CN108646746A - The Underground Space Environment monitoring network that a kind of wireless charging and automatic battery change the outfit - Google Patents
The Underground Space Environment monitoring network that a kind of wireless charging and automatic battery change the outfit Download PDFInfo
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- CN108646746A CN108646746A CN201810567675.2A CN201810567675A CN108646746A CN 108646746 A CN108646746 A CN 108646746A CN 201810567675 A CN201810567675 A CN 201810567675A CN 108646746 A CN108646746 A CN 108646746A
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- underground space
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- node computer
- sensor
- environment monitoring
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 70
- 238000007600 charging Methods 0.000 title claims abstract description 58
- 230000008859 change Effects 0.000 title claims abstract description 22
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- RWSOTUBLDIXVET-UHFFFAOYSA-N Dihydrogen sulfide Chemical compound S RWSOTUBLDIXVET-UHFFFAOYSA-N 0.000 claims description 10
- 229910000037 hydrogen sulfide Inorganic materials 0.000 claims description 10
- 238000012546 transfer Methods 0.000 claims description 9
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 claims description 8
- 229910002091 carbon monoxide Inorganic materials 0.000 claims description 8
- 239000007789 gas Substances 0.000 claims description 8
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
Abstract
The invention discloses the Underground Space Environment monitoring networks that a kind of wireless charging and automatic battery change the outfit, including host node computer (10), it is connect for wireless signal between the host node computer (10) and multiple sensors of default type；Multiple sensors of the default type are mounted in the heat distribution pipeline (3) being laid in the underground space (100) and water supply line (6) and on the side wall of the underground space；Multiple sensors of the default type are used to acquire the detection data of the corresponding underground space.The Underground Space Environment monitoring network that a kind of wireless charging and automatic battery disclosed by the invention change the outfit, its can the environment of safe and reliable ground-to-ground down tube net carry out comprehensive monitoring, the security risk of underground pipe network can be reduced, ensure the safe handling of underground pipe network, be conducive to widely apply, be of great practical significance.
Description
Technical field
The present invention relates to Underground Space Environment monitoring technical fields, are changed more particularly to a kind of wireless charging and automatic battery
The Underground Space Environment monitoring network of dress.
Background technology
Currently, underground pipe network is the most important thing in Chinese Urbanization construction process, it is to play city function, it is ensured that city
Economy, Community health, coordinated development important substance basis, be presented intricate, mutually overlapping stereoscopic features, city
Lower pipe network is the important component of urban infrastructure construction, be a city energy conveying, mass transfer, information transmit,
The important carrier that water drainage mitigation and waste dump.
But China has quite a few city not carry out unified allocation plan and management, underground to underground pipe network
The management work of pipe network does things in his own way, lacks link up mutually, unordered controlled state is in, compared with urban construction speed.Pipe
Reason is serious to fall behind, and accident is frequent occurrence.Cut off the water caused by accident, have a power failure, stopping the supple of gas or steam, the consequences such as communicating interrupt, fire explosion, no
Only highly impact the quality of life and life security of the people, at the same also influence economic construction and national defense construction it is normal into
Row.
For current underground pipe network, the problem of being primarily present, is：It, can not since the space structure of underground pipe network is complicated
Comprehensive monitoring is carried out to the environment of underground pipe network, to which the security risk of underground pipe network can not be reduced, ensures underground pipe network
Safe handling.
Therefore, at present there is an urgent need to develop going out a kind of technology, can the environment of safe and reliable ground-to-ground down tube net carry out
Comprehensive monitoring can reduce the security risk of underground pipe network, ensure the safe handling of underground pipe network.
Invention content
In view of this, the object of the present invention is to provide the Underground Space Environment prisons that a kind of wireless charging and automatic battery change the outfit
Survey grid network, can the environment of safe and reliable ground-to-ground down tube net carry out comprehensive monitoring, the peace of underground pipe network can be reduced
Full hidden danger ensures the safe handling of underground pipe network, is conducive to widely apply, be of great practical significance.
For this purpose, the present invention provides the Underground Space Environment monitoring network that a kind of wireless charging and automatic battery change the outfit, packet
Host node computer is included, is connected for wireless signal between the host node computer and multiple sensors of default type；
Multiple sensors of the default type be mounted on the underground space in be laid with heat distribution pipeline and water supply line in
And on the side wall of the underground space；
Multiple sensors of the default type are used to acquire the detection data of the corresponding underground space.
Wherein, multiple sensors of the default type include：First temperature sensor, second flow sensor and second
Pressure sensor；
First temperature sensor, second flow sensor and second pressure sensor are mounted on the water supply line
In, for detecting the temperature of water, flow and hydraulic pressure in the water supply line, it is then sent to host node computer.
Wherein, multiple sensors of the default type further include：First pressure sensor, first flow sensor and
Two temperature sensors；
The first pressure sensor, first flow sensor and second temperature sensor are mounted on the heat distribution pipeline
In, pressure, flow and temperature for detecting institute's transmission medium in the heat distribution pipeline are then sent to host node computer.
Wherein, multiple sensors of the default type further include：Oxygen sensor, carbon monoxide transducer, hydrogen sulfide
Sensor, Temperature Humidity Sensor and NOx sensor；
The oxygen sensor, carbon monoxide transducer, hydrogen sulfide sensor, Temperature Humidity Sensor and nitrogen oxides sensing
Device is separately mounted on the side wall of the underground space, dense for collecting the oxygen gas concentration in the underground space, CO gas
Degree, sulfureted hydrogen gas concentration, temperature, humidity and nitrous oxides concentration are then sent to host node computer.
Wherein, further include：First monitoring camera and the second monitoring camera；
First monitoring camera is located at the upper right side of the second monitoring camera；
First monitoring camera and the second monitoring camera are mounted on the side wall of the underground space, are respectively used to acquire
The image of institute overlay area, is then sent to host node computer.
Wherein, the host node computer, including：Data memory module, data processing module and wireless data transmission mould
Block, wherein：
Data memory module, the detection data of the underground space for acquiring multiple sensors of the default type,
It is stored in real time；
Data processing module is connected with data memory module, for acquiring multiple sensors of the default type
The underground space detection data, be compared respectively with preset, corresponding normal value range, if positioned at it is preset,
Within corresponding normal value range, then corresponding data qualifier is judged, otherwise, then judge corresponding defect of data, meanwhile,
Comparable situation is sent to the computer of ground base station by wireless data transfer module in real time；
Data processing module is additionally operable to, by first monitoring camera and the second monitoring camera acquired image, lead to
Cross the computer that wireless data transfer module is sent to ground base station.
Wherein, further include：Crusing robot, the ground that the crusing robot is arranged between heat distribution pipeline and water supply line
On face.
Wherein, the host node computer is also disposed on the ground between heat distribution pipeline and water supply line；
The top and middle part of the host node computer are respectively provided with two layers of hollow structure；
The left and right sides inner wall of the hollow structure on host node computer top be fixedly installed respectively third push rod and
First push rod；
There are one horizontally movable, hollow batteries for the middle part setting of the hollow structure on host node computer top
Storehouse；
Inside top the right and left of the hollow structure on host node computer top is respectively arranged with the second charging pile
With the first charging pile,；
The left side wall of the battery compartment is in contact by a connecting rod with the right side wall of a reserve battery；
The left side of the reserve battery has the third push rod；
It is provided with the second push rod in the middle part of hollow structure in the middle part of the host node computer；
The battery compartment bottom is provided with the hole to match with second push rod；
There are one the clamping plates that can be moved left and right for the bottom setting of the crusing robot；
The top of the clamping plate is used to place main battery,；
When crusing robot is located at the top of the host node computer, the host node computer top and the clamping plate
There are one openings for corresponding position tool.
Wherein, there are one springs for setting between the main battery and crusing robot inside.
Wherein, the left and right sides of the host node computer also has inclined ramp.
By the above technical solution provided by the invention as it can be seen that compared with prior art, the present invention provides a kind of wireless
Charging and the Underground Space Environment monitoring network that changes the outfit of automatic battery, can safe and reliable ground-to-ground down tube net environment into
The comprehensive monitoring of row, can reduce the security risk of underground pipe network, ensure the safe handling of underground pipe network, be conducive to widely
Using being of great practical significance.
In addition, the Underground Space Environment monitoring network that wireless charging provided by the invention and automatic battery change the outfit, uses
Crusing robot, and the battery that can change the outfit convenient for crusing robot, extend the operating time of crusing robot, to aobvious
Write the monitoring effect improved to underground pipe network.
Description of the drawings
Fig. 1 is a kind of knot for the Underground Space Environment monitoring network that wireless charging and automatic battery provided by the invention change the outfit
Structure schematic diagram；
Fig. 2 is that the Underground Space Environment monitoring network that a kind of wireless charging and automatic battery provided by the invention change the outfit is based on
The data transmission schematic diagram that purple honeybee ZigBee wireless communication techniques are formed；
Fig. 3 is main in the Underground Space Environment monitoring network that a kind of wireless charging and automatic battery provided by the invention change the outfit
The cooperating state simplified schematic diagram of node computer and crusing robot；
Fig. 4 is that the Underground Space Environment monitoring network that a kind of wireless charging and automatic battery provided by the invention change the outfit carries out
The simplified schematic diagram of GPS data transmission；
In figure, 1 is the first monitoring camera；2 be the second monitoring camera；3 be heat distribution pipeline；4 sense for first pressure
Device；5 be the first temperature sensor；6 be water supply line；7 be crusing robot；8 be first flow sensor；9 be second flow
Sensor；
10 be main node computer；11 be second temperature sensor；12 be second pressure sensor；13 be oxygen sensor
Device；14 be carbon monoxide transducer；15 be hydrogen sulfide sensor；16 be Temperature Humidity Sensor；17 be NOx sensor；
18 be main battery, and 19 be the first charging pile, and 20 be the first push rod；
21 be data memory module；22 be the second push rod, and 23 be data processing module, and 24 be first coil；25 be wireless
Data transmission module；
26 be battery compartment；27 be connecting rod；28 be the second coil, and 29 be reserve battery；30 be third push rod；31 fill for second
Electric stake；32 be clamping plate 33 be spring；
34 be ad-hoc network；35 be GPS satellite；36 be ground receiver base station.
Specific implementation mode
In order to make those skilled in the art understand the present invention program with replacing, below in conjunction with the accompanying drawings with embodiment to this
Invention is described in further detail.
Referring to Fig. 1 to Fig. 3, the present invention provides the Underground Space Environment monitorings that a kind of wireless charging and automatic battery change the outfit
Network, including host node computer 10, the host node computer 10 and multiple sensors of default type (are used as partial node
Point) between for wireless signal (especially by purple honeybee ZigBee wireless communication techniques) connect；
Multiple sensors of the default type are mounted on the heating power being laid in the underground space 100 (i.e. underground pipe network space)
In pipeline 3 and water supply line 6 and on the side wall of the underground space；
Multiple sensors of the default type are used to acquire the detection data of the corresponding underground space, for example, temperature passes
Sensor is used to detect the temperature data of institute's installation site.
In the present invention, in specific implementation, multiple sensors of the default type include：First temperature sensor 5,
Two flow sensors 9 and second pressure sensor 12；
First temperature sensor 5, second flow sensor 9 and second pressure sensor 12 are mounted on the feed pipe
In road 6, for detecting the temperature of water, flow and hydraulic pressure in the water supply line 6, it is then sent to host node computer 10
(especially by purple honeybee ZigBee wireless communication techniques).
In the present invention, in specific implementation, multiple sensors of the default type further include：First pressure sensor 4,
First flow sensor 8 and second temperature sensor 11；
The first pressure sensor 4, first flow sensor 8 and second temperature sensor 11 are mounted on the thermal pipe
In road 3, pressure, flow and temperature for detecting institute's transmission medium (such as hot water or steam) in the heat distribution pipeline 3, so
After be sent to host node computer 10 (especially by purple honeybee ZigBee wireless communication techniques, such as ZigBee ad hoc network).
It should be noted that heat distribution pipeline is the transmission pipeline of high-temperature gas or high-temp liquid, for example, it is warm in city
Feed channel.
In the present invention, in specific implementation, multiple sensors of the default type further include：Oxygen sensor 13, one
Aoxidize carbon sensor 14, hydrogen sulfide sensor 15, Temperature Humidity Sensor 16 and NOx sensor 17；
The oxygen sensor 13, carbon monoxide transducer 14, hydrogen sulfide sensor 15, Temperature Humidity Sensor 16 and nitrogen oxygen
Compound sensor 17 is separately mounted on the side wall of the underground space, is collected for the integrated environment information to the underground space,
Specifically for collecting the oxygen gas concentration in the underground space, carbon monoxide gas concentration, sulfureted hydrogen gas concentration, temperature, wet
Degree and nitrous oxides concentration, are then sent to host node computer 10 (especially by purple honeybee ZigBee wireless communication techniques, such as
ZigBee ad hoc network).
In the present invention, in specific implementation, Underground Space Environment provided by the invention monitors network, further includes：First prison
Control camera 1 and the second monitoring camera 2；
First monitoring camera is located at the upper right side of the second monitoring camera 2；
First monitoring camera, 1 and second monitoring camera 2 is mounted on the side wall of the underground space, is respectively used to adopt
The image for collecting institute overlay area, is then sent to host node computer 10 (especially by purple honeybee ZigBee wireless communication techniques, such as
ZigBee ad hoc network), institute overlay area is monitored in real time to realize.
In specific implementation, first monitoring camera, 1 and second monitoring camera 2 can be monitoring gunlock.
It should be noted that specific implementation on, first monitoring camera 1 can be with 15 meters of pipe network entrance located underground at
Furred ceiling supports 360 degree of infrared real time monitoring.Side wall at 18 meters of second monitoring camera, 2 pipe network entrance located underground,
Institute overlay area can be monitored in real time.
It should be noted that for the present invention, in multiple sensors of the default type, each sensor includes
Power supply module, central control module, environment acquisition module and wireless communication module.
For the present invention, the host node computer 10, including：Data memory module 21, data processing module 22 and nothing
Line data transmission module 23, wherein：
Data memory module 21, the underground for acquiring multiple sensors (i.e. as minor node) of the default type
The detection data in space, is stored in real time, to form database；
Data processing module 23 is connected with data memory module 21, is used for multiple sensors of the default type
The detection data of the underground space of (i.e. as minor node) acquisition, it is (such as pre- with preset, corresponding normal value range respectively
If temperature value range, preset humidity range) be compared, if be located at preset, corresponding normal value model
Within enclosing, then corresponding data qualifier is judged, otherwise, then judge corresponding defect of data, meanwhile, comparable situation is led in real time
Cross the computer that wireless data transfer module 25 is sent to ground base station so that the staff on ground is recognized that underground
Every environmental parameter situation in space, obtains the environmental information of the underground space, realizes the real time monitoring of underground pipe network.In addition, number
It is additionally operable to by 1 and second monitoring camera of the first monitoring camera, 2 acquired image, by wireless according to processing module 23
Data transmission module 25 is sent to the computer of ground base station.
For the present invention, in order to which more preferably ground-to-ground down space is monitored, Underground Space Environment monitoring provided by the invention
Network further includes：Crusing robot 7, the crusing robot 7 are arranged on the ground between heat distribution pipeline 3 and water supply line 6.
It should be noted that the crusing robot 7 is mainly used for carrying out the security information monitoring of underground utilities, collect ground
The security information of underground pipelines.The bottom of the crusing robot has wheel, can be equipped with infrared thermography, visible thereon
Light video camera head and laser navigation module (existing laser navigation module)；
Wherein, by infrared thermography, temperature change can be detected, so as to monitor heat distribution pipeline 3 in real time and supply
The leakage problem of the underground utilities such as waterpipe 6；
Visible image capturing head monitors in real time for the image to the underground space, for ensureing that pipeline performance has safely
Important role.
Laser navigation module, the route planning for ensureing crusing robot 7 and intelligent detecting.
It should be noted that the crusing robot 7 is used to move and carry out the agent structure of environmental monitoring, it is existing
The structure of crusing robot is not unfolded to describe herein herein similarly to the prior art.
For the present invention, in specific implementation, in view of having used crusing robot, change the outfit electricity for convenience of to crusing robot
Pond extends the operating time of crusing robot, includes mainly following change to significantly improve the monitoring effect to underground pipe network
Into：
The host node computer 10 is also disposed on the ground between heat distribution pipeline 3 and water supply line 6；
The top and middle part of the host node computer 10 are respectively provided with two layers of hollow structure；
The left and right sides inner wall of the hollow structure on 10 top of host node computer is fixedly installed third push rod respectively
30 and first push rod 20；
There are one horizontally movable, hollow electricity for the middle part setting of the hollow structure on 10 top of host node computer
Pond storehouse 26；
Inside top the right and left of the hollow structure on 10 top of host node computer is respectively arranged with the second charging
Stake 31 and the first charging pile 19,；
The bottom inside left side of the hollow structure on 10 top of host node computer is provided with the second coil 28, the electricity
The inside bottom surface in pond storehouse 26 is provided with first coil 24；
The left side wall of the battery compartment 26 is in contact by a connecting rod 27 with the right side wall of a reserve battery 29；
The left side of the reserve battery 29 has the third push rod 30；
It is provided with the second push rod 22 in the middle part of the hollow structure at 10 middle part of the host node computer；
26 bottom of the battery compartment is provided with the hole to match with second push rod 22；
There are one the clamping plate 32 that can be moved left and right, (clamping plate 32 is that can control for the bottom setting of the crusing robot 7
The clamping plate 32 sliped off has and is connected with the driving motor that induction of signal switchs, and can be carried out under the driving of driving motor
It laterally moves left and right, can also specifically be mounted on sliding rail)；
The top of the clamping plate 32 for placing main battery 18, the main battery 18 in the crusing robot 7
There are one springs 33 for setting between side；
It (can specifically be carried out by staff long-range when crusing robot 7 is located at 10 top of host node computer
Wireless control its move back to the top of host node computer), the top of the host node computer 10 is opposite with the clamping plate 32
For the position tool answered there are one opening, which can pass through main battery 18.
It should be noted that the crusing robot 7 has the wheel that can be shunk upwards, wheel can be collapsible into car body
In；Concrete structure, can be it is existing any one the structure for shrinking wheel may be implemented.
It should be noted that when reserve battery 29 is located on the second coil 28, second coil 28 is to reserve battery
29 carry out wireless charging, and when main battery 18 is fallen in the first coil 24, first coil 24 carries out wireless charging to it
Electricity.
In specific implementation, second coil 28 is conductive with 29 phase of the reserve battery by an AC to DC converter circuit
Connection, the first coil 24 are conductively connected by an AC to DC converter circuit and 18 phase of the main battery.It needs to illustrate
, the AC to DC converter circuit is preferably a rectifier (being a rectification circuit), for example, a bridge rectifier
Device.
It should be noted that for the present invention, the wireless charging technology used is a kind of utilization electromagnetic transmission electric energy
Technology, it is transmitted electricity based on electromagnetic induction principle.Here, similarly to the prior art, not being unfolded to describe herein.
It should be noted that first push rod 20, the second push rod 22 and third push rod 30 are electric pushrod, electric pushrod
Also known as linear actuator, a kind of novel linear executing agency being mainly made of mechanisms such as motor push rod and control devices lead to
The positive and negative of control energization is crossed to stretch out and shrink to control electric pushrod.
It should be noted that first charging pile, 19 and second charging pile 31 is existing wireless charging stake.
In specific implementation, the left and right sides of the host node computer 10 also has on the wheel for facilitating crusing robot 7
Lower movement, inclined ramp.
In specific implementation, crusing robot 7 can be when the electricity of main battery 18 be less than preset value, by external ground
Staff carry out remote wireless control, control crusing robot returns to the top of host node computer 10.
In specific implementation, the data memory module 21, data processing module 23 and wireless data transfer module 25 are located at
The lower part of host node computer 10.
It should be noted that for the present invention, crusing robot 7 mainly acquires pipeline security information in the underground space, when
When its battery capacity deficiency (the 20% of such as less than preset normal charge value, i.e., when will exhaust), main section can be automatically returned to
Battery is carried out at point computer 10 to change the outfit.Specific operation process is：By sending trigger signal, 7 back of triggering crusing robot
The driving motor that is connected of clamping plate 30 so that clamping plate 30 slips off, main battery 18 is promoted battery compartment by spring 31 at this time
In 25, triggering third push rod 28.Third push rod 28 pushes reserve battery 27 to move, and battery compartment 25 is pushed into the by connecting rod 26
Wireless charging (is specially at one charging pile 19：By to the wireless charging that first charging pile 19 has on host node computer 10
The alternating current of primary coil predeterminated frequency in transmitting terminal, by electromagnetic induction, the wireless charging being arranged on main battery 18
Certain electric current is generated in the secondary coil of receiving terminal, to by energy from the nothing of the first charging pile 19 on host node computer 10
Micro USB electricity transmitting terminal is transferred to the wireless charging receiving terminal in main battery 18), (it is in early period by second for reserve battery 27 at this time
Coil 28 and the second charging pile 31 coordinate fully charged) it reaches immediately below the bottom of crusing robot 7, trigger the second push rod 22.Electricity
25 bottom of pond storehouse has the hole mating with the second push rod 22, the second push rod 22 to be pushed into patrol by reserve battery 27 with 30 bottom of clamping plate
It examines in robot 7, clamping plate 30 is closed, and is left to trigger control crusing robot 7, is completed battery and change the outfit.Similarly, next time changes the outfit
Process can be completed by the first push rod 20.
In turn, in 29 underfill of reserve battery, the wireless charging process of crusing robot 7 is carried out, first coil 24 is used
In carrying out wireless charging to main battery 18, after being full of, crusing robot leaves, and completes charging.This process changes the outfit battery
It is combined with wireless charging, compensates for wireless charging time longer problem, disclosure satisfy that the prison of crusing robot all weather operations
Control demand.
That is, for the present invention, by spring 33, clamping plate 32, battery compartment 26, reserve battery 29, the first push rod 20,
Linkage between second push rod 22 and third push rod 30 realizes that battery changes the outfit.The second line is used in 29 underfill electricity of reserve battery
Circle 28 carry out wireless chargings, by first coil 24 to main battery 18 carry out wireless charging, after being full of crusing robot from
Open host node 10.
In specific implementation, first charging pile, 19 and second charging pile 31 can be existing charging module, such as can
Think the wireless charging module of Emerson Network Power CO., Ltd's production.
It should be noted that in the present invention, in specific implementation, the wireless charging transmitting terminal may include direct current input
Power supply, inverter circuit and wireless charging transmitting coil；The wireless charging receiving terminal may include wireless charging receiving coil, whole
Current circuit and regulator circuit；The wireless charging transmitting terminal and wireless charging receiving terminal are based on electromagnetic induction principle, to specific
Battery charges.It should be noted that for the present invention, the wireless charging technology that uses is a kind of to utilize electromagnetic transmission
The technology of electric energy, it is transmitted electricity based on electromagnetic induction principle.Here, similarly to the prior art, not being unfolded to describe.
It should also be noted that, in order to return at host node computer 10, crusing robot 7 mainly by obtaining master in advance
The location information (such as GPS positioning information) of the inductor of cradle on node computer 10, so as to from original position to
Cradle direction is moved, until the electrical power contacts shrapnel to connecting cradle, to plan more rational auto-returned charging
Path, efficiently completion are docked with electrical power contacts shrapnel.
Similarly, the battery that changes the outfit next time is switched by the rotation of multiple electromagnet to complete.Therefore, simple, convenient and rapid, energy of the invention
It enough realizes that the fast battery of crusing robot 7 changes the outfit, realizes the round-the-clock Non-intermittent work of crusing robot, ensure underground pipe network
Safe operation.
As shown in figure 4, there are several independent sensor minor nodes and a host node computers in the underground space.It is more
A sensor (being used as minor node) does not have GPS (global positioning system) module, and GPS moulds are equipped on host node computer
Block.The data of acquisition are transmitted to host node computer by minor node by way of zigbee ad-hoc networks 34, pass through GPS satellite
35 signal transfer effect, is ultimately sent to ground receiver base station 36, is used for researcher, realize the acquisitions of data, transmission,
Displaying and utilization, ensure the safe operation of underground pipe gallery life cycle.
It should be noted that for the present invention, the data of all minor nodes can be transmitted to master by zigbee network
In node computer, data are collected, handle, compare and are retrieved by each data module of host node computer, most
The environmental information that will be obtained afterwards can be transferred out by zigbee wireless communication modules.Acquired by the data of whole system,
Storage, processing and transmission, realize the comprehensive utilization of underground pipe gallery information, are carried for the overall planning and integrated dispatch of the underground space
For strong data supporting.Meanwhile for the present invention, can wireless charging be carried out to battery automatically and changed the outfit, so as to
Enough realize the round-the-clock continuous work of crusing robot.
Is grasped by the trend of the times, underground pipeline information accurately and completely, passes through ground by wisdom pipeline network construction by the present invention
The means of underground pipelines generaI investigation, obtain the spatial data and attribute data of newest underground utilities, and establish City Underground Pipeline
Library and information management scheme, by using pipeline information Managed Solution to Pipe Line Finish Construction Survey data thereafter into Mobile state more
Newly.Network security accident early warning mechanism is established, safety management prediction, early warning, anticipation is realized, avoids due to underground pipe network information not
Accident caused by circulation improves the real-time, transparence, high efficiency of security control.
In conclusion compared with prior art, a kind of ground that wireless charging and automatic battery provided by the invention change the outfit
Down space Environmental Monitoring Network, can the environment of safe and reliable ground-to-ground down tube net carry out comprehensive monitoring, can reduce
The security risk of underground pipe network ensures the safe handling of underground pipe network, is conducive to widely apply, and has great production practices
Meaning.
In addition, the Underground Space Environment monitoring network that wireless charging provided by the invention and automatic battery change the outfit, uses
Crusing robot, and the battery that can change the outfit convenient for crusing robot, extend the operating time of crusing robot, to aobvious
Write the monitoring effect improved to underground pipe network.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. the Underground Space Environment monitoring network that a kind of wireless charging and automatic battery change the outfit, which is characterized in that including host node
Computer (10) is connect between the host node computer (10) and multiple sensors of default type for wireless signal；
Multiple sensors of the default type are mounted on the heat distribution pipeline (3) and water supply line being laid in the underground space (100)
(6) in and on the side wall of the underground space；
Multiple sensors of the default type are used to acquire the detection data of the corresponding underground space.
2. Underground Space Environment monitoring network as described in claim 1, which is characterized in that multiple sensings of the default type
Device includes：First temperature sensor (5), second flow sensor (9) and second pressure sensor (12)；
First temperature sensor (5), second flow sensor (9) and second pressure sensor (12) are mounted on the water supply
In pipeline (6), temperature, flow and hydraulic pressure for detecting water in the water supply line (6) are then sent to host node calculating
Machine (10).
3. Underground Space Environment monitoring network as claimed in claim 2, which is characterized in that multiple sensings of the default type
Device further includes：First pressure sensor (4), first flow sensor (8) and second temperature sensor (11)；
The first pressure sensor (4), first flow sensor (8) and second temperature sensor (11) are mounted on the heating power
In pipeline (3), pressure, flow and temperature for detecting institute's transmission medium in the heat distribution pipeline (3) are then sent to main section
Point computer (10).
4. Underground Space Environment monitoring network as claimed in claim 3, which is characterized in that multiple sensings of the default type
Device further includes：Oxygen sensor (13), carbon monoxide transducer (14), hydrogen sulfide sensor (15), Temperature Humidity Sensor (16)
With NOx sensor (17)；
The oxygen sensor (13), carbon monoxide transducer (14), hydrogen sulfide sensor (15), Temperature Humidity Sensor (16) and
NOx sensor (17) is separately mounted on the side wall of the underground space, dense for collecting the oxygen gas in the underground space
Degree, carbon monoxide gas concentration, sulfureted hydrogen gas concentration, temperature, humidity and nitrous oxides concentration, are then sent to host node
Computer (10).
5. Underground Space Environment monitoring network as claimed in claim 4, which is characterized in that further include：First monitoring camera
(1) and the second monitoring camera (2)；
First monitoring camera is located at the upper right side of the second monitoring camera (2)；
First monitoring camera (1) and the second monitoring camera (2) are mounted on the side wall of the underground space, are respectively used to adopt
The image for collecting institute overlay area, is then sent to host node computer (10).
6. Underground Space Environment monitoring network as claimed in claim 5, which is characterized in that the host node computer (10),
Including：Data memory module (21), data processing module (23) and wireless data transfer module (25), wherein：
Data memory module (21), the detection data of the underground space for acquiring multiple sensors of the default type,
It is stored in real time；
Data processing module (23) is connected with data memory module (21), is used for multiple sensors of the default type
The detection data of the underground space of acquisition is compared with preset, corresponding normal value range respectively, if positioned at default
, within corresponding normal value range, then judge corresponding data qualifier, otherwise, then judge corresponding defect of data, together
When, comparable situation is sent to the computer of ground base station by wireless data transfer module (25) in real time；
What data processing module (23) was additionally operable to be acquired first monitoring camera (1) and the second monitoring camera (2)
Image is sent to the computer of ground base station by wireless data transfer module (25).
7. such as Underground Space Environment monitoring network according to any one of claims 1 to 6, which is characterized in that further include：Inspection
Robot (7), crusing robot (7) setting is on the ground between heat distribution pipeline (3) and water supply line (6).
8. Underground Space Environment monitoring network as claimed in claim 7, which is characterized in that the host node computer (10)
It is arranged on the ground between heat distribution pipeline (3) and water supply line (6)；
The top and middle part of the host node computer (10) are respectively provided with two layers of hollow structure；
The left and right sides inner wall of the hollow structure on host node computer (10) top is fixedly installed third push rod respectively
(30) and the first push rod (20)；
There are one horizontally movable, hollow batteries for the middle part setting of the hollow structure on host node computer (10) top
Storehouse (26；
Inside top the right and left of the hollow structure on host node computer (10) top is respectively arranged with the second charging pile
(31) and the first charging pile (19),；
The bottom inside left side of the hollow structure on 10 top of host node computer is provided with the second coil 28, the battery compartment
26 inside bottom surface is provided with first coil 24；
The left side wall of the battery compartment (26) is in contact by a connecting rod (27) with the right side wall of a reserve battery (29)；
The left side of the reserve battery (29) has the third push rod (30)；
It is provided with the second push rod (22) in the middle part of hollow structure in the middle part of the host node computer (10)；
Battery compartment (26) bottom is provided with the hole to match with second push rod (22)；
There are one the clamping plates (32) that can be moved left and right for the bottom setting of the crusing robot (7)；
The top of the clamping plate (32) is used to place main battery (18),；
When crusing robot (7) is located at the top of the host node computer (10), at the top of the host node computer (10) with
There are one openings for the corresponding position tool of clamping plate (32).
9. Underground Space Environment monitoring network as claimed in claim 8, which is characterized in that the main battery (18) with it is described
There are one springs (33) for setting between on the inside of crusing robot (7).
10. Underground Space Environment monitoring network as claimed in claim 8, which is characterized in that the host node computer (10)
The left and right sides also have inclined ramp.
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| CN201810567675.2A CN108646746A (en) | 2018-06-05 | 2018-06-05 | The Underground Space Environment monitoring network that a kind of wireless charging and automatic battery change the outfit |
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| CN201810567675.2A CN108646746A (en) | 2018-06-05 | 2018-06-05 | The Underground Space Environment monitoring network that a kind of wireless charging and automatic battery change the outfit |
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