CN109079798A - A kind of intelligent O&M extension rail crusing robot and its method for inspecting for underground pipe gallery - Google Patents
A kind of intelligent O&M extension rail crusing robot and its method for inspecting for underground pipe gallery Download PDFInfo
- Publication number
- CN109079798A CN109079798A CN201811220488.3A CN201811220488A CN109079798A CN 109079798 A CN109079798 A CN 109079798A CN 201811220488 A CN201811220488 A CN 201811220488A CN 109079798 A CN109079798 A CN 109079798A
- Authority
- CN
- China
- Prior art keywords
- intelligent
- robot
- guide rail
- control module
- rail
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
- F16M11/425—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels along guiding means
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of intelligent O&Ms for underground pipe gallery to hang rail crusing robot and its method for inspecting, including robot body, guide rail, robot body hangs on guide rail and moves along the rail, robot body includes mobile mechanism, ultrasonic radar, warning device, control platform, detection platform, intelligent console, guide rail posts several bar codes towards robot body side, mobile mechanism is equipped with bar code reader, and bar code reader is opposite with barcode position；Ultrasonic radar is arranged in control platform front end, warning device is mounted on four surrounding of control platform, Temperature Humidity Sensor, gas detecting instrument are provided in detection platform, intelligent console includes that main body, the infrared photography module for being set to main body two sides and visible image capturing module, structure are simple, ambient adaptability is good, can be out of service when there is barrier on guide rail, and registration of walking, it is good to the detection effect of environment, be conducive to better detection device.
Description
Technical field
Rail is hung the present invention relates to a kind of crusing robot field, in particular to a kind of intelligent O&M for underground pipe gallery to patrol
Examine robot and its method for inspecting.
Background technique
For a long time, for the inspection of underground pipe gallery, what is used is all manual type.But due to special in underground pipe gallery
Environment, staff can not enter and leave piping lane daily and go to check equipment safety, and not only working efficiency is low, but also not can guarantee personnel
Safety, currently, in order to overcome the above problems, realizing that inspection works using crusing robot.
Since in underground pipe gallery or in some special places, road conditions are more rugged, conventional land walking robot ambulation
Positioning will appear relatively large deviation, it is clear that be not suitable for detection of walking in this place, thus it is real to need rail polling robot to come
Existing inspection.But there may be barrier or staff on track etc., if robot is when encountering in this case
It continues to move to, it may occur that fierceness collision leads to situations such as robot damage, track are impaired, equipment is impaired, injury to personnel, safety
Performance is unable to get guarantee, causes inspection work that can not be normally carried out, and mostly walking positions inspection inaccurate, to environment
It is bad to survey effect.
Summary of the invention
To solve above-mentioned existing problem, the present invention provides a kind of intelligent O&M extension rail crusing robot for underground pipe gallery
And its method for inspecting, robot architecture is simple, and ambient adaptability is good, can be out of service when there is barrier on guide rail, and
Walking registration, it is good to the detection effect of environment, be conducive to better detection device.
The technical solution adopted by the present invention is as follows: a kind of inspection side of intelligent O&M Gua Gui robot for underground pipe gallery
Method, comprising the following steps:
Inspection machine human body correspondence is installed on the guide rail with bar code by step 1, in advance that all measurement point institutes are right
In the bar code information input intrinsic control module of crusing robot answered；
Step 2, the bar code reader in moving process on robot body reads the location information on bar code, and will read
Location information be compared with the measurement point position being previously entered, to control motor forward or reverse, left and right adjustment machine
Human body is allowed to reach measurement point；
Step 3 is monitored using the visible light video monitoring and thermal imaging of intelligent console, realizes robot to cabin each in piping lane
Video routing inspection and infrared measurement of temperature, temperature detection is carried out to the indoor equipment surface in each cabin, while in background monitoring interface display,
Discriminatory analysis is carried out according to preset threshold value and is provided alert；
Step 4, using the Temperature Humidity Sensor of detection platform, gas detecting instrument in gallery gaseous environment and temperature and humidity into
Row analysis, and obtain a result, while result is fed back into master control room staff.
Further, for the robot body in step 2 in moving process, control module can be according on robot body
It is out of service to control robot body when finding barrier, and controls warning device and alarms for the signal of ultrasonic radar,
And alarm signal is fed back into master control room staff；It, can be with people when analyzing in step 4 gaseous environment and temperature and humidity
Work sets an alarm limits, is more than alarm limits, and warning device is alarmed, and alarm signal is fed back to master control room work
Personnel are conducive to preferably carry out detection environment.
The intelligent O&M that the present invention also provides a kind of for underground pipe gallery hangs rail crusing robot, including robot body,
Guide rail, robot body hang on guide rail and move along the rail, the robot body include mobile mechanism, ultrasonic radar,
Warning device, control platform, detection platform, intelligent console, the mobile mechanism are semi-surrounding structure, are mounted on guide rail, lead
Rail posts several bar codes towards robot body side, and mobile mechanism is equipped with bar code reader, bar code reader and bar code
Position is opposite；The control platform is mounted below mobile mechanism, and control module and driving robot are equipped in control platform
The driving motor one that ontology is moved along guide rail, the control module control driving according to the bar code information that bar code reader is read
Motor one works；The ultrasonic radar setting connects the control module in control platform front end, detects the robot sheet
Barrier in the certain distance of body front and back, and obstacle signal is transmitted to the control module；The warning device includes difference
Color display lamp, buzzer, the display lamp, buzzer are mounted on four surrounding of control platform and connect with control module, the inspection
It surveys platform setting and is provided with Temperature Humidity Sensor, gas detecting instrument on control platform lower part, the detection platform, it is described warm and humid
It spends sensor, gas detecting instrument and control module to connect, the intelligent console setting is in detection platform lower part and detection platform
Driving motor two connect, the intelligent console includes that main body, the infrared photography module for being set to main body two sides and visible light are taken the photograph
As module, the infrared photography module and visible image capturing module are connect with control module, and the track side surfaces are correspondingly arranged on
Several charging stations, the charging station include a distribution box and the cunning that the charging interface of charging circuit is connected and stretched out out of distribution box
Line is touched, is provided with electrical contact corresponding with trolley in the mobile mechanism, the electrical contact is connect with control module, the control
Molding block is connected with the battery being arranged in control platform.
Further, the inside top surface of the mobile mechanism and bottom surface are equipped with auxiliary wheel, and side is equipped with idler wheel, and auxiliary wheel supports
In the upper and lower surfaces of guide rail, idler wheel is against guide rail side, the central axis of the idler wheel and the projecting shaft of driving motor one
Connection, is conducive to preferably move robot body along guide rail.
Further, the control platform, detection platform, intelligent console front and rear sides be provided with Anti-bumping protection touching side,
Be conducive to preferably protect robot body.
Further, the Temperature Humidity Sensor model selects HB-S45-01 temperature and humidity acquisition module, and gas detecting instrument is adopted
With TCB4 series point-type gas detector, is conducive to the preferably temperature and humidity of detection environment and the correspondence gas in air is dense
Degree.
Further, the ultrasonic radar model selects MS-T/R16401L ultrasonic radar, is conducive to preferably advise
Obstacle avoidance object.
Further, at least there is charging circuit, the charging circuit includes: detection circuit and charging in the distribution box
Circuit；Detection trolley is connected and extended in the detection circuit, hangs filling for rail crusing robot in detection trolley contact
An activation signal is generated when electrode；The charge circuit is equipped with relay, and the relay is controlled by the activation signal,
So that the charge circuit conducting；Charging trolley is also connected with and extended on the charge circuit, to lead in charge circuit
To the charging of rail crusing robot is hung when logical, the distribution box further includes input power and voltage conversion circuit；The input power
220V alternating current is provided；The 220V alternating current is converted to the input electricity of charge circuit by the voltage conversion circuit, is conducive to
Preferably electricity is provided for robot body.
Further, several fire resistant doorsets are provided on the guide rail；The fire resistant doorsets are equipped with one and pass through groove, for hanging
Rail crusing robot and its track pass through；The fire resistant doorsets are electronic fire resistant doorsets, and fire resistant doorsets are connect with control module, to carry out
It opens or closes, be conducive to preferably robot be facilitated to pass through while better fire prevention.
Further, the infrared photography module is equipped with infrared camera and sound pick-up, loudspeaker, and the visible light is taken the photograph
As module is equipped with Visible Light Camera, light compensating lamp；The infrared camera and sound pick-up, loudspeaker, Visible Light Camera, light compensating lamp
It is connect with control module, device is connect the control module with host computer by wireless communication, utilizes infrared camera or visible
Light camera shoots instrument, and picture is transmitted to progress reading data analysis in computer, and recording apparatus numerical value, simultaneously electric
Wave sensor and ultrasonic sensor can be used for measuring device insulation ageing problem, and using sound pick-up come making an uproar in recording equipment
Sound can also realize real-time intercommunication so as to the analysis such as subsequent progress failure, aging by sound amplifier.
What the present invention obtained using the above structure has the beneficial effect that: the robot architecture of this programme is simple, and environment is applicable in
Property it is good, can be out of service when there is barrier on guide rail, and walk registration, it is good to the detection effect of environment, favorably
In better detection device.
Detailed description of the invention
Fig. 1 is overall structure diagram one of the invention；
Fig. 2 is structural schematic diagram two of the invention；
Fig. 3 is control system schematic diagram of the invention；
Fig. 4 is power supply system schematic diagram of the invention；
Fig. 5 is each modular structure block diagram representation of charging station of the invention；
Fig. 6 is Fireproof door structure schematic diagram of the invention.
Specific embodiment
In conjunction with attached drawing, the present invention is described in further details.
This example provides a kind of intelligent O&M Gua Gui robot method for inspecting for underground pipe gallery, comprising the following steps:
Inspection machine human body correspondence is installed on the guide rail with bar code by step 1, in advance that all measurement point institutes are right
In the bar code information input intrinsic control module of crusing robot answered；
Step 2, the bar code reader in moving process on robot body reads the location information on bar code, and will read
Location information be compared with the measurement point position being previously entered, to control motor forward or reverse, left and right adjustment machine
Human body is allowed to reach measurement point；
Step 3 is monitored using the visible light video monitoring and thermal imaging of intelligent console, realizes robot to cabin each in piping lane
Video routing inspection and infrared measurement of temperature, temperature detection is carried out to the indoor equipment surface in each cabin, while in background monitoring interface display,
Discriminatory analysis is carried out according to preset threshold value and is provided alert；
Step 4, using the Temperature Humidity Sensor of detection platform, gas detecting instrument in gallery gaseous environment and temperature and humidity into
Row analysis, and obtain a result, while result is fed back into master control room staff.
Further, for the robot body in step 2 in moving process, control module can be according on robot body
It is out of service to control robot body when finding barrier, and controls warning device and alarms for the signal of ultrasonic radar,
And alarm signal is fed back into master control room staff；It, can be with people when analyzing in step 4 gaseous environment and temperature and humidity
Work sets an alarm limits, is more than alarm limits, and warning device is alarmed, and alarm signal is fed back to master control room work
Personnel are conducive to preferably carry out detection environment.
The ambient adaptability of this method is good, can be out of service when there is barrier on guide rail, and positioning accurate of walking
Really, good to the detection effect of environment, be conducive to better detection device.
As shown in figures 1 to 6, rail is hung the present embodiment provides a kind of intelligent O&M for underground pipe gallery based on the above method to patrol
Robot is examined, including robot body 1, guide rail 2, robot body hang on guide rail and move along the rail, the robot sheet
Body includes mobile mechanism 3, ultrasonic radar 4, warning device 5, control platform 6, detection platform 7, intelligent console 8, the movement
Mechanism is semi-surrounding structure, is mounted on guide rail, and guide rail posts several bar code 2-1, moving machine towards robot body side
Structure 3 is equipped with bar code reader 3-1, and bar code reader is opposite with barcode position；The control platform 6 is mounted on mobile mechanism 3
Lower section, interior one 6-2 of driving motor moved equipped with control module 6-1 and driving robot body along guide rail of control platform 6, institute
It states control module 6-1 and controls one 6-2 of driving motor work according to the bar code information that bar code reader 3-1 is read；The ultrasound
The setting of wave radar 4 connects the control module 6-1 in 6 front end of control platform, detects one spacing of robot body front and back
From interior barrier, and obstacle signal is transmitted to the control module；The warning device 5 include different colours display lamp 5-1,
Buzzer 5-2, the display lamp 5-1, buzzer 5-2 are mounted on four surrounding of control platform and connect with control module 6-1, the inspection
It surveys the setting of platform 7 and is provided with Temperature Humidity Sensor 7-1, gas detecting instrument 7- on 6 lower part of control platform, the detection platform 7
2, the Temperature Humidity Sensor 7-1, gas detecting instrument 7-2 are connect with control module 6-1, and the setting of intelligent console 8 is detecting
Platform lower is connect with two 7-3 of driving motor in detection platform, and the intelligent console includes main body 8-1, is set to main body two
The infrared photography module 8-2 and visible image capturing module 8-3 of side, the infrared photography module and visible image capturing module and control
Module connection, 2 side of track are correspondingly arranged on several charging stations 9, and the charging station includes a distribution box and from distribution box
The trolley 9-1 that the charging interface of interior charging circuit is connected and stretched out is provided in the mobile mechanism corresponding with trolley
Electrical contact 1-1, the electrical contact are connect with control module, and the control module is connected with the battery being arranged in control platform.
Wherein, the inside top surface of the mobile mechanism 3 and bottom surface are equipped with auxiliary wheel 3-2, and side is equipped with idler wheel 3-3, auxiliary
Wheel is against the upper and lower surfaces of guide rail, and idler wheel is against guide rail side, and the central axis of the idler wheel is with one 6-2's of driving motor
Axis connection is stretched out, is conducive to preferably move robot body along guide rail.
Further, the control platform 6, detection platform 7, intelligent console 8 front and rear sides be provided with Anti-bumping protection touching
Side 11 is conducive to preferably protect robot body.
Further, the Temperature Humidity Sensor 7-1 model selects HB-S45-01 temperature and humidity acquisition module, gas detection
Instrument 7-2 uses TCB4 series point-type gas detector, is conducive to the temperature and humidity for preferably detecting environment and the correspondence in air
Gas concentration.
Further, 4 model of ultrasonic radar selects MS-T/R16401L ultrasonic radar, is conducive to preferably advise
Obstacle avoidance object.
Further, at least there is charging circuit 9-2, the charging circuit includes: detection circuit 9-3 in the distribution box
With charge circuit 9-4；Detection trolley 9-31 is connected and extended in the detection circuit, is hung rail in detection trolley contact and is patrolled
An activation signal is generated when examining the charging electrode of robot；The charge circuit is equipped with relay, and the relay is by described
Activation signal control, so that the charge circuit is connected；It is also connected on the charge circuit and extends charging trolley 9-
41, with when charge circuit is connected, to the charging of rail crusing robot is hung, the distribution box further includes that input power 9-5 and voltage turn
Change circuit 9-6；The input power provides 220V alternating current；The voltage conversion circuit, which is converted to the 220V alternating current, to be filled
The input electricity of electrical circuit is conducive to preferably provide electricity for robot body.
Further, several fire resistant doorsets 10 are provided on the guide rail；The fire resistant doorsets are equipped with one and pass through groove, for
It hangs rail crusing robot and its track passes through；The fire resistant doorsets are electronic fire resistant doorsets, and fire resistant doorsets are connect with control module, thus into
Row is opened or is closed, and fire resistant doorsets 10 include doorframe 101, door-plate 102, driving motor box 104, drive rod 105, walk spool 106,
In, door-plate 102 is openable on doorframe 101 to be closed；102 top of door-plate, which has, passes through groove 103, and guide rail 2 is from the door-plate closed
Passing through in groove 103 on 102 passes through；The setting of driving motor box 104 receives external signal in 102 lower part of door-plate, believes in outside
Number control under, the work of motor in driving motor box 104 pushes drive rod 105, so that door-plate 102 be driven to open or close；
Be provided on the side of doorframe 101 it is outwardly extending walk spool 106, the power supply of driving motor box 104 can be extended to
On device or control device, walked from signal wire, power supply line, ground wire of external access driving motor box 104 etc. from walking spool 106
Line avoids cabling disorder from interfering to hang the movement of rail crusing robot 1, prevents electric disaster from occurring, walking spool 106 can be hindered by high temperature resistant
Combustible material is made.Wireless communication device can be set in driving motor box 44, realized and hung the wireless of rail crusing robot 1
Communication, to be conducive to while better fire prevention by the movement that extension rail crusing robot 1 controls door-plate 102, better side
Just robot passes through.
Further, the infrared photography module 8-2 is equipped with infrared camera 8-21 and sound pick-up 8-22, loudspeaker 8-
23, the visible image capturing module 8-3 are equipped with Visible Light Camera 8-31, light compensating lamp 8-32；The infrared camera and pickup
Device, loudspeaker, Visible Light Camera, light compensating lamp and control module connect, the control module by wireless communication device 12 with it is upper
Position machine connection shoots instrument using infrared camera or Visible Light Camera, and picture is transmitted to progress data reading in computer
Analysis, and recording apparatus numerical value are taken, simultaneously radio wave sensor and ultrasonic sensor can be used for measuring device insulation ag(e)ing and ask
Topic, and using sound pick-up come the noise in recording equipment so as to subsequent progresss failure, aging etc. analyze, sound amplifier can also be passed through
Realize real-time intercommunication.
The present invention and its embodiments have been described above, this description is no restricted, shown in the drawings
Only one of embodiments of the present invention, actual structure is not limited to this.All in all if the ordinary skill of this field
Personnel are enlightened by it, without departing from the spirit of the invention, are not inventively designed and the technical solution phase
As frame mode and embodiment, be within the scope of protection of the invention.
Claims (10)
1. a kind of intelligent O&M Gua Gui robot method for inspecting for underground pipe gallery, which comprises the following steps:
Inspection machine human body correspondence is installed on the guide rail with bar code by step 1, in advance that all measurement point institutes are right
In the bar code information input intrinsic control module of crusing robot answered；
Step 2, the bar code reader in moving process on robot body reads the location information on bar code, and will read
Location information be compared with the measurement point position being previously entered, to control motor forward or reverse, left and right adjustment machine
Human body is allowed to reach measurement point；
Step 3 is monitored using the visible light video monitoring and thermal imaging of intelligent console, realizes robot to cabin each in piping lane
Video routing inspection and infrared measurement of temperature, temperature detection is carried out to the indoor equipment surface in each cabin, while in background monitoring interface display,
Discriminatory analysis is carried out according to preset threshold value and is provided alert；
Step 4, using the Temperature Humidity Sensor of detection platform, gas detecting instrument in gallery gaseous environment and temperature and humidity into
Row analysis, and obtain a result, while result is fed back into master control room staff.
2. a kind of intelligent O&M Gua Gui robot method for inspecting for underground pipe gallery according to claim 1, feature
It is, for the robot body in step 2 in moving process, control module can be according to ultrasonic radar on robot body
Signal, it is out of service to control robot body when finding barrier, and controls warning device and alarms, and by alarm signal
Feed back to master control room staff；When analyzing in step 4 gaseous environment and temperature and humidity, a report can be manually set
Alert limit value, is more than alarm limits, warning device is alarmed, and alarm signal is fed back to master control room staff.
3. a kind of intelligent O&M for underground pipe gallery hangs rail crusing robot, including robot body, guide rail, robot body
It hangs on guide rail and moves along the rail, it is characterised in that: the robot body includes mobile mechanism, ultrasonic radar, alarm
Device, control platform, detection platform, intelligent console, the mobile mechanism are semi-surrounding structure, are mounted on guide rail, guide rail court
Several bar codes are posted to robot body side, mobile mechanism is equipped with bar code reader, bar code reader and barcode position
Relatively；The control platform is mounted below mobile mechanism, and control module and driving robot body are equipped in control platform
The driving motor one moved along guide rail, the control module control driving motor according to the bar code information that bar code reader is read
One work；The ultrasonic radar setting connects the control module in control platform front end, before detecting the robot body
Barrier in the certain distance of rear, and obstacle signal is transmitted to the control module；The warning device includes different colours
Display lamp, buzzer, the display lamp, buzzer are mounted on four surrounding of control platform and connect with control module, and the detection is flat
Platform setting is provided with Temperature Humidity Sensor, gas detecting instrument on control platform lower part, the detection platform, and the temperature and humidity passes
Sensor, gas detecting instrument and control module connect, and the drive in detection platform lower part and detection platform is arranged in the intelligent console
Dynamic motor two connects, and the intelligent console includes main body, the infrared photography module and visible image capturing mould for being set to main body two sides
Block, the infrared photography module and visible image capturing module are connect with control module, and the track side surfaces are correspondingly arranged on several
Charging station, the charging station include a distribution box and the wiping that the charging interface of charging circuit is connected and stretched out out of distribution box
Line is provided with electrical contact corresponding with trolley in the mobile mechanism, and the electrical contact is connect with control module, the control
Module is connected with the battery being arranged in control platform.
4. a kind of intelligent O&M for underground pipe gallery according to claim 3 hangs rail crusing robot, it is characterised in that:
The inside top surface of the mobile mechanism and bottom surface are equipped with auxiliary wheel, and side is equipped with idler wheel, auxiliary wheel be against guide rail upper surface and
Lower surface, idler wheel are against guide rail side, the central axis of the idler wheel and the stretching axis connection of driving motor one.
5. a kind of intelligent O&M for underground pipe gallery according to claim 3 hangs rail crusing robot, it is characterised in that:
The control platform, detection platform, intelligent console front and rear sides be provided with Anti-bumping protection touching side.
6. a kind of intelligent O&M for underground pipe gallery according to claim 3 hangs rail crusing robot, it is characterised in that:
The Temperature Humidity Sensor model selects HB-S45-01 temperature and humidity acquisition module, and gas detecting instrument uses TCB4 series point-type gas
Bulk detector.
7. a kind of intelligent O&M for underground pipe gallery according to claim 3 hangs rail crusing robot, it is characterised in that:
The ultrasonic radar model selects MS-T/R16401L ultrasonic radar.
8. a kind of intelligent O&M for underground pipe gallery according to claim 3 hangs rail crusing robot, it is characterised in that:
At least there is charging circuit, the charging circuit includes: detection circuit and charge circuit in the distribution box；The detection circuit
Upper connection simultaneously extends detection trolley, generates a contact when hanging the charging electrode of rail crusing robot in detection trolley contact
Signal；The charge circuit is equipped with relay, and the relay is controlled by the activation signal, so that the charge circuit is led
It is logical；Charging trolley is also connected with and extended on the charge circuit, with when charge circuit is connected to hang rail inspection machine
People's charging, the distribution box further includes input power and voltage conversion circuit；The input power provides 220V alternating current；It is described
The 220V alternating current is converted to the input electricity of charge circuit by voltage conversion circuit.
9. a kind of intelligent O&M for underground pipe gallery according to claim 3 hangs rail crusing robot, it is characterised in that:
Several fire resistant doorsets are provided on the guide rail；The fire resistant doorsets are equipped with and one pass through groove, for hang rail crusing robot and its
Track passes through；The fire resistant doorsets are electronic fire resistant doorsets, and fire resistant doorsets are connect with control module, to be opened or be closed.
10. a kind of intelligent O&M for underground pipe gallery according to claim 3 hangs rail crusing robot, feature exists
In: the infrared photography module is equipped with infrared camera and sound pick-up, loudspeaker, and the visible image capturing module is equipped with can
Light-exposed camera, light compensating lamp；The infrared camera and sound pick-up, loudspeaker, Visible Light Camera, light compensating lamp and control module connect
It connects, device is connect the control module with host computer by wireless communication.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811220488.3A CN109079798A (en) | 2018-10-19 | 2018-10-19 | A kind of intelligent O&M extension rail crusing robot and its method for inspecting for underground pipe gallery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811220488.3A CN109079798A (en) | 2018-10-19 | 2018-10-19 | A kind of intelligent O&M extension rail crusing robot and its method for inspecting for underground pipe gallery |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109079798A true CN109079798A (en) | 2018-12-25 |
Family
ID=64843865
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811220488.3A Pending CN109079798A (en) | 2018-10-19 | 2018-10-19 | A kind of intelligent O&M extension rail crusing robot and its method for inspecting for underground pipe gallery |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109079798A (en) |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110001956A (en) * | 2019-04-28 | 2019-07-12 | 酷黑科技（北京）有限公司 | Piping lane inspection device and piping lane method for inspecting |
| CN110412981A (en) * | 2019-07-29 | 2019-11-05 | 西安峻威科技有限公司 | A kind of coal dust conveyer belt safety patrol inspection robot and its application method |
| CN110454025A (en) * | 2019-09-04 | 2019-11-15 | 浙江国自机器人技术有限公司 | A kind of mating fire door system of gallery Gua Gui robot |
| CN110886956A (en) * | 2019-11-29 | 2020-03-17 | 三峡大学 | Network machine room circulating mobile monitoring device |
| CN110977929A (en) * | 2019-12-23 | 2020-04-10 | 北京海益同展信息科技有限公司 | Movement device, positioning method, rail device and movement system |
| CN111075508A (en) * | 2019-12-30 | 2020-04-28 | 北京海益同展信息科技有限公司 | Robot applied to tunnel |
| CN111271127A (en) * | 2020-01-19 | 2020-06-12 | 北京海益同展信息科技有限公司 | Environment detection method, equipment and system |
| CN111927465A (en) * | 2020-06-30 | 2020-11-13 | 中铁工程服务有限公司 | Shield tunnel inspection robot track and mounting device |
| CN111927466A (en) * | 2020-06-30 | 2020-11-13 | 中铁工程服务有限公司 | Shield construction tunnel inspection robot |
| CN112030624A (en) * | 2020-09-03 | 2020-12-04 | 南京派光高速载运智慧感知研究院有限公司 | A track infrastructure for piping lane robot operation |
| CN112526995A (en) * | 2020-12-02 | 2021-03-19 | 中国计量大学 | Hanging rail type inspection robot system and detection method thereof |
| CN112631280A (en) * | 2020-12-08 | 2021-04-09 | 国网北京市电力公司 | Unmanned manned inspection trolley |
| CN112677166A (en) * | 2021-01-13 | 2021-04-20 | 深圳玖伍微联信息技术有限公司 | Robot is to stable positioner of sound source |
| CN113334409A (en) * | 2021-05-17 | 2021-09-03 | 云南电网有限责任公司曲靖供电局 | Semantic analysis equipment for machine room robot |
| CN113977605A (en) * | 2021-11-19 | 2022-01-28 | 中滦科技股份有限公司 | Mining intrinsic safety type intelligent inspection robot system device and inspection method thereof |
| CN114310932A (en) * | 2021-12-16 | 2022-04-12 | 杭州申昊科技股份有限公司 | Positioning device for rail-hanging type inspection robot |
| CN114378784A (en) * | 2021-12-16 | 2022-04-22 | 杭州申昊科技股份有限公司 | Split type track inspection robot |
| CN114474006A (en) * | 2022-01-24 | 2022-05-13 | 龙滩水电开发有限公司龙滩水力发电厂 | Intelligent inspection robot |
| CN114834837A (en) * | 2022-04-15 | 2022-08-02 | 浙江云联智能制造研究院有限公司 | Aerial rail mounted RGV and whole car system |
| TWI777178B (en) * | 2020-06-17 | 2022-09-11 | 臺灣塑膠工業股份有限公司 | Overhead self-touring inspection system for explosion-proof area |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205333126U (en) * | 2016-02-05 | 2016-06-22 | 国网安徽省电力公司检修公司 | Transformer substation valve room hangs rail and patrols and examines robot |
| CN206195414U (en) * | 2016-11-21 | 2017-05-24 | 深圳供电局有限公司 | Intelligence is hung rail and is patrolled and examined power supply system of robot |
| US20180087908A1 (en) * | 2016-07-08 | 2018-03-29 | Alion Energy, Inc. | Systems, methods, and vehicles for maintaining solar panels |
| CN107959254A (en) * | 2018-01-04 | 2018-04-24 | 杭州申昊科技股份有限公司 | One kind hangs rail intelligent inspection robot |
| CN108594833A (en) * | 2018-08-15 | 2018-09-28 | 科大智能电气技术有限公司 | A kind of novel light and handy track-type multi-function crusing robot system |
-
2018
- 2018-10-19 CN CN201811220488.3A patent/CN109079798A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205333126U (en) * | 2016-02-05 | 2016-06-22 | 国网安徽省电力公司检修公司 | Transformer substation valve room hangs rail and patrols and examines robot |
| US20180087908A1 (en) * | 2016-07-08 | 2018-03-29 | Alion Energy, Inc. | Systems, methods, and vehicles for maintaining solar panels |
| CN206195414U (en) * | 2016-11-21 | 2017-05-24 | 深圳供电局有限公司 | Intelligence is hung rail and is patrolled and examined power supply system of robot |
| CN107959254A (en) * | 2018-01-04 | 2018-04-24 | 杭州申昊科技股份有限公司 | One kind hangs rail intelligent inspection robot |
| CN108594833A (en) * | 2018-08-15 | 2018-09-28 | 科大智能电气技术有限公司 | A kind of novel light and handy track-type multi-function crusing robot system |
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110001956A (en) * | 2019-04-28 | 2019-07-12 | 酷黑科技（北京）有限公司 | Piping lane inspection device and piping lane method for inspecting |
| CN110001956B (en) * | 2019-04-28 | 2024-01-30 | 酷黑科技（北京）有限公司 | Pipe gallery inspection device and pipe gallery inspection method |
| CN110412981A (en) * | 2019-07-29 | 2019-11-05 | 西安峻威科技有限公司 | A kind of coal dust conveyer belt safety patrol inspection robot and its application method |
| CN110454025A (en) * | 2019-09-04 | 2019-11-15 | 浙江国自机器人技术有限公司 | A kind of mating fire door system of gallery Gua Gui robot |
| CN110886956A (en) * | 2019-11-29 | 2020-03-17 | 三峡大学 | Network machine room circulating mobile monitoring device |
| CN110977929A (en) * | 2019-12-23 | 2020-04-10 | 北京海益同展信息科技有限公司 | Movement device, positioning method, rail device and movement system |
| CN111075508A (en) * | 2019-12-30 | 2020-04-28 | 北京海益同展信息科技有限公司 | Robot applied to tunnel |
| CN111271127A (en) * | 2020-01-19 | 2020-06-12 | 北京海益同展信息科技有限公司 | Environment detection method, equipment and system |
| WO2021143591A1 (en) * | 2020-01-19 | 2021-07-22 | 京东数科海益信息科技有限公司 | Environmental testing method, device and system |
| TWI777178B (en) * | 2020-06-17 | 2022-09-11 | 臺灣塑膠工業股份有限公司 | Overhead self-touring inspection system for explosion-proof area |
| CN111927465A (en) * | 2020-06-30 | 2020-11-13 | 中铁工程服务有限公司 | Shield tunnel inspection robot track and mounting device |
| CN111927466A (en) * | 2020-06-30 | 2020-11-13 | 中铁工程服务有限公司 | Shield construction tunnel inspection robot |
| CN112030624A (en) * | 2020-09-03 | 2020-12-04 | 南京派光高速载运智慧感知研究院有限公司 | A track infrastructure for piping lane robot operation |
| CN112030624B (en) * | 2020-09-03 | 2022-05-13 | 南京派光高速载运智慧感知研究院有限公司 | Track infrastructure for running of pipe gallery robot |
| CN112526995A (en) * | 2020-12-02 | 2021-03-19 | 中国计量大学 | Hanging rail type inspection robot system and detection method thereof |
| CN112631280A (en) * | 2020-12-08 | 2021-04-09 | 国网北京市电力公司 | Unmanned manned inspection trolley |
| CN112677166A (en) * | 2021-01-13 | 2021-04-20 | 深圳玖伍微联信息技术有限公司 | Robot is to stable positioner of sound source |
| CN112677166B (en) * | 2021-01-13 | 2021-08-24 | 深圳玖伍微联信息技术有限公司 | Robot is to stable positioner of sound source |
| CN113334409A (en) * | 2021-05-17 | 2021-09-03 | 云南电网有限责任公司曲靖供电局 | Semantic analysis equipment for machine room robot |
| CN113977605A (en) * | 2021-11-19 | 2022-01-28 | 中滦科技股份有限公司 | Mining intrinsic safety type intelligent inspection robot system device and inspection method thereof |
| CN113977605B (en) * | 2021-11-19 | 2023-02-17 | 中滦科技股份有限公司 | Mining intrinsic safety type intelligent inspection robot system device and inspection method thereof |
| CN114310932A (en) * | 2021-12-16 | 2022-04-12 | 杭州申昊科技股份有限公司 | Positioning device for rail-hanging type inspection robot |
| CN114378784A (en) * | 2021-12-16 | 2022-04-22 | 杭州申昊科技股份有限公司 | Split type track inspection robot |
| CN114474006A (en) * | 2022-01-24 | 2022-05-13 | 龙滩水电开发有限公司龙滩水力发电厂 | Intelligent inspection robot |
| CN114834837A (en) * | 2022-04-15 | 2022-08-02 | 浙江云联智能制造研究院有限公司 | Aerial rail mounted RGV and whole car system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109079798A (en) | A kind of intelligent O&M extension rail crusing robot and its method for inspecting for underground pipe gallery | |
| CN202947884U (en) | Motor train unit operation fault dynamic image detection system | |
| CN108890657B (en) | Intelligent inspection robot for power distribution room | |
| CN104385277B (en) | The indoor screen cabinet checkout gear of transformer station based on crusing robot and detection method | |
| CN108297058A (en) | Intelligent security guard robot and its automatic detecting method | |
| CN106679813A (en) | Intelligent detection system for tunnel power equipment | |
| CN109760837A (en) | A kind of cable duct and the patrol unmanned machine system in tunnel | |
| CN110866993A (en) | Intelligent track inspection machine and method thereof | |
| CN112157642B (en) | A unmanned robot that patrols and examines for electricity distribution room | |
| CN210780888U (en) | Machine room monitoring system based on Internet of things and robot | |
| CN105366463A (en) | Image surveillance device | |
| US20130304415A1 (en) | Fence with localized intrusion detection | |
| CN107891430A (en) | A kind of security robot based on Internet of Things | |
| US11443517B1 (en) | Video-based parking garage monitoring | |
| CN207586716U (en) | A kind of power distribution cruising inspection system | |
| KR102167169B1 (en) | Integration security system in housing developmentusing communication network | |
| CN204209692U (en) | Based on transformer station's indoor screen cabinet checkout gear of crusing robot | |
| CN111508194A (en) | Intelligent building monitoring system based on big data | |
| CN110096060A (en) | A kind of inspecting robot and its control method with monitoring function | |
| CN211397112U (en) | People safety coefficient is prevented pressing from both sides by subway shielded door | |
| CN108320250A (en) | A kind of anti-cheating device | |
| CN110398206B (en) | Icing detection system and method for overhead line transmission line | |
| CN116012784A (en) | AI robot recognition-based coal mining process inspection method and system | |
| CN110944134A (en) | System for detecting barrier between subway shield door and train door based on computer vision | |
| CN205538752U (en) | Integration passageway formula luggage radioactivity monitoring system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181225 |