CN108015810A - A kind of robot with shock-absorbing function - Google Patents
A kind of robot with shock-absorbing function Download PDFInfo
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- CN108015810A CN108015810A CN201810033900.4A CN201810033900A CN108015810A CN 108015810 A CN108015810 A CN 108015810A CN 201810033900 A CN201810033900 A CN 201810033900A CN 108015810 A CN108015810 A CN 108015810A
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- absorbing function
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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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of robot with shock-absorbing function, and the robot includes chassis system；The chassis system includes two shock brackets, crawler belt, medial and lateral support plate；Two shock bracket center rotatings are fixed to form entirety, and unitary rotation is fixed in the support plate of medial and lateral, and the centre position in chassis system；Connected between the top of two shock brackets by the first damper, the bottom of two dampers is respectively fixed with the first support wheel；First support wheel is supported on the inner wall of crawler belt bottom.Support wheel is fixed respectively by rotating two fixed shock brackets, and in its bottom, so that two stents independently rotate, and under the connection of the first damper, check and balance between two dampings again, has met the purpose that damping is stablized.
Description
Technical field
The present invention relates to piping lane inspection technical field, a kind of specifically robot with shock-absorbing function.
Background technology
Since caterpillar type robot is supported on the ground by the crawler belt of winding, crawler belt and contact area of ground are big, press
By force（The pressure of unit area）It is small, so being not easy to sink.Again due on creeper tread having in many grouser insertion soil, it is easy to catch soil
Layer, is not easy to skid on moist muddy or mellow soil, therefore has good traction adhesion property, other with Same Efficieney
Type wheeled robot compares, it can send it is larger involve gravitation, thus crawler type fits different ground and edaphic condition
The characteristics of answering property is good, crawler belt industrial and commercial bank walking apparatus is that driving force is big（35%- of the driving force of usual every crawler belt up to machine weight
45%）, connect smaller than pressing（40-150kPa）, thus cross-country ability and stability are good, climbing capacity is big（Generally 50%-80%, it is maximum
Up to 100%）, and radius of turn is small, flexibility is good.
Advantage：Obstacle climbing ability, landform are adaptable, can pivot turn
It is adapted to：Field, urban environment can, be especially better than wheeled robot in stair climbing, obstacle detouring etc.
Crawler belt is contacted with ground, and driving wheel is not contacted with ground.When motor drives driving wheel to rotate, driving wheel drives in retarder
Under the action of dynamic torque, by the engagement between the gear teeth and caterpillar chain on driving wheel, continuously crawler belt is rolled up from rear
Rise.Ground connection part crawler belt gives ground one active force backward, and one forward reaction of crawler belt is correspondingly given on ground
Power, this reaction are the driving forces for promoting machine to move forward.When driving force is enough to overcome walking resistance, thrust wheel is just
In crawler belt upper surface rolls forward, so that machine moves forward.The front and rear crawler belt of complete machine creeper undercarriage can individually turn
To so that its radius of turn smaller.
Therefore, in order to improve the whole aircraft reliability of damping robot, it is necessary to which its float-type track chassis is studied.
Portable crawler robot has good exercise performance, indoors can be with stair activity, across step, outdoor non-in environment
Can be with crossing over blockage, Crossing ditch, adaptive road surface in structure landform.By loading different equipment and instrument.Robot can be wide
It is general be used to rescuing, speedily carry out rescue work, is explosion-proof, scientific investigation, field, its application value such as military affairs it is very huge.
The content of the invention
Ground flat degree the purpose of the present invention is to solve city integrated piping lane in the prior art is not high, and robot
The incomplete defect of shock mitigation system, there is provided a kind of robot with shock-absorbing function solves the above problems.
To achieve these goals, technical scheme is as follows：
A kind of robot with shock-absorbing function, the robot include chassis system；The chassis system includes two dampings
Stent, crawler belt, medial and lateral support plate；Two shock bracket center rotatings are fixed to form entirety, and unitary rotation is fixed on
In the support plate of medial and lateral, and the centre position in chassis system；Pass through first between the top of two shock brackets
Damper connects, and the bottom of two dampers is respectively fixed with the first support wheel；First support wheel is supported on crawler belt
On the inner wall of bottom.
Preferably, two shock brackets rotate fixation centrally through support shaft and form X shapes.
Preferably, two shock brackets are v-shaped structure, and the opening of two V-arrangement shock brackets is disposed opposite to each other, and form institute
State X shape structures.
Preferably, in two bottoms of described two shock brackets, rotate be fixed with the first support wheel support respectively, the
Fixed first support wheel is rotated on one support wheel support.
Preferably, the front end of the chassis system further includes secondary support plate；Second is fixed with the secondary support plate
Support wheel and the 3rd support wheel；Second support wheel, the 3rd support wheel are both supported upon on the inner wall of crawler belt front end.
Preferably, the chassis system further includes the second damper；Front damper is further fixed in the secondary support plate
Stent；One end of second damper is fixed in front damper support, and the other end is fixed in inside and outside support plate.
Preferably, the chassis system further includes preceding strainer；The preceding strainer includes being fixed on secondary support plate
On preceding tension spring fixing sleeve and be fixed on the rear tension spring fixing sleeve of medial and lateral support plate；Forward and backward tension spring fixing sleeve it
Between be fixed with tension spring.
Preferably, the chassis system further includes chassis drive module；The chassis drive module includes motor driving control
Unit, stroke locating self-adaption coding unit, decoding control unit and stroke detection encoding device processed；
The drive and control of electric machine unit receives the instruction of remote monitoring end, drives motor speed-changing operation；The stroke positioning is certainly
Adaptation coding unit, decoding control unit are used for supervisory-controlled robot traveling distance, receive stroke detection encoding device and send not
With the code identification of inspection point, school inspection code identification, if there is error code, changes coding rule, while by decoded inspection
Point station location marker is sent to server and remote monitoring end；Stroke detects encoding device and encodes list according to stroke locating self-adaption
The coding rule that member, decoding control unit are sent encodes the position of different inspection points；When detecting corresponding inspection position,
Sent position encoded to stroke locating self-adaption coding unit, decoding control unit.
Compared with prior art, the present invention have the advantages that：
By provided by the invention the X-shaped structure formed, and pass through top first are fixed by two shock bracket center rotatings
Damper, it can be achieved that mutual containing and whole robot chassis between two dampings it is steady.
By the cooperation of the first damper and the second damper, the front end on whole chassis and the damping purpose at middle part are realized,
The whole chassis of machine is set to ensure the stable operation on whole robot chassis from front end to middle part damper cooperative cooperating.
Support wheel is fixed respectively by rotating two fixed shock brackets, and in its bottom, so that two stent independences
Rotate, and under the connection of the first damper, check and balance again between two dampings, met the purpose that damping is stablized.
Brief description of the drawings
Fig. 1 is the structure diagram of the embodiment of the present invention 1；
The structure diagram of Fig. 2 positions embodiment of the present invention 2；
Fig. 3 is each functional module structure framework of the embodiment of the present invention 2；
Fig. 4 is the robot overall structure diagram of the embodiment of the present invention 3；
Fig. 5 be the embodiment of the present invention 3 in robot disc system structure diagram；
Fig. 6 is the structure diagram of the embodiment of the present invention 4；
Fig. 7 is the structure diagram of midsole dish driving module of the present invention.
Embodiment
The effect of to make to architectural feature of the invention and being reached, has a better understanding and awareness, to preferable
Embodiment and attached drawing coordinate detailed description, are described as follows：
Embodiment 1
As shown in Figure 1, a kind of pipe gallery cruising inspection system based on robot, with the artificial carrier platform of machine, builds the inspection
System.Certainly, different detecting systems or device can be built on this platform.
The system includes remote infrared monitoring and is monitored with diagnostic module, remote image monitoring and diagnostic module, remote sound
With diagnostic module, navigator fix and motion-control module, database；Remote infrared is monitored to be monitored with diagnostic module, remote image
Pass through network and database respectively with diagnostic module, navigator fix and motion-control module with diagnostic module, remote sound monitoring
Connection.
Remote infrared monitors and diagnostic module
The design takes online infrared thermal imaging device.This module includes infrared image acquisition device, i.e. infrared camera, red
Outer image processing unit, image display, storage, inquiry and report generation unit.Infrared camera and infrared image processing unit
Connection；The temperature information for photographing image information He detecting is sent to infrared image processing unit by infrared camera；It is infrared
Image processing unit judges current device species according to image information, and according to device temperature threshold value set in advance, automatically into
Row judges, provides sound and text alarm on user terminal to the equipment beyond alarming value.The diagnostic system can be according to setting in advance
Fixed device temperature threshold value, is judged automatically, to provided beyond the equipment of alarming value on the main control computer of base station sound and
Text is alarmed;Identified by visible images, can judge the internal temperature gradient of some key equipments, can not only formed a certain
The device temperature curve of some key equipments of moment underground pipe gallery, can also generate a certain equipment in certain historical time
The interior time-temperature curve.
Remote image monitors and diagnostic module
The visible ray figure that this module sends moving body first with robot base station system in unattended underground pipe gallery
As being analyzed, a transimiison analysis result or image to be further determined that.Remote image monitoring is taken the photograph with diagnostic module including RGB
As head, image processing unit；RGB cameras send an image to image processing unit to shoot equipment drawing picture in piping lane；
Image processing unit carries out difference image analysis, accumulative image point by the image for gathering the image being currently received and last time
Analysis, correlation analysis, region recognition, unity and coherence in writing description and judgement processing, determine that what present image is with reference to the parameter library of corresponding device
Kind equipment；As current device has distortion, then caution signal is sent to user terminal.
This module first pre-processes the image of collection, identifies monitored power equipment, by by the image
Difference image analysis, accumulative image analysis, correlation analysis, area identification, texture description and judge are carried out with the image of last time collection
Deng processing.Determine what equipment it is with reference to the parameter library of corresponding device.Then storage result, upward Primary Transmit occurs if any distortion
And send alarm signal.The normal picture no longer transmitted can be by the artificial far call of dispatcher.This just makes the transmission efficiency of channel
Greatly improve, and dispatcher need not also watch monitor screen attentively constantly.Power equipment kind in unattended underground pipe gallery
Class is various, carries out remote image monitoring and condition diagnosing for key equipment and being combined with other monitoring systems integrates underground
Piping lane reliability of operation greatly improves.
Remote sound monitors and diagnostic module
This module is a part for underground pipe gallery crusing robot function, and mainly electric noise is acquired and divided
Analysis.The progress noise data collection of the Noise Acquisition transmission unit carried by robot, i.e. sound-detection gear, and by noise data
Server is passed back by wireless network.
This module mainly includes following 3 units
1) Noise Acquisition transmission unit, i.e. noise transducer, its task are the real-time acquisition noise signals on crusing robot, warp
Appropriate compression is crossed, server is sent back by wireless bridge.
2) noise processed unit, its task are to be compared the noise that mobile crusing robot is passed back with conventional data
Compared with judging whether electrical installation is normal, if there is exception, which kind of exception judgement is.
3) user interaction unit, its task is to provide prompt message or interactive mode according to the final result of detection, auxiliary
Help staff to complete the task of instrument detection monitoring, and can detect what is recorded by other approach according to the needs of staff
Noise data.
Navigator fix and motion-control module
Navigator fix and motion-control module are used to obtain robot operating path, and including mobile detection unit, to control
The mechanical arm operation of robot.
Pipe gallery fire-fighting robot navigator fix principle is as shown in figure 3, robot uses image and deep image information
Map is built, so that guided robot is run along projected route.Robot can be gone on patrol according to predetermined paths, can also be certainly
By going on patrol at random.Patrol time and number can be set.Robot is special according to the installation of facility in the architectural feature and piping lane of piping lane
Sign, presses programme path automatically walk in piping lane.When occurring barrier in piping lane, do not influence it is current in the case of, robot
Can automatic obstacle-avoiding.When using fire resistant doorsets to carry out fire separation in piping lane, mechanical arm automatic door opening can be used in robot.Robot pair
Piping lane inspection is after a week, it will by original route backtracking, robot uses wireless charging technology, and charging pile position, which is preset in, is
Among system, automatic Memory charge position, when electricity is less than 20%, recharges electric position and charges automatically.
Embodiment 2
As shown in Figure 1, Figure 2, Figure 3 shows, a kind of robot with shock-absorbing function, including it is cruising inspection system, robot, server, remote
Range monitoring end；Cruising inspection system, server, remote monitoring end pass through network connection.Cruising inspection system is the inspection system of above-described embodiment 1
System.Infrared camera, RGB cameras, Noise Acquisition transmission unit are respectively mounted and are fixed in robot；Server includes being stored with
The database of the parameters information of environment and electrical equipment in underground pipe gallery；Infrared image processing unit, image processing unit,
Inspection information is stored in database by noise processed unit；Server sends inspection information by network to remote monitoring end；
User is inquired about inspection information and is sent to cruising inspection system and instructed by remote monitoring end.
Polymorphic type accident detection
The system uses data acquisition equipment（Video, infrared, cigarette sense, natural gas, coal gas, carbon monoxide, other pernicious gases,
Warming, wet sense）Add remote control groups of clients into.Warning message includes temperature, humidity, harmful gas concentration, real-time collection tube
Each parametric data in corridor, can establish the distribution of the characteristic parameter such as temperature field in piping lane, once related data is abnormal, watch
Member can remote control robot inspection confirmation can be carried out to scene using CCD to Suspected Area.
Perceive
It is forward that robot may determine that whether objects in front stops, and pre-alert notification is carried out to monitoring center, inclusion in notice
The information such as body image, object temperature, specific location.Robot self selective bypass route is to complete patrol task.
Embodiment 3
As shown in Figure 4, Figure 5, a kind of damping chassis of robot, robot include chassis system；The concrete structure of chassis system
For：
Connected by motor 1 on retarder 2, motor 1 and retarder 2 are bolted on retarder fixing sleeve, retarder 2
Shaft end is equipped with fixing bolt with retarder fixed hub prevents that driving wheel axial force is excessive and comes off, 2 fixed hub of retarder
Driving wheel is clamped, 2 fixed hub of retarder is fixed in bearing holder (housing, cover) by bearing and is determined on the outside in fixed plate 3
Position, outside fixed plate 3 is connected fixed plate progress lengthwise position by 3 with inner side fixed plate 4 and fixes, so that driving wheel begins
It is driven eventually on crawler belt internal tooth.Driving wheel is divided into 2 device purposes and is conveniently to process, and passes through 3 fixations after machining
Pin hole carries out the positioning in interior outside.In the center on chassis, 2 shock absorber supports 5 are set, mounting means is x type structures, its
Structure centre position sets a support shaft to be fixed, and the first damper 53 is installed in top by fixed guide sleeve 52, and bottom leads to
Cross supporting screw the first support wheel 54 of 4 rollings is installed on support wheel support 55, supporting screw is prevented equipped with guide sleeve
Support wheel axial motion deviates track center, and supports wheel support to be fixed on by fixing bolt on shock absorber support 5, fixed spiral shell
Bolt both sides are equipped with guide sleeve limitation support wheel support and carry out vibration.Overall X-type structure purpose is the out-of-flatness band for reducing road surface
That comes jolts, and reduces vibration.Support wheel is played a supporting role by supporting screw to be fixed on the side plate of housing.Chassis front end is set
2 secondary support wheels are equipped with, are respectively the second support wheel 6, the 3rd support wheel 7；Secondary branch is fixed on by support wheel supporting screw respectively
On fagging 8, secondary support plate 8 is equipped with 2 guide rails, and the center of guide rail is separately mounted in preceding shock bracket 9, end to end by fixed spiral shell
Tether to connect and be fixed.Front damper support 5 is fixed on the side plate of housing by fixed link prevents secondary support plate 8 from coming off.Before subtract
Shake stent 9 and be equipped with fixing bolt one the second damper 10 of connection, 10 other end of the second damper is connected by fixing bolt
Inside, it is interior on fixing bolt to be externally provided with guide sleeve on lateral branch fagging 3,4, prevent that lateral displacement occurs during the second damper damping,
Carry out spacing.Afterbody is equipped with preceding tension spring fixing sleeve 201 and rear tension spring fixing sleeve 200 in secondary support plate 8, at forward and backward
Fasten and tension spring 202 is equipped with set 201,200, rear tension spring fixing sleeve 201 is equipped with tension spring after tension spring fixed plate is fixed
Fixing sleeve, rear tension spring fixing sleeve end are equipped with tensioning screw, adjust the elastic of crawler belt.
Embodiment 4
As shown in Figure 6, Figure 7, the pipe gallery three-dimensional crusing robot of a kind of Camera calibration, including chassis system.Wherein
Chassis system is the chassis system in embodiment 3.
Three-dimensional parameter, the sound sensor that RGB cameras provide coloured image, depth camera catches environment are equipped with chassis
Device catches the traveling that ambient sound, infrared camera cause robot under dark condition, laser range finder monitoring object is used to keep away
Barrier and LED illumination lamp are used for illumination and the light filling of environment.Temperature sensor, humidity sensor use are equipped with robot housing central section
In the parameter for the humiture for catching environment, toxic and harmful gas is set to be used for the toxic and harmful gas concentration parameter for catching environment,
Afterbody is equipped with the parameter that display shows each component, and power switch opens robot system, resets and is equipped with ginseng for robot
Several recoveries, backup camera is used for robot is video image in retroversion, to barrier when laser range finder is used to move backward
The interpretation of distance parameter, stops the stopping of the everything for robot, and emergency stop is used for into the case of robot artificially
The stopping of intervention.
As shown in fig. 6, being equipped with master control system module, motor control module in master control storehouse, wherein mechanical arm bottom plate is fixed on
In mechanical arm support plate.Chassis drive module, image module, electronically sensor assembly, artwork are equipped with master control system module
Block, communication module, acoustic processing module, mechanical arm module, master control system module.
Chassis drive module includes drive and control of electric machine unit, stroke locating self-adaption coding unit, decoding control unit
And stroke detection encoding device.Drive and control of electric machine unit receives main control instruction, drives 1 variable-speed operation of motor, realizes machine
Device people quickly starts, speed stabilizing traveling, straight line moving, turn, turn around, at a slow speed, stop etc. function；High-speed DC motor 1 is machine
People provides required driving power, ensures the every operation of advancing of robot；Stroke locating self-adaption coding unit, decoding control are single
It is first then be used for supervisory-controlled robot traveling distance, receive the code identification for the different inspection points that stroke detection encoding device is sent, school
Code identification is examined, if there is error code, changes coding rule, while decoded inspection point station location marker is sent to master control and is controlled
System；The coding rule pair that stroke detection encoding device is sent according to stroke locating self-adaption coding unit, decoding control unit
The position of different inspection points is encoded, and when detecting corresponding inspection position, position is edited and released transmission to stroke locating self-adaption
Coding unit, decoding control unit.
Image module includes each module in cruising inspection system in embodiment 1.Including the first infrared camera, second infrared
Camera.The video image that first infrared camera is caught with the second infrared camera is handled.First infrared camera major function
It is to be used to carry out Video processing to chassis under dark condition, and the second infrared camera is mainly used in piping lane inner top or so line
Cable carries out every layer of scanning step by step, and analysis cable is with the presence or absence of abnormal.Depth image detecting module using infrared camera according to
Certain rule launches dot matrix, then uses a common CMOS sensor to capture the dot matrix.Have one in the dot matrix of transmitting
A little patterns can repeat in whole projected picture, and the dot matrix of camera changes with the change of scene depth.Utilize this
The patterns of change situation of kind dot matrix is it is concluded that go out the depth information of target object or scene each point.With three-dimensional spatial information
D encoding.Laser range finder is to project pulse laser beam a branch of or that a sequence is of short duration to target at work, by photoelectricity
Element receives the laser beam of target reflection, and the timer in laser range finder control module measures laser beam from being transmitted to reception
Time, calculates slave device range-to-go.
Sensor assembly includes poisonous harmful gas sensor module and temperature humidity sensor module, has by the way that front end is poisonous
The numerical value that evil gas sensor, temperature sensor, humidity sensor are passed back for module carry out in processing analysis piping lane
Toxic and harmful gas concentration and humiture after be uploaded in master control system.
Electric map module is based on map data base, is stored in digital form on the memory of server, and
Can on electronic curtain real-time display visual map, it is real to robot for comparing positional information of the robot in piping lane
Shi Dingwei and path planning.
The multiple wireless bridges of communication module are all arranged to AP moulds by twisted-pair feeder access switch, all wireless bridges
Formula, they collectively form a wireless working group, their SSID, certification are identical with encryption mode.Installed on crusing robot
Bridge be arranged to client mode, its roaming algorithms can make it be switched to letter from the weak wireless bridge of signal strength automatically
On number good bridge of intensity, it is ensured that data transfer is not interrupted.And it also supports the seamless roam in high-speed motion, regards inspection
Robot also can must be transferred to base station by data are accurate during exercise.
Crusing robot system wireless telecommunication system is connected using wireless communication module, realizes the teletransmission of inspection data and remote
The remote control of journey background monitoring order.On this basis it is possible to easily access piping lane monitoring system communication network, realize and dispatch
The data exchange at center.The workflow of crusing robot system is as shown in Fig. 3, Fig. 6.Monitored in crusing robot remote back-office
Tour task is issued by operations staff, automatic detecting work is carried out to start crusing robot；Crusing robot passes through own life
Real-time communication is carried out into map with left and right locating module to be accurately positioned crusing robot.Crusing robot preserves simultaneously in time
Upload and make an inspection tour the visible images, infrared image, toxic and harmful gas of equipment, warming, wet sense data are to home server, such as
Fruit finds that detection device then sends alarm more than predetermined value to backstage operations staff.
The target sound that acoustic processing module sound transducer is collected into is separated with environment noise, acoustic processing module from
The thing that the composition sound extraction technique of tiny composition sound whether there is with judging event according to the integrated mode for forming sound is extracted in target sound
Part discrimination technology, can judge that occurent situation will using sensor probe from the fire and hazard event for needing to distinguish
Voice signal is caught, while the sealing situation of the component in piping lane is checked using sound intensity technique.When sound field is several sound source radiations
During the superposition of field, sound intensity technique can be used for finding main radiation sound source；Sound source is arranged by radiated size order.Using
The leakage of scanning measurement method measurement gas pipeline, each several part of water pipe leakage（Surface）Acoustic radiation power, finds out main acoustically radiating
Region is penetrated to be positioned.
Master control system module
The function of master control system is to pass through the data of image module, sensor assembly, acoustic processing module, mechanical arm module
A/D conversions carry out it signal processing, and combine the instruction of user, complete the collection to environmental information and the control of corresponding machine people
System.Power module function is to provide power source for robot, and ensures alarm, self-protection and the charging row when electricity is abnormal
For.
Image module and sensor assembly provide data for robot, are compared by the electronic map rice block of local service
Right, to robot localization and navigation, robot is by handling the progress inspection of this partial data and obtaining the coordinate of robot.Master control
Transmission order control chassis drive module allows crusing robot to be carried out automatically according to the video recording of setting after system obtains corresponding data
Inspection.Another part is that robot is carried out preliminary treatment by the communication module that robot carries to this partial data, and passes through nothing
Wire module is sent to control base station.Man-machine interactive system is that instruction is sent at operator, controls the automatic and artificial of robot
The movement of control.The sensing data obtained at robot is supplied to user at the same time.The function of communication system is by user
Instruction and data be wirelessly transmitted, user is controlled robot.
Power module is set by high power capacity high power polymer lithium battery group, battery quantity of electricity monitoring system, intelligent charge control
Standby and lithium battery charging access device composition.Power management module is used for realizing the charge and discharge control of battery, the voltage of battery, electricity
Stream and the collection of electricity and the defencive function of battery, provide the energy for each system of robot and ensure, monitor battery electric quantity, estimate
Calculate whether electricity meets patrol task, when not enough power supply can not complete patrol task, inform that master control system needs to charge.Monitor lithium
Battery pack whether charging complete, if complete charging disconnect battery be connected with charger, possess the work(such as quick charge, trickle charge
Can, lithium battery charging access device and lithium battery charger physical connection, and it is dynamic to complete the corresponding control of smart charge control system
Make.
Home server uses PC machine, including the hardware device such as base station computer, wireless bridge, network hub, mainly
Human-computer interaction for remote back-office monitoring, the various operational orders for receiving operating personnel, and by these instruction issuings to fire-fighting
Crusing robot moving body kinetic control system.Meanwhile home server understands the working condition and knot of fire protection patrol robot
Fruit.Home server is placed in piping lane, by communication system, electronic map, status alert processing, global path planning, data
Storehouse, real-time data base, operational module (including image, video, toxic gas, acoustic processing, image, video, toxic gas, sound
Sound processing, depth image, mechanical arm control system, chassis control system) etc. module composition, as shown in the figure.
Within the system, it is seen that light image, infrared image are controlled by the video stream data and moving body of video server
The tidal data recoverings such as system information are passed by internal system network together to after network hub through wireless bridge, network hub
To operation monitoring center, the computer being connected in remote back-office monitoring can be according to access rights displaying live view pipe gallery equipment
Visible ray and the relevant information such as Infrared video image, operating condition of fire protection patrol robot itself, and fire-fighting can be controlled
Movement of crusing robot moving body etc..
Goal of the invention：
1. the depth information main process of experimental situation or object is obtained using depth camera and three-dimensional laser sensor is：By
RF transmitter launches infrared ray, and infrared ray can produce radium-shine speckle after the target occlusion in testee or environment.
Radium-shine speckle reflection is read by thermal camera, and the depth information for obtaining object or environment solves the scenario building of piping lane, road
Footpath is planned and avoidance
2. a pair mobile platform is planned, fire prevention door handle is allowed to enter the working space of mechanical arm, then to mechanical arm into professional etiquette
Draw, solve being accurately positioned with performing enabling task for end effector.So that robot can carry out over long distances in piping lane
Inspection, the obstacle for thoroughly solving piping lane one fire resistant doorsets of every 200 meters of settings can not pass through.
3. pipe gallery three-dimensional crusing robot uses data acquisition equipment（Video, it is infrared）+ image processing techniques+have
Malicious pernicious gas module+remote control groups of clients into.Solve the distance limitation of piping lane point sensor, form complete line
Property warning message include temperature, humidity, harmful gas concentration gathers each parametric data in piping lane in real time, while establishes in piping lane
The distribution of the characteristic parameters such as temperature field.
4. the inverse kinematics of mechanical arm, i.e., oneself knows end pose, asks for each joint displacements amount of mechanical arm.Mechanical arm
Inverse kinematics can only draw the end pose uniquely determined, but the inverse kinematics for being to solve for mechanical arm may then be drawn incessantly
One group of solution.Solve the inverse kinetics solution for asking for mechanical arm and selected in the case where mechanical arm is there are multigroup solution and most made us most
One group of satisfied solution, for example the time is most short, stroke is most short or energy is minimum etc..
5. replacing personnel's inspection by piping lane three-dimensional crusing robot routine inspection mode, reduce the intensity of personnel's inspection and subtract
Few security incident
Invention effect：
1. the environmental information around robot is obtained by airborne sensor, and by communication module, with hardware information
Form is sent to central control terminal（Upper computer end）.Information at this time can not be used directly as effective information, and be needed
Handled by sensor information processing module, be translated into directly available data, form mobile robot behavior
Mode
2. human-computer interaction module：The major interfaces of program.Realize interacting for robotic end and user information, including to user
Control to robot behavior and the setting of relevant parameter are provided, shown at the data that computer is collected for sensor
Result after reason.
3. context detection module：The ambient condition information obtained by sensor, and is handled environmental information, can be with
Detect known target and unknown object, the display processing result in system interface.
4. map structuring module：Structure map is carried out to environmental information by picture system, and is shown in system interface
Maps processing result.Matching is carried out by electronic map to be accurately positioned so as to reach, and solves robot accurate position in piping lane
Put without coordinate loss and displacement occurs
5. self-positioning module：According to the current pose of robot, the robot pose of subsequent time is calculated so that robot can
With the compound action of the unlatching to fire resistant doorsets, and feed back to computer.
6. track object module（To fixed point）：Identify target point, and by arriving fixed point function based on PD algorithms
Realize tracking target.
7. roam module：Robot is realized under random environment, the roaming behavior of the deadlock freedom based on avoid-obstacle behavior.
8. communication module：Whole communication system is based on 485 buses, and an only host, other AP are set in system configuration
It is standby to be hung over entirely in the form of multimachine in 485 buses.One point of every 50 meters of arrangements, local host is the highest of whole hardware system
Manager, is the host of hardware system, and the host of RS485 buses.Realize 3 kilometers to 5 kilometers indoor communications of piping lane
Problem, solves every 200 meters of piping lane and sets a fire resistant doorsets and disabling signal.
9. sensor information processing module：Receive by robotic end（The next generator terminal）The original sensor data returned, pass through
Correlation function processes data into the actual range data for facilitating user to use, and is stored in array, and according to inquiry
It is spaced real-time update.
10. data memory module：Robot is run the data such as data, sensor configuration data, environmental map to be stored in
In database, convenient reading in the future is analyzed with the actual effect that algorithm is realized, easy to later for gathering build environment map
Storage.
Basic principle, main feature and the advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and what is described in the above embodiment and the description is only the present invention
Principle, various changes and modifications of the present invention are possible without departing from the spirit and scope of the present invention, these change and
Improvement is both fallen within the range of claimed invention.The protection domain of application claims by appended claims and its
Equivalent defines.
Claims (7)
- A kind of 1. robot with shock-absorbing function, it is characterised in that：The robot includes chassis system；The chassis system Including two shock brackets, crawler belt, medial and lateral support plate；Two shock bracket center rotatings are fixed to form entirety, and whole Body is rotated and is fixed in the support plate of medial and lateral, and the centre position in chassis system；On the top of two shock brackets Between by the first damper connect, the bottom of two dampers is respectively fixed with the first support wheel；First support Wheel is supported on the inner wall of crawler belt bottom.
- A kind of 2. robot with shock-absorbing function according to claim 1, it is characterised in that：Two shock brackets Fixation, which is rotated, centrally through support shaft forms X shapes.
- A kind of 3. robot with shock-absorbing function according to claim 2, it is characterised in that：Two shock brackets For v-shaped structure, the opening of two V-arrangement shock brackets is disposed opposite to each other, and forms the X shapes structure.
- A kind of 4. robot with shock-absorbing function according to any one of claims 1 to 3, it is characterised in that：Described two Two bottoms of a shock bracket, rotate be fixed with the first support wheel support respectively, rotate and fix on the first support wheel support First support wheel.
- A kind of 5. robot with shock-absorbing function according to any one of claims 1 to 3, it is characterised in that：The chassis The front end of system further includes secondary support plate；The second support wheel and the 3rd support wheel are fixed with the secondary support plate；Described Two support wheels, the 3rd support wheel are both supported upon on the inner wall of crawler belt front end.
- A kind of 6. robot with shock-absorbing function according to claim 5, it is characterised in that：The chassis system also wraps Include the second damper；Front damper support is further fixed in the secondary support plate；One end of second damper is fixed on In front damper support, the other end is fixed in inside and outside support plate.
- A kind of 7. robot with shock-absorbing function according to any one of claims 1 to 3, it is characterised in that：The chassis System further includes preceding strainer；The preceding strainer includes preceding tension spring fixing sleeve and the fixation being fixed in secondary support plate Inside, the rear tension spring fixing sleeve of lateral branch fagging；Tension spring is fixed between forward and backward tension spring fixing sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810033900.4A CN108015810A (en) | 2018-01-15 | 2018-01-15 | A kind of robot with shock-absorbing function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810033900.4A CN108015810A (en) | 2018-01-15 | 2018-01-15 | A kind of robot with shock-absorbing function |
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| Publication Number | Publication Date |
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| CN108015810A true CN108015810A (en) | 2018-05-11 |
Family
ID=62071353
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810033900.4A Pending CN108015810A (en) | 2018-01-15 | 2018-01-15 | A kind of robot with shock-absorbing function |
Country Status (1)
| Country | Link |
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| CN (1) | CN108015810A (en) |
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| CN108481301A (en) * | 2018-06-11 | 2018-09-04 | 东北大学 | A kind of vacuum leak hunting machine people based on five degree-of-freedom manipulator |
| CN108646746A (en) * | 2018-06-05 | 2018-10-12 | 天津大学 | The Underground Space Environment monitoring network that a kind of wireless charging and automatic battery change the outfit |
| CN108687742A (en) * | 2018-08-23 | 2018-10-23 | 合肥合安智为科技有限公司 | A kind of pole incipient fire early warning intelligent inspection robot |
| CN108827379A (en) * | 2018-06-05 | 2018-11-16 | 天津大学 | A kind of Underground Space Environment monitoring network using wireless charging technology |
| CN108827380A (en) * | 2018-06-05 | 2018-11-16 | 天津大学 | A kind of Underground Space Environment monitoring network that convenient battery changes the outfit |
| CN108844576A (en) * | 2018-06-05 | 2018-11-20 | 天津大学 | It is a kind of to be changed the outfit the Underground Space Environment monitoring network of battery by mechanical arm |
| CN109000715A (en) * | 2018-06-05 | 2018-12-14 | 天津大学 | A kind of Underground Space Environment monitoring network that automatic battery changes the outfit |
| CN109029550A (en) * | 2018-06-05 | 2018-12-18 | 天津大学 | A kind of Underground Space Environment monitoring network |
| CN109500827A (en) * | 2018-11-23 | 2019-03-22 | 北京中大科慧科技发展有限公司 | Machine room intelligent crusing robot |
| CN114038151A (en) * | 2021-09-18 | 2022-02-11 | 中铁建设集团有限公司 | Smoke induction alarm system for intelligent inspection robot |
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| CN108646746A (en) * | 2018-06-05 | 2018-10-12 | 天津大学 | The Underground Space Environment monitoring network that a kind of wireless charging and automatic battery change the outfit |
| CN108827379A (en) * | 2018-06-05 | 2018-11-16 | 天津大学 | A kind of Underground Space Environment monitoring network using wireless charging technology |
| CN108827380A (en) * | 2018-06-05 | 2018-11-16 | 天津大学 | A kind of Underground Space Environment monitoring network that convenient battery changes the outfit |
| CN108844576A (en) * | 2018-06-05 | 2018-11-20 | 天津大学 | It is a kind of to be changed the outfit the Underground Space Environment monitoring network of battery by mechanical arm |
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| CN109500827A (en) * | 2018-11-23 | 2019-03-22 | 北京中大科慧科技发展有限公司 | Machine room intelligent crusing robot |
| CN114038151A (en) * | 2021-09-18 | 2022-02-11 | 中铁建设集团有限公司 | Smoke induction alarm system for intelligent inspection robot |
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