CN108569353A - A kind of underground pipeline man well investigation multi-functional eight pawl robot and its investigation method - Google Patents

A kind of underground pipeline man well investigation multi-functional eight pawl robot and its investigation method Download PDF

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Publication number
CN108569353A
CN108569353A CN201810486497.0A CN201810486497A CN108569353A CN 108569353 A CN108569353 A CN 108569353A CN 201810486497 A CN201810486497 A CN 201810486497A CN 108569353 A CN108569353 A CN 108569353A
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China
Prior art keywords
robot
module
control
joint
cleaning
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CN201810486497.0A
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Chinese (zh)
Inventor
姜学海
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Hebei Chang'e Intelligent Technology Co., Ltd.
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Hebei Yihai Robot Technology Co Ltd
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Priority to CN201810486497.0A priority Critical patent/CN108569353A/en
Publication of CN108569353A publication Critical patent/CN108569353A/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles 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
    • B62D57/032Vehicles 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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B9/00Cleaning hollow articles by methods or apparatus specially adapted thereto
    • B08B9/02Cleaning pipes or tubes or systems of pipes or tubes
    • B08B9/027Cleaning the internal surfaces; Removal of blockages
    • B08B9/04Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
    • B08B9/049Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
    • B08B9/051Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00Electric propulsion with power supplied within the vehicle
    • B60L50/50Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/70Energy storage systems for electromobility, e.g. batteries

Abstract

The present invention provides a kind of underground pipeline man wells to investigate multi-functional eight pawl robot, it is characterised in that:Ontology is butterfly-like, including:Walking module, including bionical sole and foot, foot include three active joints, and respectively hip joint, knee joint and ankle-joint, sole are connected with kneecap section by flexural pivot, while resetting spring is provided between sole and kneecap section, and foot installs force snesor;Cleaning structure, including shell, endless screw electric motor, Clean Brush for cleaning, gripper and cleaning steering engine;Control mechanism, including main control module, data transmission module, upper computer control module and drive and control of electric machine module, using the Hierarchical Control system for formula architectural framework of thinking over;Sensing module, including hazardous gas sensor, the first infrared sensor, 360 degree rotation formula camera and LED illumination lamp;Power supply module, using general aviation lithium battery;And joint drive system, it is driven using totally-enclosed stepper motor.Also disclose corresponding investigation method.

Description

A kind of underground pipeline man well investigation multi-functional eight pawl robot and its investigation method
Technical field
The present invention relates to robot fields, and multi-functional eight pawl robot and its row are investigated more particularly to underground pipeline man well Checking method.
Background technology
Urban Underground pipeline has the functions such as electricity, heat, the transport of water system and blowdown, and city survival and development is made to be relied on Main foundation facility.Currently, the pigging and pipe detection of underground piping depend on the discharge of sewage or the work of construction personnel Make, not only inefficiency but also rugged environment is harmful.Also, with greatly developing for digital city construction, underground The inspection of pipe network and the monitoring of the pipe network in simple trouble hunting and hot work in progress, due to the limitation in pipe network space, at For a very big problem.Existing China's pipe robot is furnished with distal internal pipeline using modularized design Detecting system, however the requirement of different tube diameters is not adapted to, mechanism is excessively complicated, and only investigates function, can not be light, and And be all to use running on wheels mode, it is likely to occur slipping phenomenon in moist and complex environment, all-terrain adaptable can not be detected And complicated and adverse circumstances detection requirement, for the poor anti jamming capability of the adverse circumstances interference of electromagnetic interference and high temperature.
Invention content
The purpose of the present invention is to provide a kind of underground pipeline man wells to investigate multi-functional eight pawl robot, is adopted by camera Collect image scene, corresponding gas data in pipeline is acquired by gas sensor, and all data are transmitted to by Ethernet Far-end control system, control system monitor pipeline environment, while controlling the walking of eight pawl robots, the operation of mechanical arm, ontology It is butterfly-like, including:
Walking module, including bionical sole and foot are designed as 8 toe structures, and 8 apotelus are uniformly distributed, sole and foot Portion is by flexural pivot chain link, to adapt to complicated full landform;The foot is connect with the sole, including three active joints, point Not Wei hip joint, knee joint and ankle-joint, each active joint by servo driving, each foot all include base pitch, meropodium and Kneecap section, base pitch are connected by hip joint with robot body, and meropodium is connected by knee joint with base pitch, and kneecap section is closed by ankle Section is connected with kneecap section, and hip joint, knee joint, ankle-joint realize leg respectively by a servo driving by controlling hip joint The lift of swing, knee joint and ankle-joint control leg is put, and sole is connected with kneecap section by flexural pivot, while in sole and kneecap Resetting spring is provided between section, when sole touches pipe surface, adjust automatically flexural pivot rotates and keeps initial attitude constant, Force snesor is installed in robot foot section, so that every leg of robot all has force-sensing ability, by monitoring foot in real time Palm stress and surface appearance of creeping realize the feedback control of robotic movement, increase Stability and adaptability;
Cleaning structure, including shell, endless screw electric motor, Clean Brush for cleaning, gripper and cleaning steering engine, by cleaning steering engine installation In foot front end, the output axis connection of Clean Brush for cleaning and endless screw electric motor, gripper is mounted on the another of shell by cleaning steering engine End, control cleaning steering engine, to realize that every job task is completed in the switching between Clean Brush for cleaning and gripper, cooperation;
Control mechanism, using line traffic control or wireless remote control, including main control module, data transmission module, PC control mould Block and drive and control of electric machine module, the main control module are connect with power supply module, sensing module, drive and control of electric machine module, are led to It crosses drive and control of electric machine module to connect with walking module, using the Hierarchical Control system for formula architectural framework of thinking over, including group It knits grade, coordinate grade and executive level, the tissue class is to robot motion's task unified planning, by communication module and man-machine interface group At the executive level is located at the control system end, realizes that the tissue class is coordinated in each joint complementation interference, the coordination grade Relationship between the executive level, including servos control plate and the master control borad for obtaining environmental change, to which tissue will be received The motion command of grade simultaneously drives steering engine to rotate;
The hazardous gas sensor installed on sensing module, including fuselage, the first infrared sensor, 360 degree rotation formula are taken the photograph As head and LED illumination lamp, the camera is mounted on body upper by 360 degree of steering engines, realizes camera 360 degree rotation, And picture signal is real-time transmitted to upper computer control module, the LED illumination lamp is set to fuselage periphery, for detecting pipeline Interior environment;
Power supply module, using general aviation lithium battery as power supply;And
Joint drive system is driven using totally-enclosed stepper motor, is not generated spark and electromagnetic interference.
Preferably, the hazardous gas sensor includes methane transducer, hydrogen sulfide sensor and carbon monoxide sensing Device.
Preferably, the man-machine interface uses visible light and thermal imaging system, earth station that will be transported by the man-machine interface It is dynamic to instruct the control system for being sent to robot, and its motion pose, speed parameter are passed through the man-machine interface by robot Feed back to earth station, to grasp robot location field parameter and high-definition image in real time, and can by man-machine interface into Row intelligence inquiry, so that artificial management of participating in the overall process.
Preferably, the host computer in the upper computer control module uses portable computer, intelligent mobile terminal or nothing Line handle defines the communications protocol of host computer and actuator driving plate by e-platform of increasing income, after host computer is unlocked, by pre- Program is first downloaded to controller, realizes real-time operation;The slave computer main controller combines card hair with Arduino using Intel Arduino101 and QSC actuator driving plates, host computer are handled external information as order transmitting terminal, Arduino101, Perceptual structure receives external information, and QSC is responsible for coordination, and program editing is completed in Arduino IDE.
Preferably, the control mechanism is additionally provided with protection module, and the protection module is limit switch machine infrared sensor, The limit switch is mounted on the robot fuselage, the maximum range of activities of limit mechanical arm, and infrared sensor detection passes Sensor front obstacle prevents from hitting the damage for bringing robot.
Preferably, further include Ethernet, the host computer sends control to slave computer through Ethernet by control software and refers to It enables, after data transmission module receives host computer data, robot master control borad, director data warp is transmitted instructions to by serial ports After crossing program of lower computer parsing, corresponding robot behavior is executed.
Preferably, the ontology of the robot and the construction material of leg use aluminium alloy, using Wire EDM plus Work technology.
Preferably, the pipe robot quality is 15kg, and speed of travel 10m/s, battery life is 24 hours, Wire communication distance is 100m in underground piping, and fuselage integrally uses IP68 water proof and dust proof standards.
The present invention also aims to provide a kind of to carry out underground pipeline man well investigation using multi-functional eight pawl robot Method, including:
(1) starting power supply module to power for whole system, robot automatically resets foot, Clean Brush for cleaning and gripper, Upper computer control module starts, initializes simultaneously, and selects wired or wireless way to be established with robot and connect;
(2) movement and working method for selecting robot different under upper computer control module, upper computer control module pass through Control instruction is sent to data transmission module by Ethernet or wireless WiFi, and data transmission module is sent by serial ports to master control mould Block;
(3) main control module parses the control instruction received according to communication protocol, and then executes corresponding operation, In the process if protection module detects that foot movement amplitude is excessive or detects occur barrier in certain distance, or perception When mould hazardous gas sensor in the block detects hazardous gas excessive concentration, robot will be out of service, and provides corresponding Information warning.
The robot technology advantage of the present invention is:
1, in view of wheeled and chain structure accommodation limits, using the ring that eight pawl Structure adaptations are complicated and severe Border;
2, full landform, the anti-electromagnetic interference of waterproof high temperature-proof have intelligence inquiry and simple clean-up performance, manually can be whole Participative management;
3, using general aviation lithium battery, totally-enclosed stepper motor driving does not generate electric spark and electromagnetic interference, a variety of controls Mode processed and man-machine interface close friend.
According to the following detailed description of specific embodiments of the present invention in conjunction with the accompanying drawings, those skilled in the art will be brighter The above and other objects, advantages and features of the present invention.
Description of the drawings
Some specific embodiments that the invention will be described in detail by way of example and not limitation with reference to the accompanying drawings hereinafter. Identical reference numeral denotes same or similar component or part in attached drawing.It should be appreciated by those skilled in the art that these What attached drawing was not necessarily drawn to scale.The target and feature of the present invention will be apparent from view of following description taken together with the accompanying drawings, In attached drawing:
Attached drawing 1 is to investigate multi-functional eight pawls robot architecture's schematic diagram according to the underground pipeline man well of the embodiment of the present invention;
Attached drawing 2 is to investigate the foot structure of multi-functional eight pawl robot according to the underground pipeline man well of the embodiment of the present invention to show It is intended to;
Attached drawing 3 is the control system modular structure schematic diagram according to the embodiment of the present invention.
Specific implementation mode
Referring to Fig. 1, a kind of underground pipeline man well of the present embodiment investigates multi-functional eight pawl robot, is acquired by camera Image scene acquires corresponding gas data in pipeline by gas sensor, and all data is transmitted to far by Ethernet End control system, control system monitor pipeline environment, while controlling the walking of eight pawl robots, the operation of mechanical arm, and ontology is It is butterfly-like, including:
Walking module, including bionical sole and foot are designed as 8 toe structures, and 8 apotelus are uniformly distributed, sole and foot Portion is by flexural pivot chain link, to adapt to complicated full landform.Referring to Fig. 2, foot is connect with the sole, including three actively close Section, respectively hip joint, knee joint and ankle-joint, by servo driving, each foot all includes base pitch, stock in each active joint Section and kneecap section, base pitch are connected by hip joint with robot body, and meropodium is connected by knee joint with base pitch, and kneecap section passes through Ankle-joint is connected with kneecap section, and hip joint, knee joint, ankle-joint by a servo driving, are realized respectively by controlling hip joint The lift of the swing of leg, knee joint and ankle-joint control leg is put, and sole is connected with kneecap section by flexural pivot, at the same in sole and It is provided with resetting spring between kneecap section, adjust automatically flexural pivot rotates and keeps initial attitude not when sole touches pipe surface Become, force snesor is installed in robot foot section, so that every leg of robot all has force-sensing ability, by monitoring in real time Sole stress and surface appearance of creeping realize the feedback control of robotic movement, increase Stability and adaptability;
Cleaning structure, including shell, endless screw electric motor, Clean Brush for cleaning, gripper and cleaning steering engine, by cleaning steering engine installation In foot front end, the output axis connection of Clean Brush for cleaning and endless screw electric motor, gripper is mounted on the another of shell by cleaning steering engine End, control cleaning steering engine, to realize that every job task is completed in the switching between Clean Brush for cleaning and gripper, cooperation;
Control mechanism, using line traffic control or wireless remote control, including main control module, data transmission module, PC control mould Block and drive and control of electric machine module, the main control module are connect with power supply module, sensing module, drive and control of electric machine module, are led to It crosses drive and control of electric machine module to connect with walking module, using the Hierarchical Control system for formula architectural framework of thinking over, including group It knits grade, coordinate grade and executive level, the tissue class is to robot motion's task unified planning, by communication module and man-machine interface group At the executive level is located at the control system end, realizes that the tissue class is coordinated in each joint complementation interference, the coordination grade Relationship between the executive level, including servos control plate and the master control borad for obtaining environmental change, to which tissue will be received The motion command of grade simultaneously drives steering engine to rotate;Man-machine interface uses visible light and thermal imaging system, and earth station passes through described man-machine Movement instruction is sent to the control system of robot by interface, and robot its motion pose, speed parameter are passed through it is described Man-machine interface feeds back to earth station, to grasp robot location field parameter and high-definition image in real time, and can pass through people Machine interface carries out intelligent inquiry, so that artificial management of participating in the overall process;
Installed on sensing module, including fuselage hazardous gas sensor (including methane transducer, hydrogen sulfide sensor with And carbon monoxide transducer), the first infrared sensor, 360 degree rotation formula camera and LED illumination lamp, the camera is logical It crosses 360 degree of steering engines and is mounted on body upper, realize camera 360 degree rotation, and picture signal is real-time transmitted to host computer control Molding block, the LED illumination lamp is set to fuselage periphery, for detecting pipeline inner ring border;
Power supply module, using general aviation lithium battery as power supply;And
Joint drive system is driven using totally-enclosed stepper motor, is not generated spark and electromagnetic interference.
Ontology and the construction material of leg use aluminium alloy, using Wire-cut Electrical Discharge Machining technology.
Referring to Fig. 3, control system host computer uses portable computer, intelligent mobile terminal or wireless controller, by opening Source e-platform defines the communications protocol of host computer and actuator driving plate, after host computer is unlocked, is arrived by downloading program in advance Controller realizes real-time operation;The slave computer main controller using Intel combine with Arduino card send out Arduino101 and QSC actuator driving plates, host computer are handled external information as order transmitting terminal, Arduino101, and perceptual structure receives External information, QSC are responsible for coordination, and program editing is completed in Arduino IDE.Control mechanism is equipped with protective device, institute It is limit switch machine infrared sensor to state protective device, and the limit switch is mounted on the robot fuselage, limit mechanical arm Maximum range of activities, and infrared sensor detection sensor front obstacle prevents from hitting the damage for bringing robot.Also Including Ethernet, the host computer sends control instruction through Ethernet by control software to slave computer, and data transmission module connects After receiving host computer data, robot master control borad is transmitted instructions to by serial ports, director data is parsed by program of lower computer Afterwards, corresponding robot behavior is executed.
In the present embodiment, pipe robot quality is 15kg, and speed of travel 10m/s, battery life is 24 hours, Wire communication distance is 100m in underground piping, and fuselage integrally uses IP68 water proof and dust proof standards.
The method that underground pipeline man well investigation is carried out using multi-functional eight pawl robot, including:
(1) starting power supply module to power for whole system, robot automatically resets foot, Clean Brush for cleaning and gripper, Upper computer control module starts, initializes simultaneously, and selects wired or wireless way to be established with robot and connect;
(2) the different movement and working method of robot is selected under upper computer control module, advance as controlled robot, after It moves back, turn to, be opened and closed camera, mechanical arm extension, startup Clean Brush for cleaning etc., upper computer control module is by Ethernet or wirelessly Control instruction is sent to data transmission module by WiFi, and data transmission module is sent by serial ports to main control module;
(3) main control module parses the control instruction received according to communication protocol, and then executes corresponding operation, If user makes robot advance under upper computer control module control, after main control module receives corresponding instruction and parses, pass through electricity Machine drive control module controls the tributary motor in corresponding walking module and rotates forward, to realize the forward motion of robot, process In if protection module detects that foot movement amplitude is excessive or detects in certain distance barrier or sensing module occur In hazardous gas sensor when detecting hazardous gas excessive concentration, robot will be out of service, and provides corresponding warning Information.
The robot technology advantage of the present embodiment is:
1, in view of wheeled and chain structure accommodation limits, using the ring that eight pawl Structure adaptations are complicated and severe Border;
2, full landform, the anti-electromagnetic interference of waterproof high temperature-proof have intelligence inquiry and simple clean-up performance, manually can be whole Participative management;
3, using general aviation lithium battery, totally-enclosed stepper motor driving does not generate electric spark and electromagnetic interference, a variety of controls Mode processed and man-machine interface close friend.
It, will not be by these embodiments although the present invention is described by reference to specific illustrative embodiment Restriction and only limited by accessory claim.It should be understood by those skilled in the art that can be without departing from the present invention's The embodiment of the present invention can be modified and be changed in the case of protection domain and spirit.

Claims (9)

1. a kind of underground pipeline man well investigates multi-functional eight pawl robot, it is characterised in that:Ontology is butterfly-like, including:
Walking module, including bionical sole and foot are designed as 8 toe structures, and 8 apotelus are uniformly distributed, and sole is logical with foot Flexural pivot chain link is crossed, to adapt to complicated full landform;The foot is connect with the sole, including three active joints, respectively Hip joint, knee joint and ankle-joint, by servo driving, each foot all includes base pitch, meropodium and kneecap in each active joint Section, base pitch is connected by hip joint with robot body, and meropodium is connected by knee joint with base pitch, kneecap section by ankle-joint and Kneecap section is connected, and hip joint, knee joint, ankle-joint are respectively by a servo driving, before and after control hip joint realization leg Swing, the lift of knee joint and ankle-joint control leg is put, and sole is connected with kneecap section by flexural pivot, while sole and kneecap section it Between be provided with resetting spring, when sole touches pipe surface, adjust automatically flexural pivot rotates and keeps initial attitude constant, in machine Device people's foot install force snesor so that every leg of robot all have force-sensing ability, by monitor in real time sole by Power and surface appearance of creeping realize the feedback control of robotic movement, increase Stability and adaptability;
Cleaning structure, including shell, endless screw electric motor, Clean Brush for cleaning, gripper and cleaning steering engine are mounted on foot by cleaning steering engine The output axis connection of portion front end, Clean Brush for cleaning and endless screw electric motor, gripper are mounted on the other end of shell, control by cleaning steering engine System cleaning steering engine, to realize that every job task is completed in the switching between Clean Brush for cleaning and gripper, cooperation;
Control mechanism, using line traffic control or wireless remote control, including main control module, data transmission module, upper computer control module and Drive and control of electric machine module, the main control module are connect with power supply module, sensing module, drive and control of electric machine module, pass through electricity Machine drive control module is connect with walking module, using the Hierarchical Control system for formula architectural framework of thinking over, including tissue class, Coordinate grade and executive level, the tissue class are made of robot motion's task unified planning communication module and man-machine interface, institute It states executive level and is located at the control system end, realize that the tissue class and institute are coordinated in each joint complementation interference, the coordination grade The relationship between executive level, including servos control plate and the master control borad for obtaining environmental change are stated, to which tissue class will be received Motion command simultaneously drives steering engine to rotate;
Hazardous gas sensor, the first infrared sensor, the 360 degree rotation formula camera installed on sensing module, including fuselage And LED illumination lamp, the camera are mounted on body upper by 360 degree of steering engines, realize camera 360 degree rotation, and will Picture signal is real-time transmitted to upper computer control module, and the LED illumination lamp is set to fuselage periphery, for detecting pipeline inner ring Border;
Power supply module, using general aviation lithium battery as power supply;And
Joint drive system is driven using totally-enclosed stepper motor, is not generated spark and electromagnetic interference.
2. a kind of underground pipeline man well according to claim 1 investigates multi-functional eight pawl robot, it is characterised in that:It is described Hazardous gas sensor includes methane transducer, hydrogen sulfide sensor and carbon monoxide transducer.
3. a kind of underground pipeline man well according to claim 1 investigates multi-functional eight pawl robot, it is characterised in that:It is described Man-machine interface uses visible light and thermal imaging system, earth station that movement instruction is sent to robot by the man-machine interface Control system, and its motion pose, speed parameter are fed back to earth station by robot by the man-machine interface, in real time Robot location field parameter and high-definition image are grasped, and intelligent inquiry can be carried out by man-machine interface, so that people Work is participated in the overall process management.
4. a kind of underground pipeline man well according to claim 1 investigates multi-functional eight pawl robot, it is characterised in that:It is described Host computer in upper computer control module uses portable computer, intelligent mobile terminal or wireless controller, passes through electronics of increasing income Platform defines the communications protocol of host computer and actuator driving plate, after host computer is unlocked, by downloading program in advance to controller, Realize real-time operation;The slave computer main controller combines Arduino101 the and QSC steering engines of card hair using Intel with Arduino Driving plate, host computer are handled external information as order transmitting terminal, Arduino101, and perceptual structure receives extraneous letter Breath, QSC are responsible for coordination, and program editing is completed in Arduino IDE.
5. a kind of underground pipeline man well according to claim 4 investigates multi-functional eight pawl robot, it is characterised in that:It is described Control mechanism is additionally provided with protection module, and the protection module is limit switch machine infrared sensor, and the limit switch is mounted on The robot fuselage, the maximum range of activities of limit mechanical arm, and infrared sensor detection sensor front obstacle, it prevents Hit the damage brought to robot.
6. a kind of underground pipeline man well according to claim 1 investigates multi-functional eight pawl robot, it is characterised in that:Also wrap Ethernet is included, the host computer sends control instruction through Ethernet by control software to slave computer, and data transmission module receives To after host computer data, robot master control borad is transmitted instructions to by serial ports, director data after program of lower computer parses, Execute corresponding robot behavior.
7. a kind of underground pipeline man well according to claim 1 investigates multi-functional eight pawl robot, it is characterised in that:It is described The ontology of robot and the construction material of leg use aluminium alloy, using Wire-cut Electrical Discharge Machining technology.
8. investigating multi-functional eight pawl robot according to a kind of any underground pipeline man wells of claim 1-7, feature exists In:The pipe robot quality is 15kg, and speed of travel 10m/s, battery life is 24 hours, is had in underground piping Line communication distance is 100m, and fuselage integrally uses IP68 water proof and dust proof standards.
9. a kind of method carrying out underground pipeline man well investigation using multi-functional eight pawl robot, is appointed using such as claim 1-8 Underground pipeline man well described in one investigates multi-functional eight pawl robot, it is characterised in that includes the following steps:
(1) start power supply module to power for whole system, robot automatically resets foot, Clean Brush for cleaning and gripper, simultaneously Upper computer control module starts, initializes, and selects wired or wireless way to be established with robot and connect;
(2) movement and working method for selecting robot different under upper computer control module, upper computer control module pass through ether Control instruction is sent to data transmission module by net or wireless WiFi, and data transmission module is sent by serial ports to main control module;
(3) main control module parses the control instruction received according to communication protocol, and then executes corresponding operation, process In if protection module detects that foot movement amplitude is excessive or detects in certain distance barrier or sensing module occur In hazardous gas sensor when detecting hazardous gas excessive concentration, robot will be out of service, and provides corresponding warning Information.
CN201810486497.0A 2018-05-21 2018-05-21 A kind of underground pipeline man well investigation multi-functional eight pawl robot and its investigation method Pending CN108569353A (en)

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CHENG53515311: ""智能控制 第5章 分层递阶智能控制,https://wenku.baidu.com/view/8c40dea67e21af45b307a8d3.html"", 《百度文库》 *

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