CN106393060A - Suspension type inspection robot device - Google Patents
Suspension type inspection robot device Download PDFInfo
- Publication number
- CN106393060A CN106393060A CN201611103977.1A CN201611103977A CN106393060A CN 106393060 A CN106393060 A CN 106393060A CN 201611103977 A CN201611103977 A CN 201611103977A CN 106393060 A CN106393060 A CN 106393060A
- Authority
- CN
- China
- Prior art keywords
- suspension type
- robot device
- inspection
- crusing robot
- homeplug
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a suspension type inspection robot device. The suspension type inspection robot device is characterized by comprising an inspection track; an inspection vehicle is arranged on the inspection track in a suspended manner, and power lines are arranged on the inspection track; a receiving box is arranged at the tail end of the inspection track, the receiving box internally comprises a power source, and the power source is connected with the power lines; a pan-tilt capable of moving up and down is mounted at the lower end of the inspection vehicle, and a rotary common camera and a rotary infrared camera are mounted at the lower end of the pan-tilt; a first drive motor for the inspection vehicle, a second drive motor for the pan-tilt, a control circuit, a central processing unit, a signal acquisition module and an image processing module are mounted in the inspection vehicle, and the central processing unit is connected with a monitoring terminal in a communication manner. The suspension type inspection robot device is high in safety, reliable in data, high in stability and good in market prospect.
Description
Technical field：
The invention belongs to inspection device field, more particularly, to a kind of suspension type crusing robot device.
Background technology：
Because much place can not moment someone be patrolled and examined, and patrolling and examining of being related to target is excessive, such as in the machine room of power system
To the patrolling and examining of animal in hutch in the patrolling and examining of vegetation growth state in the patrolling and examining of instrument on rack, botanical garden, animal farm.Artificially
Patrolling and examining these places and being is not only test to people's muscle power, patrols and examines the environmental problems such as temperature and the abnormal flavour in place and also hampers and patrols
The normal work of inspection person.
Therefore, a kind of suspension type crusing robot device is particularly important in field of visual inspection.However, current one
A little crusing robot acquired images distort greatly or patrol to exist when picking up and swing or shake, and cause view data to obscure distortion, right
Monitor in real time causes obstruction.So designing a kind of suspension type crusing robot device, stable mechanical performance, anti-vibration and pendulum
Dynamic, data can be received by the terminal such as computer, mobile phone, be integrated with multiple image distortion correction algorithms and noise reduction, enhancing, contrast
The common image processing algorithm such as adjust, sharpen, can effectively original image signal be corrected, effectively solving pattern distortion.
Content of the invention：
In order to solve the deficiency of prior art, the present invention provides a kind of suspension type crusing robot device.
The technical solution used in the present invention is as follows：
A kind of suspension type crusing robot device it is characterised in that：Include and patrol and examine track, patrol and examine to hang to be provided with track and patrol
Inspection car, patrols and examines and is disposed with electric lines of force on track, and the end patrolling and examining track is provided with reception box, receives in box and includes power supply, electricity
Source is connected with electric lines of force；The lower end of inspection car is provided with the head that can move up and down, and the lower end of head is provided with rotary common
Photographic head and rotary infrared camera, inspection car built with the motor one of inspection car, the motor two of head, control
Circuit, CPU, signal acquisition module, image processing module, rotary common camera, rotary infrared camera
Signal output part connect the signal input part of signal acquisition module, the signal output part of signal acquisition module connects image procossing
The signal input part of module, the signal output part of image processing module connects the signal input part of CPU, centre
The signal output part of reason unit connects the motor one of inspection car, the motor two of head, control circuit, control circuit with
Rotary common camera, rotary infrared camera control connect control its can 360 ° of rotations, electric lines of force is inspection car and connecing
Receive each force device in box to power, CPU is communicated to connect with monitor terminal.
A kind of described suspension type crusing robot device it is characterised in that：Described CPU and monitor terminal
Communication mode be power line carrier communication mode.
A kind of described suspension type crusing robot device it is characterised in that：The mode of described power line carrier communication is
The Homeplug being used using a pair of pairing, Homeplug one is arranged in reception box, and Homeplug one is communicated to connect with monitor terminal, electricity
Power cat one is powered by electric lines of force；Homeplug two is arranged on patrols and examines in-car, and Homeplug two communicates to connect with CPU, electricity
Power cat two is powered by electric lines of force.
A kind of described suspension type crusing robot device it is characterised in that：The shell of described inspection car adopts high intensity
Metal material is made.
A kind of described suspension type crusing robot device it is characterised in that：Described patrolling and examining is furnished with tooth bar on track, and patrol
The roller occlusion of inspection car is installed.
A kind of described suspension type crusing robot device it is characterised in that：Described image processing module is internally embedded
Multiple image distortion correction algorithms and noise reduction, enhancing, contrast adjustment, the common image processing algorithm sharpening, can be effectively to former
Beginning picture signal is corrected.
A kind of described suspension type crusing robot device it is characterised in that：Described monitor terminal is computer or mobile phone, interior
Portion is provided with a kind of special-purpose software of rail mounted crusing robot.
The beneficial effects of the present invention is：
The gathered data reliability of the present invention is high, can be used for patrolling and examining of data on multiple stage rack in industrial working, monitors each rack
Temperature whether abnormal；Can be used in the greenhouse in botanical garden, patrolling and examining the growing state of plant；Can be used in feed lot or zoo
Patrol and examine living condition of animal etc. in hutch, instead of manual inspection, saved human cost, improve and patrol and examine efficiency.
Brief description
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the theory diagram of the present invention.
Specific embodiment
As shown in Figure 1, 2, a kind of suspension type crusing robot device, includes and patrols and examines track 1, patrols and examines and hangs on track 1
It is provided with inspection car 2, patrols and examines and be disposed with electric lines of force on track 1, the end patrolling and examining track 1 is provided with reception box 8, receives in box 8
Include power supply, power supply is connected with electric lines of force；The lower end of inspection car 2 is provided with the head 3 that can move up and down, the lower end of head 3
Rotary common shooting 4 and rotary infrared camera 5 is installed, inspection car 2 built with inspection car motor 1,
The motor 2 13 of head, control circuit 6, CPU 10, signal acquisition module 7, image processing module 11, rotation
Formula common camera 4, the signal output part of rotary infrared camera 5 connect the signal input part of signal acquisition module 7, signal
The signal output part of acquisition module 7 connects the signal input part of image processing module 11, the signal output of image processing module 11
End connects the signal input part of CPU 10, and the signal output part of CPU 10 connects the driving of inspection car 2
Motor 1, the motor 2 13 of head, control circuit 6, control circuit 6 and rotary common camera 4, rotary infrared
Photographic head 5 control connect control its can 360 ° of rotations, electric lines of force is inspection car 2 and receives each force device in box 8 and power, central authorities
Processing unit 10 is communicated to connect with monitor terminal 9.
The communication mode of CPU and monitor terminal is the mode of power line carrier communication.
The mode of power line carrier communication is the Homeplug being used using a pair of pairing, and Homeplug 1 is arranged on reception box
In 8, Homeplug 1 is communicated to connect with monitor terminal 9, and Homeplug 1 is powered by electric lines of force；Homeplug two is arranged on inspection car
In 2, Homeplug 2 15 communicates to connect with CPU 10, and Homeplug 2 15 is powered by electric lines of force.
The shell of inspection car 2 is made using high-strength metal material.
Patrol and examine and be furnished with tooth bar on track 1, be engaged installation with the roller of inspection car 2.
Image processing module 11 has been internally embedded multiple image distortion correction algorithms and noise reduction, enhancing, contrast adjustment, sharp
The common image processing algorithm changed, can effectively correct to original image signal.
Monitor terminal 9 is computer or mobile phone, and inside is provided with a kind of special-purpose software of rail mounted crusing robot.
During installation, patrol and examine track installation ceiling indoors, inspection car hangs to be installed in orbit, and head is arranged on patrols and examines
Below car.
After upper electricity, inspection car from walking one time, is then return in situ on patrolling and examining track.Operation mould can be set in terminal
Formula：Artificial mode or automatic mode.
During artificial mode, artificially can control the speed of inspection car in terminal wireless, position, the angle of common and infrared camera
Degree, monitor in real time scene.
During automatic mode, the speed that inspection car is set on terminal, the time interval of sampled images can be shifted to an earlier date.Image
Terminal can be sent in real time.If temperature anomaly or certain instrumented data are abnormal, can be pointed out in terminal.
Claims (7)
1. a kind of suspension type crusing robot device it is characterised in that：Include and patrol and examine track, patrol and examine suspension on track and be provided with
Inspection car, patrols and examines and is disposed with electric lines of force on track, and the end patrolling and examining track is provided with reception box, receives in box and includes power supply,
Power supply is connected with electric lines of force；The lower end of inspection car is provided with the head that can move up and down, and the lower end of head is provided with rotary general
Logical photographic head and rotary infrared camera, inspection car is built with the motor one of inspection car, the motor two of head, control
Circuit processed, CPU, signal acquisition module, image processing module, rotary common camera, rotary infrared photography
The signal output part of head connects the signal input part of signal acquisition module, at the signal output part connection figure picture of signal acquisition module
The signal input part of reason module, the signal output part of image processing module connects the signal input part of CPU, central authorities
The motor one of signal output part connection inspection car of processing unit, the motor two of head, control circuit, control circuit
With rotary common camera, rotary infrared camera control is connected control its can 360 ° rotation, electric lines of force be inspection car with
Receive each force device in box to power, CPU is communicated to connect with monitor terminal.
2. a kind of suspension type crusing robot device according to claim 1 it is characterised in that：Described CPU
Communication mode with monitor terminal is the mode of power line carrier communication.
3. a kind of suspension type crusing robot device according to claim 2 it is characterised in that：Described power line carrier is led to
The mode of letter is the Homeplug being used using a pair of pairing, and Homeplug one is arranged in reception box, Homeplug one and monitor terminal
Communication connection, Homeplug one is powered by electric lines of force；Homeplug two is arranged on patrols and examines in-car, Homeplug two with and CPU
Communication connection, Homeplug two is powered by electric lines of force.
4. a kind of suspension type crusing robot device according to claim 1 it is characterised in that：The shell of described inspection car
Made using high-strength metal material.
5. a kind of suspension type crusing robot device according to claim 1 it is characterised in that：Described patrol and examine cloth on track
There is tooth bar, be engaged installation with the roller of inspection car.
6. a kind of suspension type crusing robot device according to claim 1 it is characterised in that：Described image processing module
It has been internally embedded multiple image distortion correction algorithms and noise reduction, enhancing, contrast adjustment, the common image processing algorithm sharpening,
Effectively original image signal can be corrected.
7. a kind of suspension type crusing robot device according to claim 1 it is characterised in that：Described monitor terminal is electricity
Brain or mobile phone, inside is provided with a kind of special-purpose software of rail mounted crusing robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611103977.1A CN106393060A (en) | 2016-12-05 | 2016-12-05 | Suspension type inspection robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611103977.1A CN106393060A (en) | 2016-12-05 | 2016-12-05 | Suspension type inspection robot device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106393060A true CN106393060A (en) | 2017-02-15 |
Family
ID=58084235
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611103977.1A Pending CN106393060A (en) | 2016-12-05 | 2016-12-05 | Suspension type inspection robot device |
Country Status (1)
| Country | Link |
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| CN (1) | CN106393060A (en) |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107181935A (en) * | 2017-07-25 | 2017-09-19 | 上海控创信息技术股份有限公司 | Outstanding rail robot inspection device and system |
| CN107368050A (en) * | 2017-07-26 | 2017-11-21 | 扬州大学 | Whisker type modularization solid regulation device and its long-range control method |
| CN107402064A (en) * | 2017-07-25 | 2017-11-28 | 上海控创信息技术股份有限公司 | noise detecting method and system |
| CN108092409A (en) * | 2017-11-20 | 2018-05-29 | 安徽泰格电气科技股份有限公司 | A kind of track Intelligent robot inspection system |
| CN108443665A (en) * | 2018-04-04 | 2018-08-24 | 蔡德贤 | A kind of hanger rail cameras people's device of all-around mobile |
| CN108638025A (en) * | 2018-07-23 | 2018-10-12 | 郑州云海信息技术有限公司 | A kind of rail polling robot for data center |
| CN109262630A (en) * | 2018-11-12 | 2019-01-25 | 山西省交通科学研究院 | A kind of highway tunnel maintenance robot and its implementation method |
| CN109407711A (en) * | 2018-12-13 | 2019-03-01 | 四川智鼎盛邦智能科技有限公司 | A kind of rail mounted crusing robot |
| CN109447157A (en) * | 2018-10-30 | 2019-03-08 | 国网四川省电力公司广元供电公司 | A mobile model electric network operation cruising inspection system |
| CN109635875A (en) * | 2018-12-19 | 2019-04-16 | 浙江大学滨海产业技术研究院 | A kind of end-to-end network interface detection method based on deep learning |
| CN109683530A (en) * | 2018-12-29 | 2019-04-26 | 湖北航天技术研究院总体设计所 | A kind of Moving Objects control system based on trolley and power carrier |
| CN110076797A (en) * | 2019-05-14 | 2019-08-02 | 襄阳金美科林农业开发有限公司 | A kind of greenhouse plant disease crusing robot and method for inspecting |
| CN110493501A (en) * | 2017-12-29 | 2019-11-22 | 王晶晶 | Removable supervisory-controlled robot |
| CN111086963A (en) * | 2019-08-09 | 2020-05-01 | 中国矿业大学 | Synchronous track moving device of shaft inspection system and control method thereof |
| CN111571609A (en) * | 2020-05-15 | 2020-08-25 | 合肥卓科智能技术有限公司 | Intelligent track inspection robot with video monitoring function |
| CN112034860A (en) * | 2020-09-14 | 2020-12-04 | 山东商业职业技术学院 | Track type inspection robot |
| CN112847390A (en) * | 2020-12-31 | 2021-05-28 | 南京昊福淇电气设备有限公司 | Electric power inspection robot with communication function |
| CN114102627A (en) * | 2021-11-30 | 2022-03-01 | 国网黑龙江省电力有限公司黑河供电公司 | Electric power machine room inspection robot |
| CN114143423A (en) * | 2021-11-08 | 2022-03-04 | 国网江西省电力有限公司建设分公司 | On-spot intelligent inspection system of electric power capital construction |
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| CN204189025U (en) * | 2014-10-21 | 2015-03-04 | 国家电网公司 | Based on the indoor track machine robot system of trolley power line carrier, PLC |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107402064A (en) * | 2017-07-25 | 2017-11-28 | 上海控创信息技术股份有限公司 | noise detecting method and system |
| CN107402064B (en) * | 2017-07-25 | 2020-04-03 | 上海控创信息技术股份有限公司 | Noise detection method and system |
| CN107181935A (en) * | 2017-07-25 | 2017-09-19 | 上海控创信息技术股份有限公司 | Outstanding rail robot inspection device and system |
| CN107368050A (en) * | 2017-07-26 | 2017-11-21 | 扬州大学 | Whisker type modularization solid regulation device and its long-range control method |
| CN108092409A (en) * | 2017-11-20 | 2018-05-29 | 安徽泰格电气科技股份有限公司 | A kind of track Intelligent robot inspection system |
| CN110493501B (en) * | 2017-12-29 | 2020-12-08 | 新沂市锡沂高新材料产业技术研究院有限公司 | Movable monitoring robot |
| CN110493501A (en) * | 2017-12-29 | 2019-11-22 | 王晶晶 | Removable supervisory-controlled robot |
| CN108443665A (en) * | 2018-04-04 | 2018-08-24 | 蔡德贤 | A kind of hanger rail cameras people's device of all-around mobile |
| CN108638025B (en) * | 2018-07-23 | 2024-02-06 | 郑州云海信息技术有限公司 | Track inspection robot for data center |
| CN108638025A (en) * | 2018-07-23 | 2018-10-12 | 郑州云海信息技术有限公司 | A kind of rail polling robot for data center |
| CN109447157A (en) * | 2018-10-30 | 2019-03-08 | 国网四川省电力公司广元供电公司 | A mobile model electric network operation cruising inspection system |
| CN109262630A (en) * | 2018-11-12 | 2019-01-25 | 山西省交通科学研究院 | A kind of highway tunnel maintenance robot and its implementation method |
| CN109407711A (en) * | 2018-12-13 | 2019-03-01 | 四川智鼎盛邦智能科技有限公司 | A kind of rail mounted crusing robot |
| CN109635875A (en) * | 2018-12-19 | 2019-04-16 | 浙江大学滨海产业技术研究院 | A kind of end-to-end network interface detection method based on deep learning |
| CN109683530A (en) * | 2018-12-29 | 2019-04-26 | 湖北航天技术研究院总体设计所 | A kind of Moving Objects control system based on trolley and power carrier |
| CN110076797A (en) * | 2019-05-14 | 2019-08-02 | 襄阳金美科林农业开发有限公司 | A kind of greenhouse plant disease crusing robot and method for inspecting |
| CN111086963A (en) * | 2019-08-09 | 2020-05-01 | 中国矿业大学 | Synchronous track moving device of shaft inspection system and control method thereof |
| CN111086963B (en) * | 2019-08-09 | 2021-03-30 | 中国矿业大学 | Synchronous track moving device of shaft inspection system and control method thereof |
| CN111571609A (en) * | 2020-05-15 | 2020-08-25 | 合肥卓科智能技术有限公司 | Intelligent track inspection robot with video monitoring function |
| CN112034860A (en) * | 2020-09-14 | 2020-12-04 | 山东商业职业技术学院 | Track type inspection robot |
| CN112847390A (en) * | 2020-12-31 | 2021-05-28 | 南京昊福淇电气设备有限公司 | Electric power inspection robot with communication function |
| CN114143423A (en) * | 2021-11-08 | 2022-03-04 | 国网江西省电力有限公司建设分公司 | On-spot intelligent inspection system of electric power capital construction |
| CN114102627A (en) * | 2021-11-30 | 2022-03-01 | 国网黑龙江省电力有限公司黑河供电公司 | Electric power machine room inspection robot |
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Application publication date: 20170215 |