CN107703272B - Sewage pool inspection robot and detection method thereof - Google Patents
Sewage pool inspection robot and detection method thereof Download PDFInfo
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- CN107703272B CN107703272B CN201711100231.XA CN201711100231A CN107703272B CN 107703272 B CN107703272 B CN 107703272B CN 201711100231 A CN201711100231 A CN 201711100231A CN 107703272 B CN107703272 B CN 107703272B
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Abstract
A sewage pool inspection robot and a detection method thereof relate to the field of sewage treatment plant water quality monitoring. The invention solves the problems that the existing water plant inspection work is mainly completed by workers, the labor intensity is high, the operation cost is high, and the harmful gas on the working site is easy to cause harm to the bodies of the workers. The robot driving mechanism, the power machine control cabin and the sensor retraction assembly are all arranged on the U-shaped frame, the power machine control cabin is connected with the robot driving mechanism through wire control, the connection of the power machine control cabin and the robot driving mechanism controls the driving of the robot driving mechanism, the power machine control cabin is connected with the sensor retraction assembly through wire control, and the connection of the power machine control cabin and the sensor retraction assembly controls the retraction action of the sensor retraction assembly to detect water quality. The invention is used for monitoring the running condition of water plant equipment and detecting water samples.
Description
Technical Field
The invention relates to the field of water quality monitoring of sewage treatment plants, in particular to a sewage pool inspection robot and a detection method thereof.
Background
Sewage treatment is one of the indispensable works in urban infrastructure. In order to ensure the normal operation of the sewage treatment plant, the sewage treatment plant needs to be periodically patrol on site, and the water quality of the sewage treatment plant needs to be monitored. Monitoring the running condition of water plant equipment, collecting the working state of the water plant equipment, immediately finding out abnormal appearance of the water plant equipment, detecting a water sample, and immediately finding out faults such as internal heat defects of the water quality of the water plant. Because traditional water works patrol is mainly accomplished by staff, staff intensity of labour is big, has increased the running cost of water works to the job site harmful gas causes the injury to the staff health easily.
In summary, the existing water works inspection work is mainly completed by workers, and the problems of high labor intensity, high operation cost and easy damage to the bodies of the workers caused by harmful gases on the working site exist.
Disclosure of Invention
The invention aims to solve the problems that the existing water plant inspection work is mainly completed by workers, the labor intensity is high, the operation cost is high, and harmful gas on a working site is easy to cause harm to the bodies of the workers, and further provides a sewage pool inspection robot and a detection method thereof.
The technical scheme of the invention is as follows:
the utility model provides a sewage pool inspection robot, it includes the robot body and is used for the electric pile that charges of robot body, the robot body includes robot actuating mechanism, the engine control cabin, sensor receive and release subassembly and U type frame, robot actuating mechanism, engine control cabin and sensor receive and release subassembly are all installed on U type frame, engine control cabin passes through wire control and connects robot actuating mechanism, engine control cabin and robot actuating mechanism's connection controls robot actuating mechanism's drive, engine control cabin passes through wire control and connects sensor receive and release subassembly, engine control cabin and sensor receive and release subassembly's connection controls the receive and release action of sensor receive and release subassembly and detects quality of water;
further, the charging pile comprises a charging pile frame, a awning, a control box, a mounting plate, two electrodes and two electrode supporting plates, wherein the arc awning is arranged on one side of the charging pile frame, the control box and the two electrode supporting plates are fixedly connected with the charging pile frame through the mounting plate, and the two electrodes are respectively arranged on the electrode supporting plates;
further, the number of the charging piles is n, and n=1, 2,3,4,5,6 and … …;
further, the robot driving mechanism comprises a driving wheel assembly, a driven wheel assembly, a digital sensor, two electrode detection sensors, two electrode contacts and four groups of auxiliary wheel assemblies, wherein the driving wheel assembly is arranged at one end of the U-shaped frame, the driven wheel assembly is arranged at the other end of the U-shaped frame, the four groups of auxiliary wheel assemblies are symmetrically arranged at two ends of the U-shaped frame, the two electrode contacts and the two electrode detection sensors are arranged at one side of the U-shaped frame, and the digital sensor is arranged on the U-shaped frame between the two groups of auxiliary wheel assemblies;
further, the driving wheel assembly comprises a driving motor bracket, a robot driving motor, a coupler, a driving wheel, a driving shaft and a second bearing, a first wheel groove is formed in one end of the U-shaped frame, the robot driving motor is installed on the U-shaped frame through the driving motor bracket, the driving wheel is sleeved on the driving shaft, one end of the driving shaft is connected with an output shaft of the robot driving motor through the coupler, the other end of the driving shaft is rotatably installed on the U-shaped frame through the second bearing seat, the driving wheel is arranged in the first wheel groove, and the connection of the robot driving motor and the driving wheel drives the rotation of the driving wheel;
further, the driven wheel assembly comprises a driven shaft, a driven wheel and two first bearing seats, a second wheel groove is formed in the other end of the U-shaped frame, the two first bearing seats are respectively arranged on the U-shaped frames on two sides of the second wheel groove, the driven wheel is sleeved on the driven shaft, and two ends of the driven shaft are respectively connected with the two first bearing seats in a rotating mode;
further, each group of auxiliary wheel assembly comprises a fixed auxiliary device and a displacement auxiliary device, the fixed auxiliary device and the displacement auxiliary device are symmetrically arranged at two sides of the U-shaped frame, the fixed auxiliary device comprises an auxiliary wheel bracket and a first auxiliary wheel, the auxiliary wheel bracket is arranged at one side of the U-shaped frame, the first auxiliary wheel is rotatably arranged on the auxiliary wheel bracket, the displacement auxiliary device comprises an auxiliary wheel slideway, an auxiliary wheel sliding block, a spring, a connecting pin shaft and a second auxiliary wheel, the second auxiliary wheel is arranged on the auxiliary wheel sliding block, the longitudinal axis of the second auxiliary wheel is parallel to the longitudinal axis of the first auxiliary wheel, the auxiliary wheel sliding block is slidably arranged on the auxiliary wheel slideway, the auxiliary wheel sliding channel is arranged at the other side of the U-shaped frame, one end of the connecting pin shaft is fixedly connected with the auxiliary wheel sliding channel, the other end of the connecting pin shaft is slidably connected with the auxiliary wheel sliding block, and the spring is arranged on the connecting pin shaft;
further, the sensor receive and release subassembly includes sensor storehouse, dissolved oxygen sensor, position sensor, carousel driving motor, the carousel, the third bearing frame, the carousel axle, electric slip ring support, the base, the motor cabinet, the leading wheel support, guide bar and flange, carousel driving motor passes through motor cabinet fixed mounting in the up end of U type frame one side, the up end rigid coupling of base and U type frame, the third bearing frame is installed in the upper end of base, set up first recess on the circumference of carousel, the carousel suit is epaxial at the carousel, the one end and the carousel driving motor of carousel axle are connected, the carousel driving motor is connected with the carousel axle the realization and is driven the rotation of carousel, the other end and the third bearing frame of carousel axle are connected, one side that the carousel kept away from carousel driving motor sets up electric slip ring, electric slip ring support and U type frame rigid coupling, the leading wheel is kept away from on the U type frame of two electrode detection sensors one side through the leading wheel support, the second recess of processing on the circumference of leading wheel, the opposite side and leading wheel set up the guide bar coplanarity, the opposite side and leading wheel set up the tubular sensor is the hollow sensor, the guide bar is passed through the sensor in proper order to the side and the circumference of the sensor storehouse, the circumference sensor is connected to the second side and the upper end of the sensor of the hollow sensor, the circumference sensor is passed through to the sensor of the sensor storehouse, the circumference of the hollow sensor is connected with the sensor, the circumference of the sensor is connected with the second through the sensor is connected with the circumference of the sensor to the sensor, the upper end.
Further, the robot body further comprises a camera, and the camera is installed on the U-shaped rack close to one side of the sensor retraction assembly.
A detection method of a sewage pool inspection robot is characterized in that a robot body is placed on a railing, walking of the robot body is controlled by a power machine control cabin, detection of the robot body is controlled by the power machine control cabin, a power source is provided for the robot body by a charging pile, and a water sample detection process is carried out by the sewage pool inspection robot:
the robot driving motor drives the driving wheel to rotate after receiving a signal sent by the power machine control cabin, so that the robot body walks on the railing, the power machine control cabin controls the forward and reverse rotation of the robot driving motor to realize the movement direction of the robot body, and the robot body keeps balance on the railing through the driving wheel, the driven shaft, the four first auxiliary wheels and the four second auxiliary wheels;
the robot body realizes a turning function through four groups of auxiliary wheel assemblies symmetrically arranged on two sides of the U-shaped rack, and when the robot body moves to a railing turning position, the radial force on the inner side of the railing turning radius drives the robot body to turn;
in the walking process of the robot body, when the diameter of the railing suddenly thickens, the second auxiliary wheel rotatably arranged on the auxiliary wheel sliding block pushes the auxiliary wheel sliding block to backwards compress the spring arranged on the connecting pin shaft along the auxiliary wheel sliding channel under the action of the radial force of the railing, so that the robot body can smoothly pass through the railing, the second auxiliary wheel and the first auxiliary wheel can be jointly acted to be tightly attached to the railing, the robot body can stably walk on the railing, and when the diameter of the railing suddenly thins, the compressed shrinkage spring automatically returns to push the second auxiliary wheel to move forwards and the first auxiliary wheel to be tightly attached to the railing, so that the robot body can stably walk on the railing;
the arc-shaped awning mounted on one side of the charging pile frame of the charging pile has a good waterproof effect, two electrode supporting plates fixed on the charging pile frame through mounting plates are used for mounting two electrodes, the robot body monitors the voltage of the robot body in real time through a power machine control cabin, when the voltage of the robot body is lower than a preset value, the power machine control cabin controls a robot driving motor to drive a driving wheel to rotate, the robot body automatically moves to the vicinity of the charging pile, two electrode detection sensors mounted on one side of a U-shaped frame are used for detecting two electrodes mounted on the charging pile, when the two electrode detection sensors detect the two electrodes, the power machine control cabin controls the robot driving motor to stop rotating, and at the moment, two electrode contacts mounted on one side of the U-shaped frame are in contact with the two electrodes of the charging pile for charging, and after the charging is completed, the power machine control cabin controls the robot driving motor to drive the driving wheel to rotate, so that the operation work of the robot body is realized;
the digital sensor arranged on the U-shaped frame is used for detecting the number of the robot body passing through the railing and transmitting a signal back to the power machine control cabin to control the robot body to stop moving, the power machine control cabin controls the turntable driving motor to drive the turntable to rotate so as to put the dissolved oxygen sensor into water for detection, when the detection work is finished, the signal is transmitted back to the power machine control cabin, the power machine control cabin controls the turntable driving motor to reversely move, the turntable driving motor drives the turntable to rotate so as to retract the dissolved oxygen sensor, the position sensor arranged on the side wall of the sensor cabin obtains the position of the dissolved oxygen sensor and transmits the signal back to the power machine control cabin, the power machine control cabin controls the turntable driving motor to stop rotating, the power machine control cabin controls the robot driving motor to drive the driving wheel to rotate, the robot body continues to move forward for next work, meanwhile, the camera transmits the detected scene environment picture to the monitoring room in real time, and workers can monitor the working scene in real time, and data detected by the dissolved oxygen sensor are transmitted to the rear end in real time for analysis and treatment, and thus the detection of the sewage pool inspection robot is completed.
Compared with the prior art, the invention has the following effects:
1. the invention can monitor the running condition of the water plant equipment at any time and transmit the detection result back to the monitoring platform through the Internet. The camera of monitoring the environment transmits the detected scene environment picture to the monitoring room in real time, so that the staff can monitor the working scene in real time. The labor intensity of workers and the operation cost of the water plant are effectively reduced, so that the operation cost of the water plant is reduced by more than half compared with the traditional manual monitoring.
2. According to the invention, the water sample detection system can be used for detecting the water sample of the water plant at any time, the turntable driving motor works to drive the turntable to put the dissolved oxygen sensor into the water for detection, and the detected data are transmitted to the rear end in real time by the dissolved oxygen sensor for analysis and treatment. The invention can monitor and manage the water quality of the water plant in real time, and effectively avoids the harm of harmful gas on the working site to the health of staff.
3. The robot body can realize turning on the railing, and when the robot body moves to the turning position of the railing, the robot body continues to move forwards, and at the moment, the radial force is applied to the robot body by the inner side of the turning radius of the railing, so that the robot body performs turning movement.
4. The invention has better adaptability. In the process of robot body walking, when the railing diameter suddenly thickens, rotate the second auxiliary wheel of installing on the auxiliary wheel slider and promote the auxiliary wheel slider along the epaxial spring of connecting pin along auxiliary wheel slide way backward compression, both guaranteed the robot body and pass through the railing smoothly, make second auxiliary wheel and first auxiliary wheel combined action closely laminate with the railing again, make the robot body keep steady walking on the railing, when the railing diameter suddenly becomes thin, compressed shrink spring self return promotes second auxiliary wheel forward motion and first auxiliary wheel combined action closely laminate with the railing, make the robot body keep steady walking on the railing.
5. The robot body can realize automatic charging and has the function of monitoring the voltage of the robot body in real time. When the robot body of the invention monitors that the self voltage is lower than a preset value, the robot body automatically runs to a nearby charging pile 1 on the railing to charge, and can automatically work after being fully charged.
6. The invention can realize two working modes of automatic detection and manual detection. The method is simple to operate, accurate in detection and good in intelligence and popularization.
7. In order to better realize the safe and reliable inspection of the water plant, the water plant builds an inspection robot application system, and realizes remote control inspection of the inspection robot through a wireless network. The inspection robot application system accurately navigates and positions the inspection robot through the positioning system, acquires the working state of water plant equipment, and timely returns the equipment state and the working state of the inspection robot body to the control center. The control center monitors the inspection robot through a wireless network and processes the returned data to discover faults such as abnormal appearance and internal heat defects of the water plant equipment in real time, so that reliable inspection is achieved. Through the development, installation water works inspection robot system, can reach inspection robot at any time monitor water works equipment behavior and detect the water sample to pass back the testing result through the internet and transmit monitoring platform.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention; FIG. 2 is an isometric view of FIG. 1; fig. 3 is a front view of the charging pile 1; FIG. 4 is a side view of FIG. 3; fig. 5 is a schematic structural view of the robot driving mechanism 2; FIG. 6 is a schematic view of the structure of the motor control cabin 3; fig. 7 is a schematic structural view of the sensor housing assembly 4.
Detailed Description
The first embodiment is as follows: referring to fig. 1,2 and 6, a sewage pool inspection robot according to this embodiment includes a robot body and a charging pile 1 for charging the robot body, the robot body includes a robot driving mechanism 2, a power machine control cabin 3, a sensor collecting and releasing assembly 4 and a U-shaped frame 5, the robot driving mechanism 2, the power machine control cabin 3 and the sensor collecting and releasing assembly 4 are all installed on the U-shaped frame 5, the power machine control cabin 3 is connected with the robot driving mechanism 2 through wire control, the power machine control cabin 3 is connected with the robot driving mechanism 2 to control driving of the robot driving mechanism 2, the power machine control cabin 3 is connected with the sensor collecting and releasing assembly 4 through wire control, and the connection of the power machine control cabin 3 and the sensor collecting and releasing assembly 4 controls collecting and releasing actions of the sensor collecting and releasing assembly 4 to detect water quality.
The second embodiment is as follows: referring to fig. 3 and 4, the charging pile 1 of the present embodiment includes a charging pile frame 1-1, a canopy 1-2, a control box 1-3, a mounting plate 1-5, two electrodes 1-4, and two electrode supporting plates 1-6, wherein the arc canopy 1-2 is mounted on one side of the charging pile frame 1-1, the control box 1-3 and the two electrode supporting plates 1-6 are fixedly connected with the charging pile frame 1-1 through the mounting plate 1-5, and the two electrodes 1-4 are respectively mounted on the electrode supporting plates 1-6. The arc-shaped awning 1-2 has good waterproof effect, and two electrode contacts arranged on one side of the U-shaped frame 5 are in contact with two electrodes 1-4 of the charging pile 1 for charging. Other compositions and connection relationships are the same as those of the first embodiment.
And a third specific embodiment: the number of the charging piles 1 of the present embodiment is n, and n=1, 2,3,4,5,6, … … will be described with reference to fig. 1 and 2. So set up, utilize charging stake 1 to provide the power supply for the robot body. Other compositions and connection relationships are the same as those of the first or second embodiment.
The specific embodiment IV is as follows: referring to fig. 5, the robot driving mechanism 2 of the present embodiment includes a driving wheel assembly, a driven wheel assembly, a data sensor 2-2, two electrode detection sensors 2-3, two electrode contacts, and four sets of auxiliary wheel assemblies, wherein the driving wheel assembly is installed at one end of the U-shaped frame 5, the driven wheel assembly is installed at the other end of the U-shaped frame 5, the four sets of auxiliary wheel assemblies are symmetrically disposed at two ends of the U-shaped frame 5, the two electrode contacts and the two electrode detection sensors 2-3 are installed at one side of the U-shaped frame 5, and the data sensor 2-2 is installed on the U-shaped frame 5 between the two sets of auxiliary wheel assemblies. The robot body is kept walking and balanced on the railing through the driving wheel assembly, the driven wheel assembly and the four groups of auxiliary wheel assemblies, the digital sensor 2-2 is used for detecting the number of the robot body passing through the railing and transmitting signals back to the power machine control cabin 3 to control the robot body to stop moving, the two electrode detection sensors 2-3 are used for detecting the two electrodes 1-4 installed on the charging pile 1, and when the two electrode detection sensors 2-3 detect the two electrodes 1-4, the power machine control cabin 3 controls the robot driving motor 2-8 to stop rotating, and the two electrode contacts are in contact with the two electrodes 1-4 of the charging pile 1 to charge. Other compositions and connection relationships are the same as those of the first, second or third embodiments.
Fifth embodiment: referring to fig. 5, the driving wheel assembly of the present embodiment includes a driving motor support 2-7, a robot driving motor 2-8, a coupling 2-9, a driving wheel 2-10, a driving shaft 2-11 and a second bearing seat 2-12, wherein one end of the U-shaped frame 5 is provided with a first wheel groove, the robot driving motor 2-8 is mounted on the U-shaped frame 5 through the driving motor support 2-7, the driving wheel 2-10 is sleeved on the driving shaft 2-11, one end of the driving shaft 2-11 is connected with an output shaft of the robot driving motor 2-8 through the coupling 2-9, the other end of the driving shaft 2-11 is rotatably mounted on the U-shaped frame 5 through the second bearing seat 2-12, the driving wheel 2-10 is disposed in the first wheel groove, and the connection of the robot driving motor 2-8 and the driving wheel 2-10 drives the rotation of the driving wheel 2-10. The robot driving motor 2-8 drives the driving wheel 2-10 to rotate after receiving the signal sent by the power machine control cabin 3, so that the robot body walks on the railing, and the power machine control cabin 3 realizes the movement direction of the robot body by controlling the forward and reverse rotation of the robot driving motor 2-8. Other compositions and connection relationships are the same as those of the first, second, third or fourth embodiments.
Specific embodiment six: referring to fig. 5, the driven wheel assembly of the present embodiment includes a driven shaft 2-4, a driven wheel 2-5 and two first bearing seats 2-6, a second wheel groove is formed at the other end of the U-shaped frame 5, the two first bearing seats 2-6 are respectively mounted on the U-shaped frames 5 at two sides of the second wheel groove, the driven wheel 2-5 is sleeved on the driven shaft 2-4, and two ends of the driven shaft 2-4 are respectively connected with the two first bearing seats 2-6 in a rotating manner. So set up, driven shaft 2-4 and drive wheel 2-10 guarantee that the robot body realizes walking on the railing. Other compositions and connection relationships are the same as those of the first, second, third, fourth or fifth embodiments.
Seventh embodiment: referring to fig. 5, each auxiliary wheel assembly of the present embodiment includes a fixed auxiliary device and a displacement auxiliary device, the fixed auxiliary device and the displacement auxiliary device are symmetrically disposed on two sides of the U-shaped frame 5, the fixed auxiliary device includes an auxiliary wheel support 2-13 and a first auxiliary wheel 2-14, the auxiliary wheel support 2-13 is mounted on one side of the U-shaped frame 5, the first auxiliary wheel 2-14 is rotatably mounted on the auxiliary wheel support 2-13, the displacement auxiliary device includes an auxiliary wheel slideway 2-15, an auxiliary wheel slider 2-16, a spring 2-17, a connection pin 2-18 and a second auxiliary wheel 2-19, the second auxiliary wheel 2-19 is rotatably mounted on the auxiliary wheel slider 2-16, a longitudinal axis of the second auxiliary wheel 2-19 is parallel to a longitudinal axis of the first auxiliary wheel 2-14, the auxiliary wheel slider 2-16 is slidably mounted on the auxiliary wheel slideway 2-15, the auxiliary wheel slideway 2-15 is mounted on the other side of the U-shaped frame 5, one end of the connection pin 2-18 is fixedly connected with the auxiliary wheel slideway 2-15, and the other end of the connection pin 2-18 is slidably connected with the spring 2-18. In this way, the robot body realizes the turning function through four groups of auxiliary wheel assemblies symmetrically arranged on two sides of the U-shaped frame 5, when the diameter of the railing suddenly thickens in the walking process of the robot body, the second auxiliary wheel 2-19 rotatably arranged on the auxiliary wheel slide block 2-16 pushes the auxiliary wheel slide block 2-16 to backwards compress the spring 2-17 arranged on the connecting pin shaft 2-18 along the auxiliary wheel slide way 2-15 under the action of the radial force of the railing, so that the robot body smoothly passes through the railing, the second auxiliary wheel 2-19 and the first auxiliary wheel 2-14 are tightly attached to the railing in a combined action manner, the robot body keeps stable walking on the railing, and when the diameter of the railing suddenly thins, the compressed shrinkage spring 2-17 automatically returns to push the second auxiliary wheel 2-19 to move forwards and the first auxiliary wheel 2-14 to be jointly acted on the railing stably and tightly attached to the railing, and the robot body keeps stable walking on the railing. Other compositions and connection relationships are the same as those of the first, second, third, fourth, fifth or sixth embodiments.
Eighth embodiment: referring to fig. 7, the sensor retraction assembly 4 of the present embodiment includes a sensor housing 4-1, a dissolved oxygen sensor 4-2, a position sensor 4-3, a turntable driving motor 4-4, a turntable 4-5, a third bearing seat 4-6, a turntable shaft 4-7, an electrical slip ring 4-8, an electrical slip ring support 4-9, a base 4-10, a motor seat 4-11, a guide wheel 4-12, a guide wheel support 4-13, a guide rod 4-14 and a flange 4-15, the turntable driving motor 4-4 is fixedly mounted on an upper end surface of one side of the U-shaped frame 5 through the motor seat 4-11, the base 4-10 is fixedly connected with an upper end surface of the U-shaped frame 5, the third bearing seat 4-6 is mounted on an upper end of the base 4-10, a first groove is formed in the circumference of the turntable 4-5, the turntable 4-5 is sleeved on the turntable shaft 4-7, one end of the turntable shaft 4-7 is connected with the turntable driving motor 4-4, the turntable driving motor 4-4 is connected with the turntable shaft 4-7 to drive the rotation of the turntable 4-5, the other end of the turntable shaft 4-7 is connected with the third bearing seat 4-6, an electric slip ring 4-8 is arranged on one side of the turntable 4-5 far away from the turntable driving motor 4-4, the electric slip ring 4-8 is fixedly connected with the U-shaped frame 5 through an electric slip ring bracket 4-9, a guide wheel 4-12 is arranged on the U-shaped frame 5 on one side of the turntable 4-5 far away from the two electrode detection sensors 2-3 through a guide wheel bracket 4-13, a second groove is processed on the circumference of the guide wheel 4-12, the turntable 4-5 and the guide wheel 4-12 are arranged in a coplanar manner, a sensor through hole is formed in the other side of the U-shaped frame 5, the guide rod 4-14 is of a hollow cylindrical structure, one end of the guide rod 4-14 is fixedly connected with the U-shaped frame 5 and communicated with the sensor through hole in the other side of the U-shaped frame 5, the other end of the guide rod 4-14 is connected with the sensor bin 4-1 through a flange 4-15, a sensor 4-3 is arranged on the side wall of the sensor bin 4-1, the connecting end of the dissolved oxygen sensor 4-2 sequentially penetrates through the sensor bin 4-1, the guide rod 4-14 and the sensor through hole in the other side of the U-shaped frame 5 from bottom to top and bypasses a second groove in the circumference of the guide wheel 4-12 and a first groove in the circumference of the turntable 4-5 to be fixedly connected with the electric slip ring 4-8. So set up, the power machine control cabin 3 controls carousel driving motor 4-4 to drive carousel 4-5 rotation and put into the aquatic and detect, pass back signal to power machine control cabin 3 after detecting work, make power machine control cabin 3 control carousel driving motor 4-4 reverse motion, carousel driving motor 4-4 drives carousel 4-5 rotation and receive and retrieve dissolved oxygen sensor 4-2, obtain the position of dissolved oxygen sensor 4-2 through the position sensor 4-3 of sensor storehouse 4-1 lateral wall installation and pass back signal to power machine control cabin 3, power machine control cabin 3 control carousel driving motor 4-4 stops rotating, the data that dissolved oxygen sensor 4-2 detected is transmitted to the rear end in real time and is analyzed and handled, accomplish the sewage pool inspection robot to the detection of quality of water. Other compositions and connection relationships are the same as those of the first, second, third, fourth, fifth, sixth or seventh embodiments.
Detailed description nine: the robot body of the present embodiment further includes a camera 4-16, and the camera 4-16 is mounted on the U-shaped frame 5 near one side of the sensor housing assembly 4, as described with reference to fig. 7. So set up, the scene environment picture real-time transmission that the camera 4-16 will detect is to the control room, let the staff can real-time supervision job site. Other compositions and connection relationships are the same as those of the first, second, third, fourth, fifth, sixth, seventh or eighth embodiments.
Detailed description ten: referring to fig. 1 to 7, a detection method of a sewage pool inspection robot according to the present embodiment is described, in which a robot body is placed on a railing, walking of the robot body is controlled by a power machine control cabin 3, detection of the robot body is controlled by the power machine control cabin 3, a power source is provided for the robot body by a charging pile 1, and a process of detecting a water sample by the sewage pool inspection robot is performed:
the robot driving motor 2-8 drives the driving wheel 2-10 to rotate after receiving a signal sent by the power machine control cabin 3, so that the robot body walks on the railing, the power machine control cabin 3 controls the forward and reverse rotation of the robot driving motor 2-8 to realize the movement direction of the robot body, and the robot body keeps balance on the railing through the driving wheel 2-10, the driven shaft 2-4, the four first auxiliary wheels 2-14 and the four second auxiliary wheels 2-19;
the robot body realizes a turning function through four groups of auxiliary wheel assemblies symmetrically arranged on two sides of the U-shaped frame 5, and when the robot body moves to a railing turning position, the radial force on the inner side of the railing turning radius drives the robot body to turn;
in the walking process of the robot body, when the diameter of the railing suddenly thickens, the second auxiliary wheel 2-19 rotatably arranged on the auxiliary wheel slide block 2-16 pushes the auxiliary wheel slide block 2-16 to backwards compress the spring 2-17 arranged on the connecting pin shaft 2-18 along the auxiliary wheel slide way 2-15 under the action of the radial force of the railing, so that the robot body is ensured to smoothly pass through the railing, the second auxiliary wheel 2-19 and the first auxiliary wheel 2-14 are jointly acted to be tightly attached to the railing, the robot body keeps stable walking on the railing, and when the diameter of the railing suddenly thins, the compressed compression spring 2-17 automatically returns to push the second auxiliary wheel 2-19 to move forwards and the first auxiliary wheel 2-14 to be tightly attached to the railing, so that the robot body keeps stable walking on the railing;
the arc-shaped awning 1-2 mounted on one side of the charging pile frame 1-1 of the charging pile 1 has a good waterproof effect, the two electrode supporting plates 1-6 fixed on the charging pile frame 1-1 through the mounting plates 1-5 are used for mounting the two electrodes 1-4, the robot body monitors the self voltage in real time through the power machine control cabin 3, when the self voltage of the robot body is lower than a preset value, the power machine control cabin 3 controls the robot driving motor 2-8 to drive the driving wheel 2-10 to rotate, so that the robot body automatically runs near the charging pile 1, the two electrode detection sensors 2-3 mounted on one side of the U-shaped frame 5 are used for detecting the two electrodes 1-4 mounted on the charging pile 1, when the two electrode detection sensors 2-3 detect the two electrodes 1-4, the power machine control cabin 3 controls the robot driving motor 2-8 to stop rotating, and when the two electrode contacts mounted on one side of the U-shaped frame 5 are in contact with the two electrodes 1-4 of the charging pile 1 to charge, and after the charging is completed, the power machine control cabin 3 controls the robot body to drive the robot body 2-8 to rotate, and the robot body is driven to rotate, so that the robot body is driven to rotate and the driving wheel 2-10 is realized;
the number sensor 2-2 arranged on the U-shaped frame 5 is used for detecting the number of the robot body passing through the railing and transmitting a signal back to the power machine control cabin 3 to control the robot body to stop moving, the power machine control cabin 3 controls the turntable driving motor 4-4 to drive the turntable 4-5 to rotate so as to put the dissolved oxygen sensor 4-2 into water for detection, when the detection work is finished, the signal is transmitted back to the power machine control cabin 3, the power machine control cabin 3 controls the turntable driving motor 4-4 to reversely move, the turntable driving motor 4-4 drives the turntable 4-5 to rotate so as to retract the dissolved oxygen sensor 4-2, the position sensor 4-3 arranged on the side wall of the sensor bin 4-1 is used for acquiring the position of the dissolved oxygen sensor 4-2 and transmitting a signal back to the power machine control cabin 3, the power machine control cabin 3 is used for controlling the turntable driving motor 4-4 to stop rotating, the power machine control cabin 3 is used for controlling the robot driving motor 2-8 to drive the driving wheel 2-10 to rotate, the robot body is enabled to continue to move forward to perform the next work, meanwhile, the camera 4-16 is used for transmitting the detected scene environment picture to the monitoring room in real time, so that workers can monitor a working scene in real time, and data detected by the dissolved oxygen sensor 4-2 is transmitted to the rear end in real time for analysis and treatment, and the detection of the sewage pool inspection robot on water quality is completed.
Working principle:
the invention can realize two working modes of automatic detection and manual detection. When the automatic detection mode is set, the robot body automatically operates on the pool rail, and after the robot body operates to the position of the water sample detection point, the robot body stops operating, the dissolved oxygen sensor is placed into water through the turntable to detect the water sample at the point, the measured junction is transmitted to the monitoring room through the network, and after the water sample detection is finished, the dissolved oxygen sensor is received into the sensor bin to continue to move forwards to the next detection point. When the robot body runs to the charging pile, if the electric quantity does not reach the preset charging electric quantity, the robot body continues to run in the reverse direction. When the electric quantity reaches the preset charging electric quantity, the robot body stops at the charging pile position to charge, and after the electric quantity is full, the robot body automatically runs in the opposite direction to continue to work. If the electric quantity reaches the preset charging electric quantity during the running of the robot, the robot body judges which charging pile is close to the electric quantity to automatically run to the charging pile for charging.
When the operation mode is set to be a manual detection mode, a worker can manually operate the robot body in the monitoring room, water samples can be detected at any positions, and functions of charging, starting or stopping the operation of the robot and the like can be achieved at any time.
Claims (7)
1. A sewage pool inspection robot comprises a robot body and a charging pile (1) for charging the robot body, wherein the robot body comprises a robot driving mechanism (2), a power machine control cabin (3), a sensor retraction assembly (4) and a U-shaped frame (5), the robot driving mechanism (2), the power machine control cabin (3) and the sensor retraction assembly (4) are all arranged on the U-shaped frame (5), the power machine control cabin (3) is connected with the robot driving mechanism (2) through wire control, the power machine control cabin (3) is connected with the robot driving mechanism (2) to control the driving of the robot driving mechanism (2) through wire control, the power machine control cabin (3) is connected with the sensor retraction assembly (4) through wire control, the connection of the power machine control cabin (3) and the sensor retraction assembly (4) controls the retraction action of the sensor retraction assembly (4) to detect water quality, the robot driving mechanism (2) comprises a driving wheel assembly, a driven wheel assembly, a digital sensor (2-2), two detection electrodes (2-3), two electrodes (5) and four auxiliary electrode assemblies (5) which are symmetrically arranged at one end of the four sides of the frame, two auxiliary electrode assemblies (5) are arranged at two ends of the driving wheel assembly, one side of the U-shaped frame (5) is provided with two electrode contacts and two electrode detection sensors (2-3), and the digital sensor (2-2) is arranged on the U-shaped frame (5) between two groups of auxiliary wheel components, and is characterized in that: each group of auxiliary wheel assembly comprises a fixed auxiliary device and a displacement auxiliary device, the fixed auxiliary device and the displacement auxiliary device are symmetrically arranged on two sides of a U-shaped frame (5), the fixed auxiliary device comprises an auxiliary wheel bracket (2-13) and a first auxiliary wheel (2-14), the auxiliary wheel bracket (2-13) is arranged on one side of the U-shaped frame (5), the first auxiliary wheel (2-14) is rotatably arranged on the auxiliary wheel bracket (2-13), the displacement auxiliary device comprises an auxiliary wheel slideway (2-15), an auxiliary wheel sliding block (2-16), a spring (2-17), a connecting pin shaft (2-18) and a second auxiliary wheel (2-19), the second auxiliary wheel (2-19) is rotatably arranged on the auxiliary wheel sliding block (2-16), the longitudinal axis of the second auxiliary wheel (2-19) is parallel to the longitudinal axis of the first auxiliary wheel (2-14), the auxiliary wheel sliding block (2-16) is slidably arranged on the auxiliary wheel slideway (2-15), the auxiliary wheel slideway (2-15) is arranged on the other side of the U-shaped frame (5), the connecting pin shaft (2-18) is fixedly connected with one end of the auxiliary wheel sliding block (2-16), be equipped with spring (2-17) on connecting pin axle (2-18), fill electric pile (1) including filling electric pile frame (1-1), canopy (1-2), control box (1-3), mounting panel (1-5), two electrodes (1-4) and two electrode layer board (1-6), fill electric pile frame (1-1) one side installation arc canopy (1-2), control box (1-3) and two electrode layer board (1-6) pass through mounting panel (1-5) and fill electric pile frame (1-1) rigid coupling, two electrodes (1-4) are installed respectively on electrode layer board (1-6).
2. The lagoon inspection robot of claim 1, wherein: the number of the charging piles (1) is n, and n=1, 2,3,4,5,6 and … ….
3. The lagoon inspection robot of claim 1, wherein: the driving wheel assembly comprises a driving motor support (2-7), a robot driving motor (2-8), a coupler (2-9), a driving wheel (2-10), a driving shaft (2-11) and a second bearing (2-12), wherein a first wheel groove is formed in one end of the U-shaped frame (5), the robot driving motor (2-8) is arranged on the U-shaped frame (5) through the driving motor support (2-7), the driving wheel (2-10) is sleeved on the driving shaft (2-11), one end of the driving shaft (2-11) is connected with an output shaft of the robot driving motor (2-8) through the coupler (2-9), the other end of the driving shaft (2-11) is rotatably arranged on the U-shaped frame (5) through the second bearing (2-12), the driving wheel (2-10) is arranged in the first wheel groove, and the driving wheel (2-10) is connected with the driving wheel (2-8) to drive the rotation of the driving wheel (2-10).
4. The lagoon inspection robot of claim 1, wherein: the driven wheel assembly comprises a driven shaft (2-4), a driven wheel (2-5) and two first bearing seats (2-6), a second wheel groove is formed in the other end of the U-shaped frame (5), the two first bearing seats (2-6) are respectively arranged on the U-shaped frames (5) on two sides of the second wheel groove, the driven wheel (2-5) is sleeved on the driven shaft (2-4), and two ends of the driven shaft (2-4) are respectively connected with the two first bearing seats (2-6) in a rotating mode.
5. The lagoon inspection robot of claim 1, wherein: the sensor retraction assembly (4) comprises a sensor bin (4-1), a dissolved oxygen sensor (4-2), a position sensor (4-3), a turntable driving motor (4-4), a turntable (4-5), a third bearing seat (4-6), a turntable shaft (4-7), an electric slip ring (4-8), an electric slip ring support (4-9), a base (4-10), a motor seat (4-11), a guide wheel (4-12), a guide wheel support (4-13), a guide rod (4-14) and a flange (4-15), wherein the turntable driving motor (4-4) is fixedly arranged on the upper end face of one side of the U-shaped frame (5) through the motor seat (4-11), the base (4-10) is fixedly connected with the upper end face of the U-shaped frame (5), the third bearing seat (4-6) is arranged on the upper end of the base (4-10), a first groove is formed in the circumference of the turntable (4-5), the turntable (4-5) is sleeved on the turntable shaft (4-7), the turntable shaft (4-7) is connected with one end of the turntable driving motor (4-7), the turntable driving motor (4-4) is connected with the turntable shaft (4-7) to drive the rotation of the turntable (4-5), the other end of the turntable shaft (4-7) is connected with the third bearing seat (4-6), one side of the turntable (4-5) far away from the turntable driving motor (4-4) is provided with an electric slip ring (4-8), the electric slip ring (4-8) is fixedly connected with the U-shaped frame (5) through an electric slip ring bracket (4-9), the guide wheel (4-12) is arranged on the U-shaped frame (5) far away from one side of the two electrode detection sensors (2-3) of the turntable (4-5) through a guide wheel bracket (4-13), a second groove is processed on the circumference of the guide wheel (4-12), the turntable (4-5) is arranged in a coplanar mode with the guide wheel (4-12), the other side of the U-shaped frame (5) is provided with a sensor through hole, one end of the guide rod (4-14) is fixedly connected with the U-shaped frame (5) and is communicated with the other side of the U-shaped frame (5) through a flange (4-15), the side wall of the sensor bin (4-1) is provided with a position sensor (4-3), and the connecting end of the dissolved oxygen sensor (4-2) sequentially passes through the sensor bin (4-1), the guide rod (4-14) and the sensor through hole at the other side of the U-shaped rack (5) from bottom to top, bypasses a second groove on the circumference of the guide wheel (4-12) and a first groove on the circumference of the rotary disc (4-5) and is fixedly connected with the electric slip ring (4-8).
6. A lagoon inspection robot according to claim 1, 3 or 5, wherein: the robot body further comprises cameras (4-16), and the cameras (4-16) are arranged on the U-shaped frame (5) close to one side of the sensor retraction assembly (4).
7. A method for detecting a sewage pool inspection robot according to claim 6, characterized in that: the robot body is placed on a railing, the walking of the robot body is controlled by utilizing a power machine control cabin (3), the detection of the robot body is controlled by utilizing the power machine control cabin (3), a power source is provided for the robot body by utilizing a charging pile (1), and a water sample is detected by a sewage pool inspection robot in a process of:
the robot driving motor (2-8) drives the driving wheel (2-10) to rotate after receiving a signal sent by the power machine control cabin (3), so that the robot body walks on the railing, the power machine control cabin (3) controls the forward and reverse rotation of the robot driving motor (2-8) to realize the movement direction of the robot body, and the robot body keeps balance on the railing through the driving wheel (2-10), the driven wheel (2-5), the four first auxiliary wheels (2-14) and the four second auxiliary wheels (2-19);
the robot body realizes a turning function through four groups of auxiliary wheel assemblies symmetrically arranged on two sides of the U-shaped rack (5), and when the robot body moves to a railing turning position, the radial force on the inner side of the railing turning radius drives the robot body to turn;
in the walking process of the robot body, when the diameter of the railing suddenly thickens, a second auxiliary wheel (2-19) rotatably arranged on an auxiliary wheel sliding block (2-16) pushes the auxiliary wheel sliding block (2-16) to backwards compress a spring (2-17) arranged on a connecting pin shaft (2-18) along an auxiliary wheel slideway (2-15), so that the robot body smoothly passes through the railing, the second auxiliary wheel (2-19) and the first auxiliary wheel (2-14) are in combined action to be tightly attached to the railing, the robot body keeps stable walking on the railing, and when the diameter of the railing suddenly thins, the compressed shrinkage spring (2-17) automatically returns to push the second auxiliary wheel (2-19) to move forwards and the first auxiliary wheel (2-14) to be in combined action to be tightly attached to the railing, so that the robot body keeps stable walking on the railing;
the arc-shaped awning (1-2) arranged on one side of the charging pile frame (1-1) of the charging pile (1) has good waterproof effect, two electrode supporting plates (1-6) fixed on the charging pile frame (1-1) through mounting plates (1-5) are used for mounting two electrodes (1-4), a robot body monitors own voltage in real time through a power machine control cabin (3), when the own voltage of the robot body is lower than a preset value, the power machine control cabin (3) controls a robot driving motor (2-8) to drive a driving wheel (2-10) to rotate, so that the robot body automatically moves to the vicinity of the charging pile (1), two electrode detection sensors (2-3) arranged on one side of a U-shaped frame (5) are used for detecting two electrodes (1-4) arranged on the charging pile (1), when the two electrode detection sensors (2-3) detect the two electrodes (1-4), the power machine control cabin (3) controls the robot driving motor (2-8) to stop rotating, the two electrodes (1-4) are arranged on one side of the U-shaped frame (5) to contact the driving wheel (2-10) after the two electrodes (1-4) are mounted on the side of the charging pile frame (5) at the moment, the running work of the robot body is realized;
the number sensor (2-2) arranged on the U-shaped frame (5) is used for detecting the number of the robot body passing through the railing and transmitting a signal back to the power machine control cabin (3) to control the robot body to stop moving, the power machine control cabin (3) controls the turntable driving motor (4-4) to drive the turntable (4-5) to rotate so as to put the dissolved oxygen sensor (4-2) into water for detection, when the detection work is finished, the signal is transmitted back to the power machine control cabin (3) so that the power machine control cabin (3) controls the turntable driving motor (4-4) to reversely move, the turntable driving motor (4-4) drives the turntable (4-5) to rotate so as to retract the dissolved oxygen sensor (4-2), the position sensor (4-3) arranged on the side wall of the sensor bin (4-1) is used for acquiring the position of the dissolved oxygen sensor (4-2) and transmitting a signal back to the power machine control cabin (3), the power machine control cabin (3) is used for controlling the turntable driving motor (4-4) to stop rotating, the power machine control cabin (3) is used for controlling the robot driving motor (2-8) to drive the driving wheel (2-10) to rotate, the robot body is enabled to continuously move forwards to perform the next work, meanwhile, the camera (4-16) is used for transmitting the detected scene environment picture to the monitoring room in real time, so that workers can monitor the working scene in real time, and transmitting the data detected by the dissolved oxygen sensor (4-2) to the rear end in real time for analysis and treatment, so as to finish the detection of the sewage pool inspection robot on the water quality.
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| JP7437784B2 (en) * | 2019-04-22 | 2024-02-26 | パナソニックＩｐマネジメント株式会社 | Trained model generation method, maintenance display device, and program |
| CN110009762B (en) * | 2019-04-25 | 2021-01-01 | 上海市政工程设计研究总院（集团）有限公司 | Special intelligent inspection system for biological reaction tank of sewage treatment plant |
| CN114750170A (en) * | 2021-01-08 | 2022-07-15 | 南昌职业大学 | Inspection robot |
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