CN109291031A - A kind of cable duct crusing robot walking mechanism and its control system - Google Patents
A kind of cable duct crusing robot walking mechanism and its control system Download PDFInfo
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- CN109291031A CN109291031A CN201810925522.0A CN201810925522A CN109291031A CN 109291031 A CN109291031 A CN 109291031A CN 201810925522 A CN201810925522 A CN 201810925522A CN 109291031 A CN109291031 A CN 109291031A
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- 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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/06—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G9/00—Installations of electric cables or lines in or on the ground or water
- H02G9/06—Installations of electric cables or lines in or on the ground or water in underground tubes or conduits; Tubes or conduits therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The present invention provides the walking mechanism and its control system of a kind of cable duct crusing robot, the walking mechanism includes chassis, opposite two inner sidewalls on the chassis is respectively fixedly mounted there are two first motor, the output shaft of the first motor passes through the side wall on the chassis and end is equipped with traveling wheel, the rear and front end on the chassis is respectively equipped with auxiliary wheel assembly, the auxiliary wheel assembly includes the second motor of idler wheel and the driving roller motion, which has good obstacle climbing ability.
Description
Technical field
The invention belongs to robot part field, in particular to a kind of cable duct crusing robot walking mechanism and its control
System processed.
Background technique
With the fast development in city and electric utility, the cable in buried cable channel, tunnel etc. carries out the confession of electric energy
It answers, has been the usual manner of electric system conveying electric energy, but cable is in use, is easy to appear because of overheat, cable
Itself insulation ag(e)ing and phenomena such as cause fire in conduit line, these phenomenons seriously affect the normal power supply of cable, therefore need
Inspection is carried out to cable, due to narrow space in conduit line, bad environments, manual inspection there are larger insecurity factor,
Therefore according to a large amount of air quality monitoring equipment inside conduit line, staff needs periodically to go to set for power supply company at present
Standby nest point reads monitoring data, while checking whether conduit line inner cable has destruction；But this method be also need according to
Rely artificial, large labor intensity.With intelligence machine man-based development, prior art discloses many to be used for conduit line inner cable ditch
The robot of inspection, such as cable rail crusing robot disclosed in CN105576563A, for another example disclosed in CN107910806A
A kind of cable channel crusing robot, crusing robot disclosed in the prior art can be realized to conduit line inner cable
The inspection of situation, and robot is advanced by setting walking mechanism band mobile robot, but machine disclosed in the prior art
The walking mechanism of device people can only walk in more stable conduit line, existing when the cable laying complexity in conduit line
The walking mechanism of robot cannot be by cable, and obstacle climbing ability is poor, snarled by cable when the motor of driving walking mechanism movement or
When stall occurs, walking mechanism disclosed above cannot walk with mobile robot.
Summary of the invention
In order to solve the problems in the existing technology, the present invention provides a kind of cable duct crusing robot walking mechanisms
And its control system, the walking mechanism can significantly improve the obstacle climbing ability of robot.
Specific technical solution of the present invention is as follows:
A kind of cable duct crusing robot walking mechanism, the walking mechanism include chassis, opposite two inside on the chassis
Wall is respectively fixedly installed at least two first motors, and the output shaft of the first motor passes through the side wall on the chassis and end is pacified
Equipped with traveling wheel, the rear and front end on the chassis is respectively equipped with auxiliary wheel assembly, and the auxiliary wheel assembly includes idler wheel and drive
Move the second motor of the roller motion.
Further to improve, the auxiliary wheel assembly further includes copper post, the roller portion be sheathed on the copper post and with
The copper post movement, the output shaft of second motor is parallel with the output shaft of the first motor, and end and the copper post
One end connection；Second motor is fixed on an inner sidewall on the chassis, another relative inner wall pair on the chassis
It answers and is fixed with bearing at position, the other end of the copper post is fixed on the bearing.
Further to improve, one end that the copper post is connect with the bearing forms screw thread, the bearing and the copper
Column is threadably secured connection, and the other end of the copper post is equipped with the through-hole deep for the output shaft of second motor, described
The output shaft of second motor forms horizontal plane along axial direction.
Further to improve, the idler wheel includes hollow roller, and the outer surface of the roller is set in parallel along its length
There is multiple groups gear hobbing portion；One end in the roller is equipped with the sleeve concentric with the roller, and the sleeve is solid by connecting plate
Due on the inner wall of the roller；The cross section of the copper post is polygon, and the inner sidewall of the sleeve is sheathed on the copper post
Above and it is shaped to structure compatible with the copper post.
Further to improve, the gear hobbing portion includes the first gear hobbing group and the second gear hobbing group, the first gear hobbing group and the
Two gear hobbing groups are parallel to each other by n and the identical gear hobbing of spacing forms, n >=2, the angle γ of each gear hobbing and horizontal plane
It is 10-30 °, corresponding each gear hobbing is and opposite not on same transverse and longitudinal section in the first gear hobbing group and the second gear hobbing group
Extended line where two gear hobbings answered forms 20-60 ° of angle σ.
Further to improve, the chassis includes two the first aluminum corner braces disposed in parallel, between two first aluminum corner braces
If there are two second aluminum corner braces parallel with first aluminum corner brace.
Further to improve, the walking mechanism further includes at least two first rangings set on one lateral surface of chassis
Sensor and the controller being connected with the first distance measuring sensor, the first single machine and the second motor, the controller include:
Enabling signal transmission unit, for sending the enabling signal walked according to revolving speed V to all first motors, every 1 the
One motor all has unique ID, and every ID is associated relative to the position of measured target with first motor；
First receiving unit, the range information with measured target for the measurement of two the first distance measuring sensors of real-time reception
A and b；
First judging unit, as b > a, sends to the first computing unit and instructs, as b < for judging the size of a and b
When a, sends and instruct to the second computing module；
First computing unit, for calculating the angle α of walking mechanism and measured target, tan α=(b-a)/h, to the first control
Unit processed sends instruction；
Second computing unit, for calculating angle β, tan β=(a-b)/h of walking mechanism and measured target, to the second control
Unit processed sends instruction；
First control unit and the second control unit are used to send control signal to first motor, and then adjust vehicle with walking machine
The posture of structure；
Preferably, the first control unit includes:
First control module, for issuing control signal to first motor, the control signal includes each first motor
ID and corresponding revolving speed, wherein against measured target side two first motors revolving speed be V (1+ktan α), k is normal
Number, the revolving speed of two first motors far from measured target side are V；
Preferably, second control unit includes:
Second control module, for issuing control signal to first motor, the control signal includes each first motor
ID and corresponding revolving speed, wherein the revolving speed against two first motors of measured target side is V (1-ktan β), far from quilt
The revolving speed for surveying two first motors of target side is V.
It is further to improve, the controller further include: third control unit, the first control unit and the second control
Unit is also used to send to third control unit and instruct；
Third control unit, after receiving instruction, for the first receiving unit of real-time reception transmission range information a and
B is simultaneously judged, when judging a=b, for issuing the signal walked with revolving speed V to all first motors；
Preferably, the controller further include: second judgment unit and the 4th control unit,
When the third control unit judges a=b, it is also used to send instruction to second judgment unit；
Second judgment unit, when the first judging unit or third control unit judge a=b, for judging a or b and s
Size, as a or b > s, to the 4th control unit send instruct, as a or b≤s, be not processed, s be walking mechanism and quilt
Survey the least limit distance of target；
4th control unit, for sending control signal to first motor；
Preferably, the 4th control unit includes:
Instruction sending module for sending control signal to first motor, and sends to first processing module and instructs, described
Control signal includes the ID and corresponding revolving speed of each first motor, wherein against two first motors of measured target side
Revolving speed be mV, far from measured target side two first motors revolving speed be V, wherein 0 < m < 1；
First processing module, range information a after receiving instruction, for the generation of the first distance measuring sensor of real-time reception
And b, when judging Bsin θ=s, wherein B=a or b,Control signal is sent to first motor, and to the
Three control units send instruction, and the control signal includes the ID and corresponding revolving speed of each first motor, wherein against tested
The revolving speed of two first motors of target side is V, and the revolving speed of two first motors far from measured target side is mV.
It is further to improve, the first control unit further include:
First judgment module, as asin θ≤s, sends to the first control module and instructs for judging the size of a and s,
As asin θ > s, sends and instruct to the second judgment module；
Second judgment module is used for from subsequent time t1Start detection and receives a from the first receiving unitt1Size, when
Judge at1When sin θ≤s, sends and instruct to the first control module, work as at1When sin θ > s, a is judgedt1Whether a is equal to, if
at1=a sends to the 4th control unit and instructs, if at1≠ a, until judging atnWhen sin θ=s, atnIndicate tnMoment a's
Value sends to the first control module and instructs；
Preferably, second control unit includes:
Third judgment module, as b≤s, sends to the second control module and instructs, as b > for judging the size of b and s
When s, sends and instruct to the 4th judgment module；
4th judgment module is used for from subsequent time t1Start detection and receives b from the first receiving unitt1Size, when
Judge bt1When≤s, sends and instruct to the second control module, work as bt1When > s, a is judgedt1Whether a is equal to, if at1=a, to
4th control unit sends instruction, if at1≠ a, until judging btnWhen=s, btnIndicate tnThe value of moment b, to the second control
Molding block sends instruction.
Further to improve, the walking mechanism further includes the pulse sensing being connected with the controller and first motor
Device, the controller further include:
First comparing unit, the first motor for the transmission of real-time reception pulse optical flame detector rotate each turn of umber of pulse x,
And with umber of pulse threshold value x1It is compared, as x < x1When or two adjacent x difference △ x be greater than difference threshold △ x1, to auxiliary
Wheel control unit is helped to send the instruction for opening the second motor, as difference △ x≤△ x of two adjacent umber of pulses1, to auxiliary wheel
Control unit 310 sends the instruction for closing the second motor 43, continues to compare, as the difference △ x > △ of two adjacent umber of pulses
x1, instruction is sent to control unit is returned；
Auxiliary wheel control unit opens and closes signal for sending to the second motor；
Control unit is returned to, for sending the signal of reversion to all first motors；
Preferably, the walking mechanism further includes the supersonic sounding for being set to the chassis upper end and being connected with the controller
Sensor, the controller further include:
Third receiving unit, after receiving ultrasonic range finder sensor collected range information, for controlling to returning
Unit sends instruction.
It is further to improve, the walking mechanism further include battery for powering to first motor, the second motor, with
The electrical quantity sensor that the battery is connected with controller, the controller further include:
Third judging unit, for receiving the electricity G of electrical quantity sensor acquisition, when electricity G is more than power threshold, to returning
It returns control unit and sends instruction.
Further to improve, the walking mechanism further includes the second distance measuring sensor set on the chassis upper end, described
Controller further include:
5th processing unit, for the distance S of the second distance measuring sensor of real-time reception acquisition, and by two adjacent distances
Difference △ S and difference threshold △ S1It is compared, as △ S >=△ S1, sent to first motor control unit and close first motor
Instruction,
First motor control unit, for sending the signal closed and opened to first motor.
A kind of control system of cable duct crusing robot walking mechanism of another aspect of the present invention, the control system include the
One distance measuring sensor and connect with first distance measuring sensor for control first motor movement controller and with the control
The host computer that device processed communicates, the controller are the controller in walking mechanism.
Beneficial effects of the present invention:
The present invention provides a kind of cable duct crusing robot walking mechanism, which includes auxiliary wheel assembly, this is auxiliary
Help wheel assembly that the obstacle climbing ability of walking mechanism can be improved.
Detailed description of the invention
Fig. 1 is a kind of schematic perspective view of the cable duct crusing robot walking mechanism of embodiment 1；
Fig. 2 is a kind of top view of the cable duct crusing robot walking mechanism of embodiment 1；
Fig. 3 is the main view of present invention auxiliary wheel assembly；
Fig. 4 be Fig. 3 A-A to cross-sectional view；
Fig. 5 is the schematic perspective view of auxiliary wheel assembly of the present invention without containing idler wheel；
Fig. 6 is the top view of idler wheel of the present invention；
Fig. 7 is the schematic perspective view on chassis of the present invention；
Fig. 8 is the top view on chassis of the present invention；
Fig. 9 is a kind of schematic perspective view of the cable duct crusing robot walking mechanism of embodiment 3；
Figure 10 is a kind of main view of the cable duct crusing robot walking mechanism of embodiment 3；
Figure 11 is the structural block diagram of 4 controller of embodiment；
Figure 12 be 4 walking mechanism of embodiment and conduit line wall at α angle when schematic diagram；
Figure 13 is the control signal that controller receives that first control unit is sent, after controlling the revolving speed of first motor
Walking mechanism posture schematic diagram；
Figure 14 be 4 walking mechanism of embodiment and conduit line wall at β angle when schematic diagram；
Figure 15 is the control signal that controller receives that the second control unit is sent, after controlling the revolving speed of first motor
Walking mechanism posture schematic diagram；
Figure 16 is the structural block diagram of 5 controller of embodiment；
Figure 17 is the structural block diagram of 6 controller of embodiment；
Figure 18 is the structural block diagram of the 4th control unit；
Figure 19 is the posture schematic diagram of walking mechanism as a=b；
Figure 20 is that controller receives what the control signal that the 4th control unit is sent was adjusted the posture of walking mechanism
Schematic diagram；
Figure 21 is the structural block diagram of first control unit；
Figure 22 is at1Sin θ > s, at1When=a, the posture schematic diagram of walking mechanism；
Figure 23 is at1Sin θ > s, at1When ≠ a, the posture schematic diagram of walking mechanism；
Figure 24 is the structural block diagram of the second control unit；
Figure 25 is at1When ≠ a, the posture schematic diagram of walking mechanism；
Figure 26 is at1When=a, the posture schematic diagram of walking mechanism；
Figure 27 is the structural block diagram of the controller of embodiment 9 and 10；
Figure 28 is the structural block diagram of 11 controller of embodiment.
Specific embodiment
Invention is further described in detail with following embodiment with reference to the accompanying drawing, needs specification, this hair
The size of bright attached drawing is all by scaling processing appropriate, it is therefore an objective to can clearly show that claimed structure.
Embodiment 1
The embodiment of the present invention 1 provides a kind of cable duct crusing robot walking mechanism, as shown in Figure 1, the walking mechanism
Including chassis 1, as shown in Figure 7 and Figure 8, the chassis 1 include two the first aluminum corner braces 11 disposed in parallel, two described first jiao
Second aluminum corner brace 12 parallel with first aluminum corner brace 11 there are two being set between aluminium 11；Second aluminum corner brace and the first aluminum corner brace are solid by screw
Fixed connection；As shown in Fig. 2, opposite two inner sidewalls on the chassis 1 are respectively fixedly mounted, there are two first motor 2, first electricity
The output shaft of machine 2 passes through the side wall on the chassis 1 and end is equipped with traveling wheel 3, and the side wall on the chassis 1 can be equipped with opening,
Opening is equipped with first bearing, and the output shaft of first motor may pass through first bearing and then be equipped with traveling wheel, traveling wheel in end
The output axis connection of bearing and first motor can also be passed through；The rear and front end on the chassis 1 is respectively equipped with auxiliary wheel assembly 4,
As shown in Figure 3 and Figure 4, the auxiliary wheel assembly 4 includes copper post 41, is partially sheathed on the copper post 41 and transports with the copper post 41
The second motor 43 that dynamic idler wheel 42 and the driving copper post 41 rotates, the output shaft of second motor 43 and described first
The output shaft of motor 2 is parallel, and end is connect with one end of the copper post 41；Second motor 43 is solid by electric machine support 44
Due on an inner sidewall on the chassis 1, electric machine support can be fixed on chassis side wall by screw, the chassis 1 it is another
Relative inner wall corresponding position is fixed with bearing 45, and the other end of the copper post 41 is fixed on the bearing 45.
With reference to Fig. 4 and Fig. 5, one end that the copper post 41 is connect with the bearing 45 forms screw thread, 45 He of bearing
The copper post 41 is threadably secured connection, and the other end of the copper post 41, which is equipped with, supplies the output shaft of second motor 43 to go deep into
Through-hole 46, the output shaft of second motor 43 forms horizontal plane 47 along axial direction, further, also forms on the through-hole
With the matched boss of the horizontal plane, for prevent the second motor relative to through-hole rotate.
With reference to Fig. 6, the idler wheel 42 includes hollow roller 421, and the outer surface of the roller 421 is parallel along its length
Equipped with multiple groups gear hobbing portion；One end in the roller 421 is equipped with the sleeve 422 concentric with the roller 421, the sleeve
422 are fixed on the inner wall of the roller 421 by connecting plate 423；The cross section of the copper post 41 is hexagon, the sleeve
422 inner sidewall is sheathed in the copper post 41 and is shaped to structure compatible with the copper post 41.The sleeve 422 it is interior
Sidewall cross-sectional is shaped to the hexagon being adapted to the copper post, plays the role of preventing relative rotation；The gear hobbing portion includes
First gear hobbing group and the second gear hobbing group, the first gear hobbing group and the second gear hobbing group is parallel to each other by 4 and spacing is identical
Gear hobbing 424 forms, and corresponding each gear hobbing 424 is not on same transverse and longitudinal section in the first gear hobbing group and the second gear hobbing group.
Walking mechanism provided by the invention has auxiliary wheel assembly, and when stall occurs in first motor, auxiliary wheel assembly can be with
It drives entire walking mechanism to walk, and then improves the obstacle climbing ability of entire walking mechanism.The second motor in the auxiliary wheel assembly
It can according to need same first motor to start together, the starting of first motor and the second motor can be controlled by remote controler
System.
Embodiment 2
The embodiment of the present invention 2 provides a kind of cable duct crusing robot walking mechanism, the base of the walking mechanism and embodiment 1
This is identical, unlike, with continued reference to Fig. 3, each gear hobbing 424 and the angle γ of horizontal plane are 15 °, first gear hobbing
Corresponding each gear hobbing 424 is not on same transverse and longitudinal section in group and the second gear hobbing group, and 424 place of corresponding two gear hobbings
Extended line formed 30 ° of angle σ.
By limiting the angle of gear hobbing and horizontal plane and two gear hobbing group corresponding gears, walking mechanism can be significantly improved
Obstacle climbing ability.
Embodiment 3
The embodiment of the present invention 3 provides a kind of cable duct crusing robot walking mechanism, the base of the walking mechanism and embodiment 1
This is identical, unlike, as shown in Figure 9 and Figure 10, support is installed by four columns 5 placed vertically on the chassis 1
Plate 6, the side of the support plate 6 set that there are two first to be parallel to each other to patrol edge strip 7 and second and patrol edge strip 8.
Embodiment 4
The embodiment of the present invention 4 provides a kind of cable duct crusing robot walking mechanism, the base of the walking mechanism and embodiment 3
This is identical, unlike, the walking mechanism further includes sensing set on two the first rangings set on 1 one lateral surface of chassis
Device 10, it is preferable that first distance measuring sensor can be set to the first lateral surface that patrol edge strip 7, and with the first distance measuring sensor 10, the
The controller 20 that one single machine 2 is connected with the second motor 43, as shown in figure 11, the controller 20 includes:
Enabling signal transmission unit 200, for sending the enabling signal walked according to revolving speed V to first motor 2, every 1 the
One motor 2 all has unique ID, and every ID is associated relative to the position of measured target with first motor 2；
First receiving unit 210, for real-time reception two the first distance measuring sensors 10 measurement and measured target away from
From information a and b；
First judging unit 220, as b > a, refers to for judging the size of a and b to the transmission of the first computing unit 230
It enables, as b < a, sends and instruct to the second computing module；
First computing unit 230, for calculating the angle α of walking mechanism and measured target, tan α=(b-a)/h, to
One control unit 250 sends instruction；
Second computing unit 240, for calculating angle β, tan β=(a-b)/h of walking mechanism and measured target, to
Two control units 260 send instruction；
First control unit 250 and the second control unit 260 are used to send control signal to first motor 2, and to the
Three control units 270 send instruction；
Third control unit 270, distance after receiving instruction, for the transmission of the first receiving unit of real-time reception 210
Information a and b is simultaneously judged, when judging a=b, for issuing the signal walked with revolving speed V to all first motors 2.
Since the environment in conduit line is complicated, so being kept away to guarantee that walking mechanism can walk along conduit line
Exempt from there is a situation where with the collision generation such as conduit line, the present invention is further to formed between walking mechanism and conduit line wall
Angle is judged, when walking mechanism is walked along conduit line wallflow, the present invention passes through first control unit and the
Two control units send control signal to walking mechanism, and then control the posture of walking mechanism, make it along conduit line wallflow
It walks, detailed process is as follows:
Firstly, controller sends enabling signal to first motor, and define the revolving speed of first motor, first motor is opened
Beginning work, drives walking mechanism walking, and walking mechanism in the process of walking, is provided with the first distance measuring sensor, by acquisition
Data are transferred to controller；Controller based on the received range information to the posture of walking mechanism (relative to conduit line wall
Posture) judged, when conduit line wall is not parallel construction, two states may be formed with walking mechanism, such as Figure 12 and
Shown in Figure 14, the first forms α angle for walking mechanism and conduit line wall, and second is walking mechanism and conduit line wall shape
At β angle, the first situation, if walking mechanism continuation is walked forward, it is understood that there may be the case where bumping against conduit line wall, second
Kind situation, walking mechanism is walked along conduit line wall；So needing to adjust the track route of walking mechanism, this hair
The bright revolving speed realization by four first motors of control, specific control method are as follows:
The first control unit 250 includes:
First control module 251, for issuing control signal to first motor 2, the control signal includes every one first
The ID of motor 2 and corresponding revolving speed, wherein the revolving speed against two first motors 2 of measured target side is V (1+ktan α),
K is constant, and the revolving speed of two first motors 2 far from measured target side is V；
Second control unit 260 includes:
Second control module 261, for issuing control signal to first motor 2, the control signal includes every one first
The ID of motor 2 and corresponding revolving speed, wherein the revolving speed against two first motors 2 of measured target side is V (1-ktan β),
The revolving speed of two first motors 2 far from measured target side is V.
The first situation, to allow walking mechanism to walk along conduit line wallflow, it is necessary to which walking mechanism rotates to the left, such as
Shown in Figure 13, then needing to improve the revolving speed of two first motors close to conduit line wall side, second situation is wanted to give way
It walks mechanism to walk along conduit line wallflow, it is necessary to which walking mechanism is turned right, as shown in figure 15, then needing to improve far from cable
The revolving speed of two motors of channel walls side, when walking mechanism drives to it is parallel with conduit line wall when, just to four
One motor sends the signal walked according to revolving speed V, and then has adjusted the posture of walking mechanism.
Embodiment 5
The embodiment of the present invention 5 provides a kind of cable duct crusing robot walking mechanism, the base of the walking mechanism and embodiment 4
This is identical, unlike, the walking mechanism further includes the pulse transducer being connected with the controller 20 and first motor 2
70, as shown in figure 16, the controller 20 further include:
First comparing unit 300, the first motor 2 for the transmission of real-time reception pulse optical flame detector 70 rotate each turn of arteries and veins
Rush number x, and with umber of pulse threshold value x1It is compared, as x < x1When or two adjacent x difference △ x be greater than difference threshold △
x1, to auxiliary wheel control unit 310 send open the second motor 43 instruction, when two adjacent umber of pulses difference △ x≤
△x1, the instruction for closing the second motor 43 is sent to auxiliary wheel control unit 310, continues to compare, when two adjacent umber of pulses
Difference △ x > △ x1, instruction is sent to control unit 330 is returned；
Auxiliary wheel control unit 320 opens and closes signal for sending to the second motor 43；
Control unit 330 is returned to, for sending the signal of reversion to all first motors 2.
In the process of walking, if encounter barrier, there may be blocking phenomenons for first motor, according to arteries and veins for walking mechanism
The umber of pulse of sensor acquisition is rushed, to judge whether first motor occurs blocking phenomenon；In case of blocking phenomenon, to the second electricity
Machine issues open command, and then proceeding to judge first motor, whether there is also blocking phenomenons, if it does not, it is electric to close second
Machine sends return instruction to walking mechanism if barrier is not pass by there is also stall scene.Second motor is set
Set the obstacle climbing ability that can significantly improve walking structure.
Embodiment 6
The embodiment of the present invention 6 provides a kind of cable duct crusing robot walking mechanism, the base of the walking mechanism and embodiment 5
This is identical, unlike, as shown in figure 17, the controller 20 further include: second judgment unit 280 and the 4th control unit
290, when the third control unit 270 judges a=b, it is also used to send instruction to second judgment unit 280；
Second judgment unit 280, when the first judging unit 220 or third control unit 270 judge a=b, for sentencing
The size of disconnected a or b and s sends to the 4th control unit 290 and instructs, as a or b≤s, be not processed, s is as a or b > s
The least limit distance of walking mechanism and measured target；
4th control unit 290, for sending control signal to first motor 2；
As shown in figure 18, the 4th control unit 290 includes:
Instruction sending module 291 for sending control signal to first motor 2, and refers to the transmission of first processing module 292
It enables, the control signal includes the ID and corresponding revolving speed of each first motor 2, wherein against two of measured target side
The revolving speed of first motor 2 is mV, and the revolving speed of two first motors 2 far from measured target side is V, wherein 0 < m < 1；
First processing module 292, distance after receiving instruction, for the generation of the first distance measuring sensor of real-time reception 10
Information a and b, when judging Bsin θ=s, wherein B=a or b,Control signal is sent to first motor 2,
And send and instruct to third control unit 270, the control signal includes the ID and corresponding revolving speed of each first motor 2,
In, the revolving speed against two first motors 2 of measured target side is V, two first motors 2 far from measured target side
Revolving speed is mV.
The walking mechanism that the present invention limits further comprises second judgment unit and the 4th control unit, when the first judgement
When unit or third control unit judge that walking mechanism is parallel with conduit line wall, as shown in figure 19, for maximum possible
Avoiding obstacles further limit walking mechanism and walk along the distance of conduit line wall s, which is walking mechanism and cable duct
The smallest critical distance between road wall；Continue to investigate Figure 19, at this time a=b, and a > s, to shorten walking mechanism and cable duct
The distance between road wall, it is necessary to adjust the posture of walking mechanism, the schematic diagram of adjustment walking mechanism posture is shown in Figure 20, needs at this time
The revolving speed of two motors in outside is improved, as long as the revolving speed of adjustment is greater than the revolving speed of two the first revolving speeds in inside, works as adjustment
When to Bsin θ=s, the walking mechanism distance nearest apart from conduit line wall is s at this time, then again by walking mechanism be adjusted to
The parallel posture of conduit line wall can make at this time according to the revolving speed for adjusting first motor with adjustable strategies opposite before
Walking mechanism is parallel with conduit line wall, and then walks along conduit line wall, can guarantee to avoid obstacle as far as possible
The effect of object.
Embodiment 7
The embodiment of the present invention 7 provides a kind of cable duct crusing robot walking mechanism, the base of the walking mechanism and embodiment 4
This is identical, unlike, as shown in figure 21, the first control unit 250 further include:
First judgment module 252, as asin θ≤s, is sent for judging the size of a and s to the first control module 251
Instruction sends to the second judgment module 253 and instructs as asin θ > s；
Second judgment module 253 is used for from subsequent time t1Start detection and receives a from the first receiving unit 210t1It is big
It is small, when judging at1When sin θ≤s, sends and instruct to the first control module 251, work as at1When sin θ > s, a is judgedt1Whether etc.
In a, if at1=a sends to the 4th control unit 290 and instructs, if at1≠ a, until judging atnWhen sin θ=s, atnTable
Show tnThe value of moment a sends to the first control module 251 and instructs.
The present invention is further defined first control unit, in order to determine how the posture to walking mechanism
It is adjusted, it is specific as follows: first, it is determined that the size of a and s has illustrated walking mechanism and conduit line wall if asin θ≤s
Least limit distance has been arrived, if not adjusting walking mechanism posture at once, may have been bumped against on conduit line wall, so needing to adjust
The revolving speed of whole four first motors, adjustment mode are shown in Figure 13；It, can be to a of subsequent time as asin θ > st1Judged,
Because there may be a dolly dimples or kick to lead to the distance between a and b etc. for some conduit line walls, in order to judge
Above situation out, the present invention is further to subsequent time at1Size judged, work as at1Sin θ≤s is so according to the first control
The regulation method of molding block is adjusted the posture of walking mechanism, if at1Sin θ > s, judges at1Whether a is equal to, if
at1=a illustrates walking on, and conduit line wall is just flat, and structural schematic diagram is shown in 22, then single according to the 4th control
The regulation method of member is adjusted the posture of walking mechanism；If at1≠ a, is shown in Figure 23, and walking mechanism walks on until sentencing
The a value of disconnected a certain moment tn out meets atnWhen sin θ=s, according to the control methods of the first control module to the posture of walking mechanism
It is adjusted.
Embodiment 8
The embodiment of the present invention 8 provides a kind of cable duct crusing robot walking mechanism, the base of the walking mechanism and embodiment 4
This is identical, unlike, as shown in figure 24, second control unit 260 includes:
Third judgment module 262, as b≤s, refers to for judging the size of b and s to the transmission of the second control module 261
It enables, as b > s, sends and instruct to the 4th judgment module 263；
4th judgment module 263 is used for from subsequent time t1Start detection and receives a from the first receiving unit 210t1And bt1
Size, when judging bt1When≤s, sends and instruct to the second control module 261, work as bt1When > s, a is judgedt1Whether a is equal to,
If at1=a sends to the 4th control unit 290 and instructs, if at1≠ a, until judging btnWhen=s, btnIndicate tnMoment
The value of b sends to the second control module 261 and instructs.
The present invention is further defined the second control unit, in order to determine how the posture to walking mechanism
It is adjusted, it is specific as follows: for judging subsequent time at1Size, if at1≠ a needs to adjust walking as shown in figure 25
The posture of mechanism adjusts the figure of posture referring to Figure 15, if at1=a, is shown in that Figure 26, subsequent time start, and conduit line wall is exactly
Flat, so judging at1With s, work as at1When≤s, when walking mechanism walking is to a=b, pose adjustment is finished, stops walking
The order for waiting controller, if at1> s, then according to the posture of the 4th control unit adjustment walking mechanism.
Embodiment 9
The embodiment of the present invention 9 provides a kind of cable duct crusing robot walking mechanism, the base of the walking mechanism and embodiment 5
This is identical, unlike, as shown in figure 27, the walking mechanism further includes being set to 1 upper end of chassis (to be preferably disposed to support plate
On 6) and the ultrasonic range finder sensor 30 that is connected with the controller 20, the controller 20 further include:
Third receiving unit 340 is used for after receiving 30 collected range information of ultrasonic range finder sensor to return
Control unit 330 sends instruction.
Since ultrasonic sensor is located above chassis, when front encounters the intransitable barriers such as firewall, ultrasound
Distance measuring sensor will detect distance, after controller receives distance, send toggling command to first motor, and then give way
Walk mechanism return.
Embodiment 10
The embodiment of the present invention 10 provides a kind of cable duct crusing robot walking mechanism, the walking mechanism and embodiment 9
It is essentially identical, unlike, with continued reference to Figure 27, the walking mechanism further includes for first motor 2, the confession of the second motor 43
The battery of electricity, the electrical quantity sensor 60 being connected with the battery and controller 20, the controller 20 further include:
Third judging unit 370, for receiving the electricity G of the acquisition of electrical quantity sensor 60, when electricity G is more than power threshold
When, instruction is sent to control unit 330 is returned.
Since walking mechanism is, when the electricity of battery reaches a certain amount of, to need to allow vehicle with walking machine by storage battery power supply
Structure returns, and otherwise when accumulator electric-quantity exhausts, is not easy to take out robot.
Embodiment 11
The embodiment of the present invention 11 provides a kind of cable duct crusing robot walking mechanism, the walking mechanism and embodiment 10
It is essentially identical, unlike, as shown in figure 28, the walking mechanism further includes that the second ranging set on 1 upper end of chassis passes
Sensor 50, the controller 20 further include:
5th processing unit 350, for the distance S that the second distance measuring sensor of real-time reception 50 acquires, and by adjacent two
Difference △ S and difference threshold the △ S of a distance1It is compared, as △ S >=△ S1, send and close to first motor control unit 360
The instruction of first motor 2 is closed,
First motor control unit 360, for sending the signal closed and opened to first motor 2.
When walking mechanism returns, need to judge its position returned, the second ranging optical flame detector can be used for measuring walking
Mechanism is at a distance from vertical direction, due to being lid above conduit line in a certain range at a distance from conduit line
When opening, huge variation is just had occurred in distance of the walking mechanism apart from top at this time, and walking mechanism is allowed to stop walking, side at this time
Just processing of the staff to walking mechanism.
Embodiment 12
The embodiment of the present invention 12 provides a kind of control system of cable duct crusing robot walking mechanism, as shown in figure 11,
The control system includes the first distance measuring sensor 10 and is connect with first distance measuring sensor 10 for controlling the fortune of first motor 2
Dynamic controller 20, the controller 20 include:
Enabling signal transmission unit 200, for sending the enabling signal walked according to revolving speed V to first motor 2, every 1 the
One motor 2 all has unique ID, and every ID is associated relative to the position of measured target with first motor 2；
First receiving unit 210, for real-time reception two the first distance measuring sensors 10 measurement and measured target away from
From information a and b；
First judging unit 220, as b > a, refers to for judging the size of a and b to the transmission of the first computing unit 230
It enables, as b < a, sends and instruct to the second computing module；
First computing unit 230, for calculating the angle α of walking mechanism and measured target, tan α=(b-a)/h, to
One control unit 250 sends instruction；
Second computing unit 240, for calculating angle β, tan β=(a-b)/h of walking mechanism and measured target, to
Two control units 260 send instruction；
First control unit 250 and the second control unit 260 are used to send control signal to first motor 2, and to the
Three control units 270 send instruction；
Third control unit 270, distance after receiving instruction, for the transmission of the first receiving unit of real-time reception 210
Information a and b is simultaneously judged, when judging a=b, for issuing the signal walked with revolving speed V to all first motors 2.
Control system provided by the invention may also include third control unit, the 4th control unit and second judgment unit,
Referring specifically to Figure 16, Figure 17, Figure 18, Figure 21 and Figure 24, Figure 27 and Figure 28.
Claims (10)
1. a kind of cable duct crusing robot walking mechanism, which is characterized in that the walking mechanism includes chassis (1), the bottom
Opposite two inner sidewalls of disk (1) are respectively fixedly installed at least two first motors (2), and the output shaft of the first motor (2) is worn
It crosses the side wall on the chassis (1) and end is equipped with traveling wheel (3), the rear and front end of the chassis (1) is respectively equipped with auxiliary wheel
Component (4), auxiliary wheel assembly (4) include the second motor (43) of idler wheel (42) and driving idler wheel (42) movement.
2. cable duct crusing robot walking mechanism as described in claim 1, which is characterized in that the auxiliary wheel assembly (4)
It further include copper post (41), the idler wheel (42) is partially sheathed on the copper post (41) and with the copper post (41) movement described second
The output shaft of motor (43) is parallel with the output shaft of the first motor (2), and end is connect with one end of the copper post (41)；
Second motor (43) is fixed on an inner sidewall on the chassis (1), and another relative inner wall of the chassis (1) is corresponding
It is fixed at position bearing (45), the other end of the copper post (41) is fixed on the bearing (45)；Preferably, the copper post
(41) one end connecting with the bearing (45) forms screw thread, and the bearing (45) and the copper post (41) are threadably secured
Connection, the other end of the copper post (41) are equipped with the through-hole (46) deep for the output shaft of second motor (43), and described the
The output shaft of two motors (43) forms horizontal plane (47) along axial direction.
3. cable duct crusing robot walking mechanism as described in claim 1, which is characterized in that the walking mechanism further includes
Set at least two first distance measuring sensors (10) of (1) one lateral surface of chassis, and with the first distance measuring sensor (10),
The controller (20) that one single machine (2) is connected with the second motor (43), the controller (20) include:
Enabling signal transmission unit (200), for sending the enabling signal walked according to revolving speed V to all first motors (2), often
One first motor (2) all has unique ID, and every ID is associated relative to the position of measured target with first motor (2)；
First receiving unit (210), for believing at a distance from measured target for the first distance measuring sensor of real-time reception (10) measurement
Cease a and b；
First judging unit (220), as b > a, sends to the first computing unit (230) and refers to for judging the size of a and b
It enables, as b < a, sends and instruct to the second computing module；
First computing unit (230), for calculating the angle α of walking mechanism and measured target, tan α=(b-a)/h, to first
Control unit (250) sends instruction；
Second computing unit (240), for calculating angle β, tan β=(a-b)/h of walking mechanism and measured target, to second
Control unit (260) sends instruction；
First control unit (250) and the second control unit (260) are used to send control signal to first motor (2), in turn
Adjust the posture of walking mechanism；
Preferably, the first control unit (250) includes:
First control module (251), for issuing control signal to first motor (2), the control signal includes every one first
The ID and corresponding revolving speed of motor (2), wherein the revolving speed against two first motors (2) of measured target side is V (1+
Ktan α), k is constant, and the revolving speed of two first motors (2) far from measured target side is V；
Preferably, second control unit (260) includes:
Second control module (261), for issuing control signal to first motor (2), the control signal includes every one first
The ID and corresponding revolving speed of motor (2), wherein the revolving speed against two first motors (2) of measured target side is V (1-
Ktan β), the revolving speed of two first motors (2) far from measured target side is V.
4. cable duct crusing robot walking mechanism as claimed in claim 3, which is characterized in that the controller (20) is also wrapped
Include: third control unit (270), the first control unit (250) and the second control unit (260) are also used to control to third
Unit (270) sends instruction；
Third control unit (270), distance after receiving instruction, for the first receiving unit of real-time reception (210) transmission
Information a and b is simultaneously judged, when judging a=b, for issuing the signal walked with revolving speed V to all first motors (2)；
Preferably, the controller (20) further include: second judgment unit (280) and the 4th control unit (290),
When the third control unit (270) judges a=b, it is also used to send instruction to second judgment unit (280)；
Second judgment unit (280) is used for when the first judging unit (220) or third control unit (270) judge a=b
The size for judging a or b and s sends to the 4th control unit (290) and instructs, as a or b≤s, be not processed as a or b > s,
S is the least limit distance of walking mechanism and measured target；
4th control unit (290), for sending control signal to first motor (2)；
Preferably, the 4th control unit (290) includes:
Instruction sending module (291) for sending control signal to first motor (2), and is sent to first processing module (292)
Instruction, the control signal include the ID and corresponding revolving speed of each first motor (2), wherein against measured target side
The revolving speed of two first motors (2) is mV, and the revolving speed of two first motors (2) far from measured target side is V, wherein 0 < m
< 1；
First processing module (292), distance after receiving instruction, for the first distance measuring sensor of real-time reception (10) generation
Information a and b, when judging Bsin θ=s, wherein B=a or b,Control letter is sent to first motor (2)
Number, and send and instruct to third control unit (270), the control signal includes the ID of each first motor (2) and corresponding
Revolving speed, wherein the revolving speed against two first motors (2) of measured target side is V, and two far from measured target side the
The revolving speed of one motor (2) is mV.
5. cable duct crusing robot walking mechanism as claimed in claim 4, which is characterized in that the first control unit
(250) further include:
First judgment module (252), as asin θ≤s, is sent for judging the size of a and s to the first control module (251)
Instruction sends to the second judgment module (253) and instructs as asin θ > s；
Second judgment module (253) is used for from subsequent time t1Start detection and receives a from the first receiving unit (210)t1It is big
It is small, when judging at1When sin θ≤s, sends and instruct to the first control module (251), work as at1When sin θ > s, a is judgedt1Whether
Equal to a, if at1=a sends to the 4th control unit (290) and instructs, if at1≠ a, until judging atnWhen sin θ=s,
atnIndicate tnThe value of moment a sends to the first control module (251) and instructs.
6. cable duct crusing robot walking mechanism as claimed in claim 5, which is characterized in that second control unit
(260) include:
Third judgment module (262), as b≤s, sends to the second control module (261) and refers to for judging the size of b and s
It enables, as b > s, sends and instruct to the 4th judgment module (263)；
4th judgment module (263) is used for from subsequent time t1Start detection and receives a from the first receiving unit (210)t1And bt1
Size, when judging bt1When≤s, sends and instruct to the second control module (261), work as bt1When > s, a is judgedt1Whether it is equal to
A, if at1=a sends to the 4th control unit (290) and instructs, if at1≠ a, until judging btnWhen=s, btnIndicate tn
The value of moment b sends to the second control module (261) and instructs.
7. cable duct crusing robot walking mechanism as claimed in claim 6, which is characterized in that the walking mechanism further includes
The pulse transducer (70) being connected with the controller (20) and first motor (2), the controller (20) further include:
First comparing unit (300), the first motor (2) for real-time reception pulse optical flame detector (70) transmission rotate each turn
Umber of pulse x, and with umber of pulse threshold value x1It is compared, as x < x1When or two adjacent x difference △ x be greater than difference threshold
△x1, the instruction for opening the second motor (43) is sent to auxiliary wheel control unit (310), continues to compare, when two adjacent arteries and veins
Rush difference △ x≤△ x of number1, the instruction for closing the second motor (43) is sent to auxiliary wheel control unit (310), when adjacent
The difference △ x > △ x of two umber of pulses1, instruction is sent to control unit (330) are returned；
Auxiliary wheel control unit (320) opens and closes signal for sending to the second motor (43)；
It returns control unit (330), for sending the signal of reversion to all first motors (2)；
Preferably, the walking mechanism further includes the ultrasound for being set to the chassis (1) upper end and being connected with the controller (20)
Distance measuring sensor (30), the controller (20) further include:
Third receiving unit (340) is used for after receiving ultrasonic range finder sensor (30) collected range information to return
Control unit (330) sends instruction.
8. cable duct crusing robot walking mechanism as claimed in claim 7, which is characterized in that the walking mechanism further includes
For to first motor (2), the battery that the second motor (43) is powered, the electricity being connected with the battery and controller (20)
Sensor (60), the controller (20) further include:
Third judging unit (370), for receiving the electricity G of electrical quantity sensor (60) acquisition, when electricity G is more than power threshold
When, instruction is sent to control unit (330) are returned.
9. cable duct crusing robot walking mechanism as claimed in claim 6, which is characterized in that the walking mechanism further includes
The second distance measuring sensor (50) set on the chassis (1) upper end, the controller (20) further include:
5th processing unit (350), for the distance S of the second distance measuring sensor of real-time reception (50) acquisition, and by adjacent two
Difference △ S and difference threshold the △ S of a distance1It is compared, as △ S >=△ S1, sent to first motor control unit (360)
The instruction of first motor (2) is closed,
First motor control unit (360), for sending the signal closed and opened to first motor (2).
10. a kind of control system of cable duct crusing robot walking mechanism, which is characterized in that the control system includes first
Distance measuring sensor (10) and connect with first distance measuring sensor (10) for control first motor (2) movement controller
(20) and with the controller (20) host computer to communicate, the controller (20) are any described in claim 1-9
Controller.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810925522.0A CN109291031B (en) | 2018-08-15 | 2018-08-15 | Cable trench inspection robot walking mechanism and control system thereof |
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|---|---|---|---|
| CN201810925522.0A CN109291031B (en) | 2018-08-15 | 2018-08-15 | Cable trench inspection robot walking mechanism and control system thereof |
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| CN109291031B CN109291031B (en) | 2021-03-09 |
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| CN113725784A (en) * | 2021-09-16 | 2021-11-30 | 曾文锐 | Cable mechanical installation equipment for cable duct and use method thereof |
| CN113844675A (en) * | 2020-12-30 | 2021-12-28 | 上海飞机制造有限公司 | Detection system and control method |
| CN115639436A (en) * | 2022-10-19 | 2023-01-24 | 江苏遇宁智能科技有限公司 | Inspection robot and inspection method thereof |
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| CN109291031B (en) | 2021-03-09 |
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