CN106426122B - Four-way walking intelligent robot towards underground piping - Google Patents
Four-way walking intelligent robot towards underground piping Download PDFInfo
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- CN106426122B CN106426122B CN201610585931.1A CN201610585931A CN106426122B CN 106426122 B CN106426122 B CN 106426122B CN 201610585931 A CN201610585931 A CN 201610585931A CN 106426122 B CN106426122 B CN 106426122B
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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
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/045—Polar coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
Four-way walking intelligent robot towards underground piping, including fuselage, the walking mechanism that is mounted on fuselage bottom, three-freedom mechanical arm component, cleaning mechanism, control mechanism and the power supply mechanism for being mounted on back, walking mechanism includes travel driving motor, roll wheel assembly and the crawler belt being coated on outside roll wheel assembly；Three-freedom mechanical arm component includes the first endless screw electric motor, the second endless screw electric motor, the first steering engine and three-freedom mechanical arm；Cleaning mechanism includes shell, third endless screw electric motor, Clean Brush for cleaning, gripper and the 4th steering engine；Control mechanism includes main control module, data transmission module, upper computer control module, drive and control of electric machine module, operational module and walking module and sensing module, power supply module.The beneficial effects of the present invention are: acquiring corresponding gas sensor data in pipeline by gas sensor, and defeated to far-end control system by camera collection site image；To realize the replacement to manpower.
Description
Technical field
The present invention relates to a kind of intelligent robots, more particularly, to a kind of four-way walking intelligence machine towards underground piping
People belongs to robotic technology field.
Background technique
Urban Underground pipeline, which is held, is responsible for the works energy such as electricity, heat, the transport of water system and blowdown, is city survival and development institute
The main foundation facility of dependence.With the construction and development in city and the long-time service of underground piping, pipeline can be answered increasingly
Periodic maintenance is badly in need of in miscellaneous and increasingly aging.But underground piping internal diameter is narrow, personnel's disengaging is not easy, and is seemed using manual maintenance
It is difficult.All the time, the accident occurred due to service conduit is commonplace, or even can cause casualties.Cause people
One of the reason of member's injures and deaths, is derived from the toxic gas in underground piping.Contain methane, sulfide, nitrogen hydrogenation in underground piping
Close a variety of toxic gases such as object, engineering staff's operation of going down rashly may cause personnel's asphyxia or even gas burst.Media are existing
Repeatedly report, for worker when being put into the water engineering, the doubtful excessive biogas of sucking leads to death.These concentration of toxic gases mistakes
Height, or even passerby's safety above sewer can be hurt.The reason of causing casualties second is that there are many in underground piping
Foreign matter such as glass, iron nail, wood etc. may result in construction personnel's injury, along with various germs are full of in pipeline, can also endanger
And construction personnel's life.Also it can reduce the cost of urban Underground pipeline maintenance while in order to reduce casualties, it is many
Multitube pipeline robot comes into being.Such as external Versatrax150 exploring robot, China Electronic Science and Technology Corporation
WT3090 type pipeline internal inspection system, South Korea TS-ROBOCAM detect crawl device etc..However the control to these pipe robots
System all needs either to control box by special control cabinet, constrains the usage scenario of pipe robot, and be unfavorable for carrying,
Operating difficulties.
Therefore, in view of the above technical problems, it is necessary to a kind of pipe robot control system is provided, to overcome above-mentioned lack
It falls into.
Summary of the invention
It is an object of the present invention to develop a kind of intelligent robot suitable for underground pipeline engineering operation, which can
By camera collection site image, corresponding gas sensor data in pipeline is acquired by gas sensor, and by all numbers
It is transferred to according to by Ethernet to far-end control system；Control system can control the operation of the walking of robot, mechanical arm, from
And realize the replacement to manpower.
Four-way of the present invention towards underground piping is walked intelligent robot, including fuselage, is mounted on fuselage bottom
Walking mechanism, be mounted on three-freedom mechanical arm component, cleaning mechanism, control mechanism and the power supply mechanism of back,
It is characterized by: the walking mechanism includes travel driving motor, roll wheel assembly and the shoe being coated on outside roll wheel assembly
Band, the travel driving motor are mounted on the fuselage, the driving end of the travel driving motor and are mounted on machine
The roll wheel assembly connection of two side bottom of body, the crawler belt are engaged with the roll wheel assembly, realize the idler wheel
The crawler belt of component and cladding outside it operates synchronously；
The three-freedom mechanical arm component includes the first endless screw electric motor, the second endless screw electric motor, three-freedom mechanical arm,
The driving end of first endless screw electric motor is connected by connecting rod with the chassis of second endless screw electric motor, second snail
The driving end of bar motor and the bottom of the three-freedom mechanical arm are hinged, the top installation of the three-freedom mechanical arm
Cleaning mechanism；
The cleaning mechanism includes shell, third endless screw electric motor, Clean Brush for cleaning, gripper and the 4th steering engine, described
The output axis connection of Clean Brush for cleaning and the third endless screw electric motor, the gripper are mounted on described by the 4th steering engine
Shell end, and the control terminal of the third endless screw electric motor and the drive and control of electric machine module of the control mechanism are electrically connected,
The control terminal of 4th steering engine is electrically connected with the steering engine control port of the main control module；
The control mechanism includes main control module, the data transmission module being connected with main control module, for sending user
The upper computer control module of operational order, passes through drive and control of electric machine mould at the drive and control of electric machine module being connected with main control module
Block driving operational module and walking module and for the sensing module of sensing external environment, for what is be connected with power supply mechanism
Power supply module, the data transmission module, drive and control of electric machine module and sensing module respectively with the main control module
Two-way communication, the upper computer control module, the sensing module connect with the data transmission module signal respectively
It connects；The operational module, walking module are connect with the drive and control of electric machine module by signal respectively；The motor driven
Control module is electrically connected with the control terminal of first endless screw electric motor, the control terminal of second endless screw electric motor, the row
The control terminal for walking module and the travel driving motor is electrically connected；The power end of the power supply module and the main control module
Mouth connection, the drive and control of electric machine module are connect with the motor control port of the main control module.
The three-freedom mechanical arm component is four-bar linkage structure, including first mechanical arm, second mechanical arm, the first company
Bar and second connecting rod, the output axis connection of the bottom of the first mechanical arm and second endless screw electric motor, described
The rear end of two mechanical arms and the upper end of the first mechanical arm are hinged, and the front end of the second mechanical arm is furnished with for installing
First steering engine of cleaning mechanism；One end of the first connecting rod and the bottom of the first mechanical arm are hinged,
The other end of the first connecting rod and one end of the second connecting rod are hinged, the second connecting rod it is another
The second steering engine for holding and being mounted on second mechanical arm rear end is hinged；The control terminal of first steering engine, second steering engine
Control terminal be electrically connected respectively with the steering engine control port of main control module, realize three directions of three-freedom mechanical arm component fortune
It is dynamic.
The main control module is the embedded Control mainboard based on ARM-cortex family chip, is used to parse host computer
The control instruction of control module, and robot each section module is driven to cooperate.
The data transmission module includes the Intelligent routing chip of model MT7620N, which can provide wirelessly simultaneously
(wifi), wired (Ethernet) two kinds of data transfer modes and upper computer control module are communicated, and master control mould is used for transmission
Communication data between block and upper computer control module.
The upper computer control module is portable computer or intelligent mobile terminal, is used to provide a user one
Visual robot manipulation interface, while camera acquired image data, sensing data, robotary etc. being believed
Breath is shown by visualization interface.
The drive and control of electric machine module includes single-chip microcontroller or the embedded motor control chip of DSP, is used to drive machine
People's each section motor, such as the servo motor of the direct current generator of walking module, mechanical arm.
The sensing module includes hazardous gas sensor, the first infrared sensor, 360 degree rotation formula camera, described
Fuselage on equipped with the camera, gas (methane, hydrogen sulfide, carbon monoxide) sensor, the first infrared sensor and
LED illumination lamp realizes 360 degree of camera rotations wherein the camera is mounted on the front end of the fuselage by third steering engine
Turn；The periphery of the fuselage is arranged in the LED illumination lamp, is used to detect pipeline inner ring border, while being operator
The broader visual field is provided, its operation is facilitated.
The control mechanism is additionally provided with protective module, the signal output end of the protective module and the master control mould
The corresponding signal end of block is electrically connected；The protective module includes the second infrared sensor and limit switch, the second infrared sensor
For the distance between robot measurement and barrier；Limit switch is installed on robot fuselage, and the maximum of limit mechanical arm is living
Dynamic range, the module is for ensuring robot inherently safe.
The power supply module include one piece of voltage be 12V lithium battery and 12V turn 5V power conversion module, be used for for
Whole system provides power supply.
It is attached between crawler belt and fuselage by u-bracket, and reserves activity space in u-bracket.
The beneficial effects of the present invention are: 1) robot can all around walk, can be used for turning, complicated pipeline and narrow sky
Between.The three freedom degree manipulator arm of multimode is housed, cleaning mechanism devises changeable function, can be free above robot
Switch Clean Brush for cleaning and gripper, to carry out the work such as duct cleaning, foreign matter removal；2) robot rear is equipped with gas sensing
Device, for monitoring the main component of gas in pipelines；3) adjustable stainless steel crawler belt, so as to adapt to different-diameter
Pipeline；4) when multiple robots carry out operation to underground pipeline network, data that each robot is passed back by operation computer without
Line is transferred to background server platform and uniformly carries out data analysis, and each robot is enable to cooperate；5) it does not depend on special
Robot control cabinet can pass through wired or wireless side on any portable notebook computer or intelligent mobile terminal
Formula, which carries out operation control, strong interference immunity in real time to robot, to have a wide range of application；6) state of pipe robot, camera
Image and sensing data can in host computer operation module real-time display, cooperate host computer operation module in control
Software, it is easy to operate, intuitive；7) protective module can effectively ensure that the safety of robot itself.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is left view of the invention；
Fig. 3 is right view of the invention；
Fig. 4 is front view of the invention；
Fig. 5 is rearview of the invention；
Fig. 6 is top view of the invention；
Fig. 7 is bottom view of the invention；
Fig. 8 is transmission figure of the invention；
Fig. 9 is control terminal program implementation flow chart.
Specific embodiment
The present invention is further illustrated with reference to the accompanying drawing
Referring to attached drawing:
The four-way of the present invention towards underground piping of embodiment 1 is walked intelligent robot, including fuselage 1, is mounted on
The walking mechanism 2 of fuselage bottom, the three-freedom mechanical arm component 3 for being mounted on back, cleaning mechanism 4, control mechanism with
And power supply mechanism, the walking mechanism 2 include travel driving motor 21, roll wheel assembly 22 and are coated on outside roll wheel assembly
Crawler belt 23, the travel driving motor 21 is mounted on the fuselage 1, the driving end of the travel driving motor 21
It is connect with the roll wheel assembly 22 for being mounted on 1 liang of side bottom of fuselage, the crawler belt 23 is nibbled with the roll wheel assembly 22
It closes, realizes operating synchronously for the crawler belt 23 of the roll wheel assembly 22 and cladding outside it；
The three-freedom mechanical arm component 3 includes the first endless screw electric motor 31, the second endless screw electric motor 32, the first steering engine
345 and three-freedom mechanical arm, the driving end of first endless screw electric motor 31 passes through connecting rod and second endless screw electric motor
32 chassis is connected, and the driving end and the bottom of the three-freedom mechanical arm of second endless screw electric motor 32 are hinged, institute
The top for the three-freedom mechanical arm stated is installed by cleaning mechanism 4；
The cleaning mechanism 4 includes shell 41, third endless screw electric motor 42, Clean Brush for cleaning 43, gripper 46 and the 4th rudder
Machine 45, the output axis connection of the Clean Brush for cleaning 43 and the third endless screw electric motor 42, the cleaning mechanism 4 pass through the
Two steering engines are mounted on the second mechanical arm front end of the three-freedom mechanical arm component 3, and the gripper 46 passes through the 4th
Steering engine 45 is mounted on 41 end of shell, and the control terminal of the third endless screw electric motor 42 and the control mechanism
Drive and control of electric machine module is electrically connected, the steering engine control port electricity of the control terminal of the 4th steering engine 45 and the main control module
Even；
The control mechanism includes main control module 51, the data transmission module being connected with main control module 52, for sending
The upper computer control module 53 of user operation instruction, the drive and control of electric machine module 54 being connected with main control module are driven by motor
The operational module 55 and walking module 56 of dynamic control module driving and for sensing external environment sensing module 57, for
The connected power supply module 58 of power supply mechanism, the data transmission module 52, drive and control of electric machine module 54 and sensing module
57 two-way communications with the main control module 51 respectively, the upper computer control module 53, the sensing module 57 divide
It is not connect with 52 signal of data transmission module；The operational module 55, walking module 56 respectively with the motor
The connection of 54 signal of drive control module；The control of drive and control of electric machine module 54 and first endless screw electric motor 31
End, second endless screw electric motor 32 control terminal be electrically connected,
The control terminal of the walking module 56 and the travel driving motor 21 is electrically connected；The power supply module and institute
The power port for the main control module 51 stated connects, the motor control of the drive and control of electric machine module and the main control module
Port connection.
The three-freedom mechanical arm is four-bar linkage structure, including first mechanical arm 341, second mechanical arm 342, first
Connecting rod 343 and second connecting rod 344, the output shaft of the bottom of the first mechanical arm 341 and second endless screw electric motor 32
Connection, the rear end of the second mechanical arm 342 and the upper end of the first mechanical arm 341 are hinged, and described second is mechanical
The front end of arm 342 is equipped with the first steering engine 345 for installing cleaning mechanism 4；One end of the first connecting rod 343 and described
The bottom of first mechanical arm 341 is hinged, and one end of the other end of the first connecting rod 343 and the second connecting rod 344 is cut with scissors
It connects, the other end of the second connecting rod 344 and the second steering engine 346 for being mounted on 342 rear end of second mechanical arm are hinged；Described
The control terminal of first steering engine 345, the control terminal of second steering engine 346 are electric with the steering engine control port of main control module 51 respectively
Even, the movement in three directions of three-freedom mechanical arm component is realized.
The main control module 51 is the embedded Control mainboard based on ARM-cortex family chip, is used to parse upper
The control instruction of machine control module, and robot each section module is driven to cooperate.
The data transmission module 52 includes the Intelligent routing chip of model MT7620N, which can provide nothing simultaneously
Line (wifi), wired (Ethernet) two kinds of data transfer modes and upper computer control module are communicated, and master control is used for transmission
Communication data between module and upper computer control module.
The upper computer control module 53 is portable computer or intelligent mobile terminal, is used to provide a user one
A visual robot manipulation interface, while by camera acquired image data, sensing data, robotary etc.
Information is shown by visualization interface.
The drive and control of electric machine module 54 includes single-chip microcontroller or the embedded motor control chip of DSP, is used for driving machine
Device people's each section motor, such as the servo motor of the direct current generator of walking module, mechanical arm.
The sensing module 57 includes hazardous gas sensor 571, the first infrared sensor, 360 degree rotation formula camera
572, the camera 572, gas (methane, hydrogen sulfide, carbon monoxide) sensor 571, first are housed on the fuselage 1
Infrared sensor and LED illumination lamp 573, wherein the camera 572 is mounted on second machine by third steering engine
Camera 360 degree rotation is realized in the front end of tool arm 342；The periphery of the fuselage 1 is arranged in the LED illumination lamp 573,
It is used to detect pipeline inner ring border, while the broader visual field is provided for operator, facilitates its operation.
The control mechanism is additionally provided with protective module 59, the signal output end of the protective module 59 and the master
The control corresponding signal end of module 51 is electrically connected；The protective module 59 includes the second infrared sensor and limit switch, and second is red
Outer sensor is used for the distance between robot measurement and barrier；Limit switch is installed on robot fuselage 1, limit mechanical arm
Maximum range of activities, the module is for ensuring robot inherently safe.
The power supply module 58 includes that the lithium battery that one piece of voltage is 12V and 12V turn 5V power conversion module, is used for
Power supply is provided for whole system.
It is attached between crawler belt 23 and fuselage 1 by u-bracket, and reserves activity space in u-bracket.
2 or less embodiment is described further each module of pipe robot control system.
1, main control module 51 are whole systems including the embedded Control mainboard based on ARM-cortex family chip
Main control unit, is used to parse the control instruction of upper computer control module, and robot each section module is driven to carry out collaboration work
Make.Its groundwork has:
It is communicated with data transmission module 52 by RS232 serial ports 511, receives the behaviour that upper computer control module 53 is sent
Make to instruct and parse instruction, and then controls the behavior of pipe robot；Meanwhile by collected sensing data and
The state of each module of robot feeds back to upper computer control module by data transmission module.
It is connected with power supply module 58, is the other module for power supply of system.
Be connected with drive and control of electric machine module 54, according to different operation instruct so that control fuselage different parts motor or
The work of servo motor.
The data of real-time reception protective module 59, and then make corresponding safeguard measure.
The data for reading sensing module 57 in real time, are sent to upper computer control module for environmental information, when toxic in environment
Gas concentration issues alert messages when reaching certain threshold value.
Drive and control of electric machine module 54, including single-chip microcontroller or the embedded motor control chip of DSP, control machine by relay
The work of the direct current generator and servo motor of the man-machine body of device.
Operational module 55, for complete illumination, duct cleaning, foreign matter exclusion etc. work, wherein three-freedom mechanical arm according to
It can complete accurately to operate by three 180 degree servo motors.
Walking module 56 is used to control the walking and movement speed of pipe robot.
Protective module 59 is used to ensure robot inherently safe, including infrared sensor and limit switch: infrared biography
Sensor is used for the distance between robot measurement and barrier；Limit switch is installed on robot fuselage, and limit mechanical arm is most
Big scope of activities.
Sensing module 57 can understand the environment in pipeline in real time, can give ground handling people if there is hazardous gas
The certain warning of member；360 degree of rotatable high-definition cameras can provide the broader visual field for operator, facilitate its operation.
Data transmission module 52, the communication data being used for transmission between main control module and upper computer control module, including
The Intelligent routing chip of model MT7620N, which can provide wireless (wifi) simultaneously, wired (Ethernet) two kinds of data pass
Defeated mode is communicated with upper computer control module.When underground piping network environment is severe, when wireless signal can not be transmitted effectively,
Wired mode is able to use to carry out data transmission.Meanwhile the module is connected with the camera in sensing module by USB
It connects, it can be directly by image transmission to upper computer control module.
Upper computer control module 53 is used to provide a user a visual robot manipulation interface, while will take the photograph
As the information such as head acquired image data, sensing data, robotary are shown by visualization interface.Including control
Platform processed can be portable computer or intelligent mobile terminal.
Power supply module 58 turns for providing power supply for whole system including the lithium battery that one piece of voltage is 12V and 12V
5V power conversion module.
The pipe robot control system general work process is as follows:
Step 1, start robot, so that power supply module is that whole system is powered, robot can automatically will be mechanical after powering on
Arm, Clean Brush for cleaning, gripper etc. are resetted.Upper computer control module starting simultaneously, initialization, and select wired or wireless
Mode and robot establish connection；
Step 2, user selects different operations in upper computer control module, such as controls robot forward-reverse and turns to, opens
Camera, mechanical arm extension, starting Clean Brush for cleaning, opening and closing gripper etc. are closed, upper computer control module passes through Ethernet or nothing
Control instruction is sent to data transmission module by line wifi, and data transmission module is sent via RS232 serial ports to main control module again；
Step 3, main control module parses the control instruction received according to communication protocol, and then executes corresponding behaviour
Make.For example, user advances in upper computer control module control robot, after main control module receives corresponding instruction and parses, pass through
Drive and control of electric machine module controls the rotating forward of the direct current generator in corresponding walking module, to realize robot forward motion.At this
During a, if protective module detects that robotic arm movable amplitude is excessive or detecting in certain distance has barrier can not
Pass through or sensing module in hazardous gas sensor when detecting hazardous gas excessive concentration, robot can be out of service, and
Provide corresponding information warning.
The underground piping intelligent robot of embodiment 3 can be divided into machine human organism, control module, sensing module and transmission
Four parts such as module.Machine human organism includes stainless steel fuselage, walking mechanism, mechanical arm mechanism, cleaning mechanism, power supply mechanism
Deng, wherein walking mechanism use stainless steel crawler belt so that there is certain obstacle climbing ability in robot；Mechanical arm module design be three from
By degree mechanical arm, facilitate corresponding underground piping operation；The machinery of Clean Brush for cleaning and retractable is installed on cleaning mechanism
Pawl；Sensing module is 720P high-definition camera, multiple gases sensor (hazardous gases such as hydrogen sulfide, carbon monoxide, methane)；Control
Molding block is divided into slave computer control unit (STM32F103ZET6 chip master control borad) and the PC control software (end PC robot
Control software)；Transmission module is one piece of WIFI data transmission module for having MEDIATEK company MTK7620N chip.
Left view, the top view of machine human organism.Wherein, robot fuselage is cut using the stainless steel of 3mm thickness by laser
It cuts, sanding and polishing, be welded.Fuselage two sides connect the walking mechanism of robot, including stainless steel by movable u-bracket
Crawler belt and travel driving motor (12V/15W, 120RPM) guarantee that it can overcome environment moist and seriously polluted in pipeline,
And there is certain obstacle climbing ability.Travel driving motor is connected to the motor control port of robot master control borad by Du Pont's line.?
Travel driving motor rear carry one 12V battery, the battery are connected to fuselage interior by fuselage rear aperture
Voltage transformation module, and then power to robot each section.Fore-body is equipped with two intensity adjustable LED illumination lamps, machine
Camera above device people combine intensity adjustable LED illumination lamp will observe the real-time ship backstage of influence inside pipeline as
The reference frame of detection and monitoring report.Camera is mounted on 360 degree of steering engines, is enable camera 360 degree rotation, is obtained
Obtain wider array of observation scope.One three-freedom mechanical arm is installed at camera rear, mechanical arm pedestal is equipped with a snail
Bar motor, so that mechanical arm can complete the movement to swing.Mechanical arm front end is equipped with cleaning mechanism, cleaning mechanism
Again include Clean Brush for cleaning and gripper, is controlled respectively by endless screw electric motor and 180 degree steering engine, while 180 degree steering engine can control clearly
Switching between clean hairbrush and gripper, and then complete different tasks.180 degree rudder is controlled by robot master control borad
Machine, endless screw electric motor can complete the activity in each joint of mechanical arm, including extension, retraction, be swung left and right, pipeline convenient for cleaning,
Clamp the operation such as barrier.At fuselage rear, there are three gas sensors for installation, they are carbon monoxide transducer, dioxy respectively
Change sulfer sensor and methane transducer, to realize the monitoring to main hazard gas in pipeline.
Control module, that is, robot master control borad, the Master control chip that the present invention uses are the ARM of ST Microelectronics
Cortex-m family chip STM32F103ZET6.The schematic diagram of master control borad is respectively as follows: 1, control as shown in figure 4, be divided into 6 blocks
Making sheet master chip, it is the brain of robot, data of the processing from host computer and then control robot execution operations；2,
Motor control port is adjusted for controlling robot ambulation direction and speed；3, steering engine control port, for controlling mechanical arm
The activity of upper steering engine, the rotational angle of each steering engine can be controlled by PWM；4, power port can be gas sensing
The equipment such as device, LED illumination lamp, steering engine supply power supply；5, RS232 serial ports is data flow between data transmission module and master control borad
Logical bridge；6, limit switch prevents robotic arm manipulation excessive for controlling the limitation of motion of mechanical arm and providing position limitation protection
Damage robot other component.
Sensing module is made of camera and gas sensor.Camera is connect with WIFI data transmission module by USB,
Realtime image data is acquired, host computer is sent to by WIFI data transmission module and is shown.Also, camera frame is located at one
On 360 degree of steering engines, by controlling the steering engine, camera 360 degree rotation can be realized.Gas sensor is direct by Du Pont's line
It is connected with master control borad, sensing data is read with interrupt mode, which is that analog signal is sent to control after AD conversion
Terminal processed is shown.And when the concentration of hazardous gas is more than nominal concentrations, controlling terminal will have alarm generation.
Transmission module is one piece of WIFI data transmission module for having MEDIATEK company MTK7620N chip, module symbol
The 802.11b/g/n agreement for closing international standard can be certainly using DSSS, OFDM, BPSK, QPSK, CCK and QAM baseband modulation technique
The hotspot of the equipment such as router is adapted to, maximum connection speed is up to 150Mbps.The module interface is abundant, provides RJ45
Interface can transmit data by Ethernet；Also there is wireless transmission function simultaneously；USB2.0 mouthfuls can be directly connected to
Corresponding camera acquires data；Serial ports can be realized the transmission of the data between master control borad.Due to the particular surroundings of underground piping,
Radio signal attenuation is serious, and present invention uses the preferred options that wire transmission is transmitted as data.
When work, the robot using carry robot rear 12V battery as power supply mechanism, pass through voltage modulus of conversion
Block is that robot master control borad and data transmission module are powered.Control signal is issued by host computer, is sent to WIFI by Ethernet
Data transmission module.By USB transmission image data between WIFI data transmission module and camera, with robot master control borad it
Between by RS232 serial ports transmit director data.Robot master control borad controls robot by different instructions and completes different works
Make, comprising: the walking of control travel driving motor driving robot；It controls 180 degree steering engine and endless screw electric motor completes mechanical arm
Extension, retraction, the movement such as swing；Control the switch that corresponding GPIO mouthfuls of low and high level completes LED illumination lamp；Control worm screw
The rotation of motor and 180 degree servo driving Clean Brush for cleaning and the grasping operation of gripper；360 degree of steering engines of driving realize camera
360 degree of rotations etc..Meanwhile master control borad reads gas sensor data by serial ports and is sent to WIFI data in real time and transmits mould
Block, WIFI data transmission module sends controlling terminal by Ethernet for sensing data and image, to realize to machine
The real-time control of people and real-time monitoring to underground piping.
Content described in this specification embodiment is only enumerating to the way of realization of inventive concept, protection of the invention
Range should not be construed as being limited to the specific forms stated in the embodiments, and protection scope of the present invention also includes art technology
Personnel conceive according to the present invention it is conceivable that equivalent technologies mean.
Claims (7)
- The intelligent robot 1. four-way towards underground piping is walked, including fuselage, the walking mechanism that is mounted on fuselage bottom, installation In three-freedom mechanical arm component, cleaning mechanism, control mechanism and the power supply mechanism of back, it is characterised in that: described Walking mechanism include travel driving motor, roll wheel assembly and the crawler belt being coated on outside roll wheel assembly, the walking is driven Dynamic motor is mounted on the fuselage, the driving end of the travel driving motor be mounted on the described of two side bottom of fuselage Roll wheel assembly connection, the crawler belt engage with the roll wheel assembly, realizes the roll wheel assembly and cladding outside it Crawler belt operates synchronously；The three-freedom mechanical arm component includes the first endless screw electric motor, the second endless screw electric motor and three-freedom mechanical arm, institute The driving end for the first endless screw electric motor stated is connected by connecting rod with the chassis of second endless screw electric motor, second worm screw The driving end of motor and the bottom of the three-freedom mechanical arm are hinged, and the top installation of the three-freedom mechanical arm is clear Clean mechanism；The control mechanism includes main control module, the data transmission module being connected with main control module, for sending user's operation The upper computer control module of instruction, the drive and control of electric machine module being connected with main control module are driven by drive and control of electric machine module Dynamic operational module and walking module and the sensing module for sensing external environment, the power supply for being connected with power supply mechanism Module, the data transmission module, drive and control of electric machine module and sensing module are double with the main control module respectively To communication, the upper computer control module, the sensing module are connect with the data transmission module signal respectively；The cleaning mechanism includes shell, third endless screw electric motor, Clean Brush for cleaning, gripper and the 4th steering engine, the cleaning The output axis connection of hairbrush and the third endless screw electric motor, the gripper are mounted on the shell by the 4th steering engine End, and the control terminal of the third endless screw electric motor and the drive and control of electric machine module of the control mechanism are electrically connected, it is described The control terminal of the 4th steering engine be electrically connected with the steering engine control port of the main control module；The sensing module includes hazardous gas sensor, when detecting hazardous gas excessive concentration, stops the fortune of robot Row, and issue information warning；The operational module, walking module are connect with the drive and control of electric machine module by signal respectively；The motor drives Dynamic control module is electrically connected with the control terminal of first endless screw electric motor, the control terminal of second endless screw electric motor, described The control terminal of walking module and the travel driving motor is electrically connected；The power supply of the power supply module and the main control module Port connection, the drive and control of electric machine module are connect with the motor control port of the main control module；The control mechanism is additionally provided with protective module, the signal output end of the protective module and the main control module phase The signal end answered is electrically connected；The protective module includes the second infrared sensor and limit switch, and the second infrared sensor is used for The distance between robot measurement and barrier；Limit switch is installed on robot fuselage, the maximum activity model of limit mechanical arm It encloses；The three-freedom mechanical arm component be four-bar linkage structure, including first mechanical arm, second mechanical arm, first connecting rod and Second connecting rod, the output axis connection of the bottom of the first mechanical arm and second endless screw electric motor, second machine The rear end of tool arm and the upper end of the first mechanical arm are hinged, and the front end of the second mechanical arm is furnished with for installing cleaning First steering engine of mechanism；One end of the first connecting rod and the bottom of the first mechanical arm are hinged, and described first connects The other end of bar and one end of the second connecting rod are hinged, the other end of the second connecting rod and are mounted on second mechanical arm Second steering engine of rear end is hinged；The control terminal of first steering engine, the control terminal of second steering engine respectively with master control mould The steering engine control port of block is electrically connected, and realizes the movement in three directions of three-freedom mechanical arm component；The main control module is the embedded Control mainboard based on ARM-cortex family chip, is used to parse PC control The control instruction of module, and robot each section module is driven to cooperate.
- The intelligent robot 2. four-way according to claim 1 towards underground piping is walked, it is characterised in that: the data Transmission module includes the Intelligent routing chip of model MT7620N, which can provide wireless, wired two kinds of data transmission simultaneously Mode is communicated with upper computer control module.
- The intelligent robot 3. four-way according to claim 2 towards underground piping is walked, it is characterised in that: described upper Machine control module is portable computer or intelligent mobile terminal.
- The intelligent robot 4. four-way according to claim 1 towards underground piping is walked, it is characterised in that: the motor Drive control module includes single-chip microcontroller or the embedded motor control chip of DSP.
- The intelligent robot 5. four-way according to claim 1 towards underground piping is walked, which is characterized in that the perception Module further includes the first infrared sensor, 360 degree rotation formula camera, and the camera, gas are housed on the fuselage Sensor, the first infrared sensor and LED illumination lamp, wherein the camera is mounted on the fuselage by third steering engine Front end, realize camera 360 degree rotation；The periphery of the fuselage is arranged in the LED illumination lamp.
- The intelligent robot 6. four-way according to claim 1 towards underground piping is walked, it is characterised in that: the power supply Module includes that the lithium battery that one piece of voltage is 12V and 12V turn 5V power conversion module.
- The intelligent robot 7. four-way according to claim 1 towards underground piping is walked, it is characterised in that: crawler belt and machine It is attached between body by u-bracket, and reserves activity space in u-bracket.
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| CN201610585931.1A CN106426122B (en) | 2016-07-22 | 2016-07-22 | Four-way walking intelligent robot towards underground piping |
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| CN201610585931.1A CN106426122B (en) | 2016-07-22 | 2016-07-22 | Four-way walking intelligent robot towards underground piping |
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| CN106426122B true CN106426122B (en) | 2019-09-03 |
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