CN107741484A - A kind of sewage detection robot and its application method - Google Patents
A kind of sewage detection robot and its application method Download PDFInfo
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- CN107741484A CN107741484A CN201711096245.9A CN201711096245A CN107741484A CN 107741484 A CN107741484 A CN 107741484A CN 201711096245 A CN201711096245 A CN 201711096245A CN 107741484 A CN107741484 A CN 107741484A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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Abstract
The invention discloses a kind of sewage detection robot and its application method, it is related to robot field, sewage detection robot includes master controller, rotation controlled motor, data processing centre, collector, electric supply installation, motor, the first driving back leg, the second driving back leg, the first driving foreleg, the second driving foreleg and camera device, wherein, rotation controlled motor is arranged at master controller upper end face, and data processing centre is arranged at master controller rear surface；Master controller is provided with four structure size identical torsion knuckles, and four torsion knuckles are connected with the first driving back leg, the second driving back leg, the first driving foreleg, the second driving foreleg respectively；Collector is hemispherical dome structure, and the present invention has good adaptive ability under the conditions of complicated darkness, walks with can both having pasted, can be walked again in smaller conduit inner support tube wallflow, possess good application value.
Description
Technical field
The present invention relates to robot field, and in particular to a kind of sewage detection robot and its application method.
Background technology
The sewage of modern city resident has human health and the information of behavior, but is not developed before these information
And utilization.By analyzing these data, researcher can not only change the future of epidemiology, may also help in scientist's prediction
Illness outbreak, the healthy collection of illustrative plates for understanding the chronic disease origin cause of formation, drawing different estate in city, so as to influence issue-resolution and political affairs
Plan is formulated.If these data can be verified from sewage if before hospital and clinic recognize that it breaks out, then we can
More fully to prepare and more effectively utilize resource, or even related epiphytotics outburst in big city can be mitigated.But lower water
Road worker is the work that an exception is arduous and works hard but get little result, and is badly in need of a kind of machine now, it is cloudy into those can to substitute the mankind
Dark tacky place is acquired work.
The content of the invention
For defect present in prior art, it is an object of the invention to provide a kind of sewage detection robot and its make
Use method.
To achieve the above objectives, the present invention adopts the technical scheme that：
A kind of sewage detection robot, including master controller, rotation controlled motor, data processing centre, collector, power supply
Device, motor, the first driving back leg, the second driving back leg, the first driving foreleg, the second driving foreleg and camera device, wherein,
Rotation controlled motor is arranged at master controller upper end, and data processing centre is arranged at master controller lower end.
Master controller is provided with four structure size identical torsion knuckles, the first driving back leg, the second driving back leg, the
One driving foreleg and the second driving foreleg connect a torsion knuckle respectively；Collector is hemispherical dome structure, and collector is set
Data processing centre lower end is placed in, filter is provided with collector front end.
First driving back leg is provided with first direction joint and the first back leg driving wheel, and the second driving back leg is provided with second direction
Joint and the second back leg driving wheel, the first driving foreleg is provided with third direction joint and the first foreleg driving wheel, before the second driving
Leg is provided with fourth direction joint and the second foreleg driving wheel；First direction joint is connected with the first back leg driving wheel, second direction
Joint is connected with the second back leg driving wheel, and third direction joint is connected with the first foreleg driving wheel, fourth direction joint and second
Foreleg driving wheel connects.
Camera device is arranged at rotation controlled motor upper end, and camera device upper end is provided with wireless transceiver；Electric supply installation
Master controller lower end is may be contained within motor, and electric supply installation is arranged at data processing centre front end, motor is arranged at data
Manage center back end.
On the basis of above-mentioned technical proposal, filter is full glass microporous membrane filter.
On the basis of above-mentioned technical proposal, first direction joint, second direction joint, third direction joint and four directions
Arthrotropic size structure is identical.
On the basis of above-mentioned technical proposal, the first back leg driving wheel, the second back leg driving wheel, the first foreleg driving wheel with
And second foreleg driving wheel size structure it is identical and be quality of rubber materials.
On the basis of above-mentioned technical proposal, camera device includes camera, oscillating rod and rotary shaft, rotary shaft and rotation
Controlled motor is connected, and respectively with camera and rotation axis connection, rotary shaft upper end is connected oscillating rod with wireless transceiver.
On the basis of above-mentioned technical proposal, camera device is provided with least one searchlight, and searchlight is located at oscillating rod one
Hold and arranged along camera even circumferential.
On the basis of above-mentioned technical proposal, the first driving back leg, the second driving back leg, the first driving foreleg and second
Drive the size structure of foreleg identical.
On the basis of above-mentioned technical proposal, master controller is cylindrical structure.
On the basis of above-mentioned technical proposal, rotation controlled motor is arranged at the upper surface center of master controller.
On the basis of above-mentioned technical proposal, a kind of application method of sewage detection robot, comprise the following steps：
Step 1: switching on power, a kind of sewage detection robot is controlled to carry out original place test using remote terminal, it is ensured that each
Component function is normal；
Step 2: a kind of sewage detection robot is put into sewage conduct, start a kind of each part of sewage detection robot,
A kind of sewage detection robot is driven to enter sewage conduct depths；
Step 3: adjusting a kind of posture of sewage detection robot according to operating environment condition, sewage sample is found
Collection point；
Step 4: collection sewage sample, carries out sewage detection, and record the gathered data of feedback；
Step 5: when there is detection data exception, stop collecting work, reclaim a kind of sewage detection robot and sewage sample
Product, a kind of sewage detection robot is checked and artificial treatment is carried out to sewage sample；
Step 6: if without exception, repeat step four, carries out multi collect, until completing all predetermined collecting work.
Compared with prior art, the advantage of the invention is that：
(1) a kind of sewage detection robot of the invention is provided with adjustable driving leg, has in complex condition good
Adaptive ability, walk with can both having pasted, can be walked again in smaller conduit inner support tube wallflow, suitable for sewer, cesspool etc.
Dirty and messy environment.
(2) a kind of sewage detection robot of the invention rotation regulation camera device, under the environmental condition of darkness,
It can be very good to help user's operation and use.
Brief description of the drawings
Fig. 1 is a kind of front view of sewage detection robot in the embodiment of the present invention；
Fig. 2 is a kind of right view of sewage detection robot in the embodiment of the present invention；
Fig. 3 is a kind of top view of sewage detection robot in the embodiment of the present invention.
In figure：1- master controllers, 2- rotation controlled motors, 3- wireless transceivers, 4- camera devices, after 51- first drives
Leg, 52- second drive back leg, and 53- first drives foreleg, and 54- second drives foreleg, 61- first directions joint, 62- second party
To joint, 63- third directions joint, 64- fourth directions joint, 71- the first back leg driving wheels, 72- the second back leg driving wheels,
81- the first foreleg driving wheels, 82- the second foreleg driving wheels, 9- filters, 10- collectors, 11- data processing centres, 12-
Camera, 13- oscillating rods, 14- rotary shafts, 15- electric supply installations, 16- motors, 17- torsion knuckles, 18- searchlights.
Embodiment
Embodiments of the invention are described in further detail below in conjunction with accompanying drawing.
Referring to shown in Fig. 1 and Fig. 2, the embodiment of the present invention provides a kind of sewage detection robot, including master controller 1, rotation
Turn controlled motor 2, data processing centre 11, collector 10, electric supply installation 15, the driving driving of back leg 51, second of motor 16, first
Back leg 52, first drives foreleg 53, second to drive foreleg 54 and camera device 4, wherein, rotation controlled motor 2 is arranged at master control
The upper end of device 1 processed, data processing centre 11 are arranged at the lower end of master controller 1.
Master controller 1 is provided with four structure size identical torsion knuckles 17, after the first driving back leg 51, second drives
Leg 52, first drives foreleg 53 and second to drive foreleg 54 to connect a torsion knuckle 17 respectively.After controllable first driving
Leg 51, second drives back leg 52, first to drive foreleg 53, second to drive foreleg 54 to be carried out around the torsion knuckle 17 of corresponding connection
180 degree circle rotation, posture can be adjusted when necessary, to adapt to different topography and geomorphologies.
Collector 10 is hemispherical dome structure, and collector 10 is arranged at the lower end of data processing centre 11, in collector 10
Front end is provided with filter 9；Filter 9 is the gateway of sewage detection sample, when sewage sample is gathered, filtering dress
Putting 9 can stop that the impurity in sewage enters collector 10, prevent collector 10 from choking phenomenon occurs, and receive reception collection sample
This.First driving back leg 51, second drives back leg 52, first to drive foreleg 53, second to drive the size structure of foreleg 54 identical, and
And first drives back leg 51 to be provided with the back leg driving wheel 71 of first direction joint 61 and first, the second driving back leg 52 is provided with second party
To the back leg driving wheel 72 of joint 62 and second, the first driving foreleg 53 is provided with the foreleg driving wheel of third direction joint 63 and first
81, the second driving foreleg 54 is provided with the foreleg driving wheel 82 of fourth direction joint 64 and second.
Four torsion knuckles 17 drive back leg 52, first to drive foreleg 53 and the with the first driving back leg 51, second respectively
Two driving forelegs 54 connect one to one.One torsion knuckle 17 connects a driving leg.First direction joint 61 is respectively with one
The individual back leg driving wheel 71 of torsion knuckle 17 and first connects, second direction joint 62 respectively with after a torsion knuckle 17 and second
Leg driving wheel 72 is connected, and third direction joint 63 is connected with a foreleg driving wheel 81 of torsion knuckle 17 and first respectively, and the 4th
Direction joint 64 is connected with a foreleg driving wheel 82 of torsion knuckle 17 and second respectively.
Camera device 4 is arranged in rotation controlled motor 2, and the upper end of camera device 4 is provided with wireless transceiver 3；Power supply dress
Put 15 and motor 16 may be contained within the lower end of master controller 1, and electric supply installation 15 is arranged at the front end of data processing centre 11, motor 16
It is arranged at the rear end of data processing centre 11.
Filter 9 is full glass microporous membrane filter.First direction joint 61, second direction joint 62, third party
Size structure to joint 63 and fourth direction joint 64 is identical；First back leg driving wheel 71 can surround first direction and close
Section 61 carries out 180 degree circle rotation, can control the posture of the present invention by master controller 1 when necessary, different to adapt to
Topography and geomorphology.Similarly, second direction joint 62, third direction joint 63 and fourth direction joint 64 are provided with same function.
First back leg driving wheel 71, the second back leg driving wheel 72, the size of the first foreleg driving wheel 81 and the second foreleg driving wheel 82
Structure is identical and is quality of rubber materials.
Camera device 4 includes camera 11, oscillating rod 13 and rotary shaft 14, and rotary shaft 14 is connected with rotation controlled motor 2,
Oscillating rod 13 is connected with camera 11 and rotary shaft 14 respectively, and rotary shaft 14 is connected with rotation controlled motor 2, the upper end of rotary shaft 14
It is connected with wireless transceiver 3.Rotary shaft 14 does left rotation and right rotation according to the spinning movement of electric rotating machine 2, another positioned at oscillating rod 13
Why the camera 11 at end can adjust camera position, realize comprehensive shooting observation.Camera device 4 is provided with least one searchlighting
Lamp 18, searchlight 18 are evenly arranged located at the one end of oscillating rod 13 and on the circumference centered on camera 11.In order to obtain more
Good photographic effect, it is preferably to arrange 8 LEDs in embodiments of the present invention, realizes shadowless lamp effect.The present invention possesses rotation
Camera device is adjusted, under the environmental condition of darkness, can be very good to help user's operation and use.
The image data of camera device 4 is transferred to remote control terminal by wireless transceiver 3, and receives remote control terminal
Wireless control signal, the wireless control signal of reception is transmitted to master controller 1 by wireless transceiver 3 again, and master controller 1 is to sewage
Detect the steering operation that robot carries out pose adjustment and cam device 4.
Electric supply installation 15 provides electric power for rotation controlled motor 2 and motor 16, and data processing centre 11 focuses on collection
The sewage that device 10 is collected, determine the number of the pH value for gathering sample, five-day BOD (BOD5) and COD (COD)
Value.
Shown in Figure 3, master controller 1 is cylindrical structure, and rotation controlled motor 2 is arranged at the upper table of master controller 1
Face center.
A kind of application method of sewage detection robot, comprises the following steps：
Step 1: switching on power, a kind of sewage detection robot is controlled to carry out original place test using remote terminal, it is ensured that each
Component function is normal；
Step 2: a kind of sewage detection robot is put into sewage conduct, start a kind of each part of sewage detection robot,
A kind of sewage detection robot is driven to enter sewage conduct depths；
Step 3: adjusting a kind of posture of sewage detection robot according to operating environment condition, sewage sample collection is found
Point；
Step 4: collection sewage sample, carries out sewage detection, and record the gathered data of feedback；
Step 5: when there is detection data exception, stop collecting work, reclaim a kind of sewage detection robot and sewage sample
Product, a kind of sewage detection robot is checked and artificial treatment is carried out to sewage sample；
Step 6: if without exception, repeat step four, carries out multi collect, until completing all predetermined collecting work.
The present invention is such more specifically using process, first checks for the use state of sewage robot all parts, really
In the case of protecting all parts operational excellence, sewage robot body is put into entrance to be detected, operates remote terminal control
Device processed sends instruction, and the present invention is delivered into position to be detected, samples, and detection, records and transmits data.Run into special circumstances or nothing
During the sample of method inspection, the present invention and its sample collected are fetched in time, carry out hardware check and sample manual analysis.This hair
It is bright easy to use, strong adaptability, it can effectively substitute manual operation.The present invention is provided with adjustable driving leg, in complex condition
With good adaptive ability, walk with can both having pasted, can be walked again in smaller conduit inner support tube wallflow, suitable for lower water
The dirty and messy environment such as road, cesspool.
The present invention is not only limited to above-mentioned preferred forms, and anyone can show that other are each under the enlightenment of the present invention
The product of kind of form, however, make any change in its shape or structure, it is every have with the present invention it is same or like as
Technical scheme, within its protection domain.
Claims (10)
- A kind of 1. sewage detection robot, it is characterised in that：Including master controller (1), rotation controlled motor (2), data processing Center (11), collector (10), electric supply installation (15), motor (16), first driving back leg (51), second driving back leg (52), First driving foreleg (53), the second driving foreleg (54) and camera device (4), wherein, the rotation controlled motor (2) is arranged at Master controller (1) upper end, the data processing centre (11) are arranged at the master controller (1) lower end；The master controller (1) is provided with four structure size identical torsion knuckles (17), the first driving back leg (51), The second driving back leg (52), the first driving foreleg (53) and the second driving foreleg (54) connect one respectively The torsion knuckle (17)；The collector (10) is hemispherical dome structure, and the collector (10) is arranged under the data processing centre (11) End, filter (9) is provided with the collector (10) front end；The first driving back leg (51) is provided with first direction joint (61) and the first back leg driving wheel (71), second driving Back leg (52) is provided with second direction joint (62) and the second back leg driving wheel (72), and the first driving foreleg (53) is provided with the 3rd Direction joint (63) and the first foreleg driving wheel (81), the second driving foreleg (54) are provided with fourth direction joint (64) and the Two foreleg driving wheels (82)；The first direction joint (61) is connected with the first back leg driving wheel (71), the second party It is connected to joint (62) with the second back leg driving wheel (72), the third direction joint (63) drives with first foreleg (81) connection is taken turns, the fourth direction joint (64) is connected with the second foreleg driving wheel (82)；The camera device (4) is arranged at described rotation controlled motor (2) upper end, and camera device (4) upper end is provided with nothing Line transceiver (3)；The electric supply installation (15) and the motor (16) may be contained within the master controller (1) lower end, and the electric supply installation (15) data processing centre (11) front end is arranged at, after the motor (16) is arranged at the data processing centre (11) End.
- A kind of 2. sewage detection robot as claimed in claim 1, it is characterised in that：The filter (9) is full glass Nuclepore membrane filter.
- A kind of 3. sewage detection robot as claimed in claim 1, it is characterised in that：The first direction joint (61), institute State the complete phase of size structure in second direction joint (62), the third direction joint (63) and the fourth direction joint (64) Together.
- A kind of 4. sewage detection robot as claimed in claim 1, it is characterised in that：The first back leg driving wheel (71), The size of the second back leg driving wheel (72), the first foreleg driving wheel (81) and the second foreleg driving wheel (82) Structure is identical and is quality of rubber materials.
- A kind of 5. sewage detection robot as claimed in claim 1, it is characterised in that：The camera device (4) includes shooting Head (11), oscillating rod (13) and rotary shaft (14), the rotary shaft (14) are connected with the rotation controlled motor (2), the pendulum Lever (13) is connected with the camera (11) and the rotary shaft (14) respectively, rotary shaft (14) upper end with it is described wireless Transceiver (3) connects.
- A kind of 6. sewage detection robot as claimed in claim 5, it is characterised in that：The camera device (4) is provided with least One searchlight (18), the searchlight (18) is located at the oscillating rod (13) one end and along the camera (11) even circumferential Arrangement.
- A kind of 7. sewage detection robot as claimed in claim 1, it is characterised in that：The first driving back leg (51), institute The size structure for stating the second driving back leg (52), the first driving foreleg (53) and the second driving foreleg (54) is complete It is identical.
- A kind of 8. sewage detection robot as claimed in claim 1, it is characterised in that：The master controller (1) is cylinder Structure.
- A kind of 9. sewage detection robot as claimed in claim 1, it is characterised in that：The rotation controlled motor (2) is set In the upper surface center of the master controller (1).
- 10. a kind of application method of sewage detection robot as described in claim 1-9 any one claims, its feature It is to comprise the following steps：Step 1: switching on power, a kind of described sewage detection robot is controlled to carry out original place test using remote terminal, it is ensured that Each component function is normal；Step 2: a kind of described sewage detection robot is put into sewage conduct, start a kind of sewage detection robot Each part, a kind of described sewage detection robot is driven to enter sewage conduct depths；Step 3: adjusting a kind of posture of described sewage detection robot according to operating environment condition, find sewage sample and adopt Collection point；Step 4: collection sewage sample, carries out sewage detection, and record the gathered data of feedback；Step 5: when there is detection data exception, stop collecting work, reclaim described a kind of sewage detection robot and sewage Sample, a kind of described sewage detection robot is checked and artificial treatment is carried out to sewage sample；Step 6: if without exception, repeat step four, carries out multi collect, until completing all predetermined collecting work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711096245.9A CN107741484A (en) | 2017-11-09 | 2017-11-09 | A kind of sewage detection robot and its application method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711096245.9A CN107741484A (en) | 2017-11-09 | 2017-11-09 | A kind of sewage detection robot and its application method |
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| Publication Number | Publication Date |
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| CN107741484A true CN107741484A (en) | 2018-02-27 |
Family
ID=61234364
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711096245.9A Pending CN107741484A (en) | 2017-11-09 | 2017-11-09 | A kind of sewage detection robot and its application method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111537688A (en) * | 2020-05-07 | 2020-08-14 | 杭州华能工程安全科技股份有限公司 | Water quality monitoring device and monitoring method for underground pipeline |
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