机学院 | Climbing robot and climbing mode thereof |
| CN203342239U (en) * | 2012-08-10 | 2013-12-18 | 施呈儒 | Small-sized high-altitude rescue robot |
| CN203727501U (en) * | 2014-03-25 | 2014-07-23 | 山东鲁能智能技术有限公司 | Insulator string intelligent detecting robot climbing device |
| CN104163215A (en) * | 2014-08-28 | 2014-11-26 | 东南大学 | Transport vehicle capable of climbing cylinders |
| CN104477272A (en) * | 2014-12-10 | 2015-04-01 | 武汉大学 | Line patrol robot capable of climbing poles and towers and climbing method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102012001725A1 (en) * | 2012-01-31 | 2013-08-01 | Fachhochschule Aachen | Climbing robot for masts |
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2015
- 2015-12-07 CN CN201510887939.9A patent/CN105345806B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101204809A (en) * | 2007-12-16 | 2008-06-25 | 孙东彪 | Climbing level robot |
| CN203342239U (en) * | 2012-08-10 | 2013-12-18 | 施呈儒 | Small-sized high-altitude rescue robot |
| CN102923206A (en) * | 2012-11-02 | 2013-02-13 | 上海电机学院 | Climbing robot and climbing mode thereof |
| CN203727501U (en) * | 2014-03-25 | 2014-07-23 | 山东鲁能智能技术有限公司 | Insulator string intelligent detecting robot climbing device |
| CN104163215A (en) * | 2014-08-28 | 2014-11-26 | 东南大学 | Transport vehicle capable of climbing cylinders |
| CN104477272A (en) * | 2014-12-10 | 2015-04-01 | 武汉大学 | Line patrol robot capable of climbing poles and towers and climbing method |
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| Publication number | Publication date |
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| CN105345806A (en) | 2016-02-24 |
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