CN109291031B

CN109291031B - Cable trench inspection robot walking mechanism and control system thereof

Info

Publication number: CN109291031B
Application number: CN201810925522.0A
Authority: CN
Inventors: 商小龙; 曾维鲁
Original assignee: Beijing Simaite Technology Co ltd
Current assignee: Beijing Simaite Technology Co ltd
Priority date: 2018-08-15
Filing date: 2018-08-15
Publication date: 2021-03-09
Anticipated expiration: 2038-08-15
Also published as: CN109291031A

Abstract

The invention provides a travelling mechanism of a cable trench inspection robot and a control system thereof, wherein the travelling mechanism comprises a chassis, two first motors are fixedly arranged on two opposite inner side walls of the chassis respectively, output shafts of the first motors penetrate through the side walls of the chassis, travelling wheels are arranged at the end parts of the output shafts, auxiliary wheel assemblies are arranged at the front end and the rear end of the chassis respectively, each auxiliary wheel assembly comprises a roller and a second motor for driving the roller to move, and the travelling mechanism has good obstacle crossing capability.

Description

Cable trench inspection robot walking mechanism and control system thereof

Technical Field

The invention belongs to the field of robot parts, and particularly relates to a travelling mechanism of a cable trench inspection robot and a control system thereof.

Background

With the rapid development of cities and power utilities, the supply of electric energy by cables in underground cable channels, tunnels and the like is a conventional way for electric energy transmission of a power system, but in the use process of the cables, the phenomena of fire and the like in the cable channels due to overheating and self insulation aging of the cables easily occur, and the phenomena seriously affect the normal power supply of the cables, so the cables need to be inspected; however, this method is labor-intensive and requires a great deal of labor. With the development of intelligent robots, the prior art discloses a plurality of robots for cable channel inspection in cable channels, for example, a cable track inspection robot disclosed in CN105576563A, and also a cable channel inspection robot disclosed in CN107910806A, the inspection robot disclosed in the prior art can both realize the inspection of the cable condition in the cable channel, and the robots all drive the robots to advance by setting a walking mechanism, but the walking mechanism of the robot disclosed in the prior art can only walk in a relatively stable cable channel, when the cable laying in the cable channel is complicated, the walking mechanism of the existing robot cannot pass through the cable, the obstacle crossing capability is poor, and when a motor driving the walking mechanism to move is entangled by the cable or is blocked, the walking mechanism disclosed above cannot drive the robot to walk.

Disclosure of Invention

In order to solve the problems in the prior art, the invention provides a travelling mechanism of a cable trench inspection robot and a control system thereof.

The specific technical scheme of the invention is as follows:

the utility model provides a robot running gear is patrolled and examined to cable pit, this running gear includes the chassis, each fixed mounting of two relative inside walls on chassis has two at least first motors, the output shaft of first motor passes the walking wheel is installed to the lateral wall and the tip on chassis, supplementary wheel subassembly is respectively installed at both ends around the chassis, supplementary wheel subassembly includes gyro wheel and drive the second motor of gyro wheel motion.

In a further improvement, the auxiliary wheel assembly further comprises a copper column, the roller wheel part is sleeved on the copper column and moves along with the copper column, an output shaft of the second motor is parallel to an output shaft of the first motor, and the end part of the second motor is connected with one end of the copper column; the second motor is fixed on one inner side wall of the chassis, a bearing is fixed at a corresponding position of the other opposite inner side wall of the chassis, and the other end of the copper column is fixed on the bearing.

In a further improvement, a thread is formed at one end of the copper column connected with the bearing, the bearing is fixedly connected with the copper column through the thread, a through hole for the output shaft of the second motor to go deep is formed at the other end of the copper column, and a horizontal plane is formed along the axial direction of the output shaft of the second motor.

In a further improvement, the roller comprises a hollow roller, and a plurality of groups of rolling tooth parts are arranged on the outer surface of the roller in parallel along the length direction; a sleeve coaxial with the roller is arranged at one end in the roller and is fixed on the inner wall of the roller through a connecting plate; the cross section of copper post is the polygon, telescopic inside wall cover is located on the copper post and the shaping be with copper post looks adaptation's structure.

The gear hobbing part comprises a first gear hobbing group and a second gear hobbing group, the first gear hobbing group and the second gear hobbing group are respectively composed of n gear hobbing groups which are parallel to each other and have the same interval, n is not less than 2, the included angle gamma between each gear hobbing and the horizontal plane is 10-30 degrees, the corresponding gear hobbing in the first gear hobbing group and the second gear hobbing group are not on the same transverse and longitudinal section, and the extended lines of the two corresponding gear hobbing groups form an included angle sigma of 20-60 degrees.

In a further improvement, the chassis comprises two first angle aluminums which are arranged in parallel, and two second angle aluminums which are parallel to the first angle aluminums are arranged between the two first angle aluminums.

Further improvement, running gear is still including locating the controller that at least two first range finding sensors of a chassis lateral surface and link to each other with first range finding sensor, first motor and second motor, the controller includes:

the starting signal sending unit is used for sending starting signals walking according to the rotating speed V to all the first motors, each first motor has a unique ID, and each ID is associated with the position of the first motor relative to the measured target;

the first receiving unit is used for receiving distance information a and b between the two first ranging sensors and a measured target in real time;

the first judging unit is used for judging the sizes of a and b, and sending an instruction to the first calculating unit when b is larger than a, and sending an instruction to the second calculating module when b is smaller than a;

the first calculation unit is used for calculating an included angle alpha between the travelling mechanism and the measured target, wherein tan alpha is (b-a)/h, and sending an instruction to the first control unit;

the second calculating unit is used for calculating an included angle beta between the travelling mechanism and the measured target, wherein tan beta is (a-b)/h, and sending an instruction to the second control unit;

the first control unit and the second control unit are used for sending control signals to the first motor so as to adjust the posture of the travelling mechanism;

preferably, the first control unit includes:

the first control module is used for sending control signals to the first motors, wherein the control signals comprise the ID and the corresponding rotating speed of each first motor, the rotating speeds of the two first motors close to one side of the measured object are V (1+ ktan alpha), k is a constant, and the rotating speeds of the two first motors far away from one side of the measured object are V;

preferably, the second control unit includes:

and the second control module is used for sending control signals to the first motors, wherein the control signals comprise the ID and the corresponding rotating speed of each first motor, the rotating speeds of the two first motors close to one side of the measured object are V (1-ktan beta), and the rotating speeds of the two first motors far away from one side of the measured object are V.

In a further refinement, the controller further comprises: the first control unit and the second control unit are also used for sending instructions to the third control unit;

the third control unit is used for receiving the distance information a and the distance information b transmitted by the first receiving unit in real time and judging after receiving the instruction, and is used for sending signals walking at the rotating speed V to all the first motors when judging that a is equal to b;

preferably, the controller further comprises: a second judging unit and a fourth control unit,

when the third control unit judges that a is b, the third control unit is also used for sending an instruction to the second judgment unit;

the second judgment unit is used for judging the sizes of a or b and s when the first judgment unit or the third judgment unit judges that a is b, sending a command to the fourth control unit when a or b is larger than s, and not processing when a or b is smaller than or equal to s, wherein s is the minimum limit distance between the travelling mechanism and the measured target;

the fourth control unit is used for sending a control signal to the first motor;

preferably, the fourth control unit includes:

the instruction sending module is used for sending control signals to the first motors and sending instructions to the first processing module, wherein the control signals comprise the ID and the corresponding rotating speed of each first motor, the rotating speeds of the two first motors close to one side of the measured object are mV, the rotating speeds of the two first motors far away from one side of the measured object are V, and m is more than 0 and less than 1;

the first processing module is used for receiving the distance information a and B generated by the first ranging sensor in real time after receiving the instruction, and when judging that Bsin theta is s, B is a or B,

and sending a control signal to the first motors and sending a command to the third control unit, wherein the control signal comprises the ID and the corresponding rotating speed of each first motor, the rotating speeds of the two first motors close to one side of the detected object are V, and the rotating speeds of the two first motors far away from one side of the detected object are mV.

In a further refinement, the first control unit further comprises:

the first judging module is used for judging the sizes of a and s, sending an instruction to the first control module when the asin theta is not more than s, and sending an instruction to the second judging module when the asin theta is more than s;

a second judgment module for judging the next time t₁Start detection of reception of a from a first receiving unit_t1When a is judged_t1When sin theta is less than or equal to s, sending an instruction to a first control module, and when a is less than or equal to s_t1When sin θ > s, judge a_t1Whether or not to be equal to a, if a_t1Sending an instruction to the fourth control unit if a_t1Not equal to a until a is judged_tnsin θ ═ s, a_tnRepresents t_nThe value of the moment a sends an instruction to the first control module;

preferably, the second control unit includes:

the third judging module is used for judging the sizes of b and s, sending an instruction to the second control module when b is less than or equal to s, and sending an instruction to the fourth judging module when b is greater than s;

a fourth judging module for judging the next time t₁Start detection of reception of b from a first receiving unit_t1When b is judged_t1When the value is less than or equal to s, sending an instruction to a second control module, and when b is less than or equal to s_t1When > s, judge a_t1Whether or not to be equal to a, if a_t1Sending an instruction to the fourth control unit if a_t1Not equal to a until b is judged_tnWhen is equal to s, b_tnRepresents t_nAnd the value of the moment b sends an instruction to the second control module.

In a further improvement, the traveling mechanism further comprises a pulse sensor connected to the controller and the first motor, and the controller further comprises:

the first comparison unit is used for receiving the pulse number x of each rotation of the first motor transmitted by the pulse sensor in real time and comparing the pulse number x with a pulse number threshold value x₁Making a comparison when x < x₁When the difference value Deltax of two adjacent x is larger than the difference threshold value Deltax₁Sending an instruction for starting the second motor to the auxiliary wheel control unit, and when the difference value delta x between two adjacent pulse numbers is less than or equal to delta x₁Sending an instruction for closing the second motor to the auxiliary wheel control unit, and continuously comparing the instructions when the difference value delta x of two adjacent pulse numbers is larger than delta x₁Sending an instruction to a return control unit;

an auxiliary wheel control unit for sending an on and off signal to the second motor;

a return control unit for sending reverse signals to all the first motors;

preferably, running gear still including locate chassis upper end and with the ultrasonic ranging sensor that the controller links to each other, the controller still includes:

and the third receiving unit is used for sending an instruction to the return control unit after receiving the distance information acquired by the ultrasonic distance measuring sensor.

In a further improvement, the traveling mechanism further comprises a storage battery for supplying power to the first motor and the second motor, and an electric quantity sensor connected with the storage battery and the controller, and the controller further comprises:

and the third judgment unit is used for receiving the electric quantity G collected by the electric quantity sensor and sending an instruction to the return control unit when the electric quantity G exceeds the electric quantity threshold value.

Further improvement, running gear is still including locating the second range sensor of chassis upper end, the controller still includes:

a fifth processing unit for receiving the distance S collected by the second distance measuring sensor in real time and comparing the difference value Delta S between two adjacent distances with the difference threshold value Delta S₁Comparing when the delta S is more than or equal to the delta S₁Sending a command to the first motor control unit to turn off the first motor,

and the first motor control unit is used for sending signals for closing and opening to the first motor.

The invention also provides a control system of the travelling mechanism of the cable trench inspection robot, which comprises a first distance measuring sensor, a controller connected with the first distance measuring sensor and used for controlling the movement of a first motor, and an upper computer communicated with the controller, wherein the controller is a controller in the travelling mechanism.

The invention has the beneficial effects that:

the invention provides a travelling mechanism of a cable trench inspection robot, which comprises an auxiliary wheel assembly, wherein the auxiliary wheel assembly can improve the obstacle crossing capability of the travelling mechanism.

Drawings

Fig. 1 is a schematic perspective view of a travelling mechanism of a cable trench inspection robot in embodiment 1;

fig. 2 is a top view of a travelling mechanism of the cable trench inspection robot in the embodiment 1;

FIG. 3 is a front view of the auxiliary wheel assembly of the present invention;

FIG. 4 is a cross-sectional view taken along line A-A of FIG. 3;

FIG. 5 is a perspective view of an auxiliary wheel assembly of the present invention without rollers;

FIG. 6 is a top view of the roller of the present invention;

FIG. 7 is a schematic perspective view of the base plate of the present invention;

FIG. 8 is a top view of the chassis of the present invention;

fig. 9 is a schematic perspective view of a travelling mechanism of the cable trench inspection robot in embodiment 3;

FIG. 10 is a front view of a travelling mechanism of the cable trench inspection robot in accordance with embodiment 3;

FIG. 11 is a block diagram showing the structure of a controller according to embodiment 4;

FIG. 12 is a schematic view showing the traveling mechanism at an angle α to the wall of the cable channel according to example 4;

fig. 13 is a schematic diagram of the posture of the traveling mechanism after the controller receives the control signal sent by the first control unit and controls the rotating speed of the first motor;

FIG. 14 is a schematic view of the travelling mechanism at an angle of β to the wall of the cable channel according to example 4;

fig. 15 is a schematic diagram of the posture of the traveling mechanism after the controller receives the control signal sent by the second control unit and controls the rotating speed of the first motor;

FIG. 16 is a block diagram showing the construction of a controller according to embodiment 5;

FIG. 17 is a block diagram showing a structure of a controller according to embodiment 6;

fig. 18 is a block diagram showing the configuration of a fourth control unit;

fig. 19 is a schematic view of the attitude of the traveling mechanism when a is equal to b;

fig. 20 is a schematic diagram of the controller receiving a control signal sent by the fourth control unit to adjust the posture of the traveling mechanism;

fig. 21 is a block diagram showing the structure of a first control unit;

FIG. 22 is a_t1sinθ＞s，a_t1When the angle is a, the attitude of the walking mechanism is shown schematically;

FIG. 23 is a_t1sinθ＞s，a_t1When not equal to a, the gesture schematic diagram of the walking mechanism;

fig. 24 is a block diagram showing the structure of a second control unit;

FIG. 25 is a_t1When not equal to a, the gesture schematic diagram of the walking mechanism;

FIG. 26 is a_t1When the angle is a, the attitude of the walking mechanism is shown schematically;

FIG. 27 is a block diagram showing the construction of a controller according to embodiments 9 and 10;

fig. 28 is a block diagram showing a controller according to embodiment 11.

Detailed Description

The invention will be described in further detail below with reference to the following examples and the accompanying drawings, wherein the dimensions of the drawings are appropriately scaled in order to clearly illustrate the claimed structure.

Example 1

The embodiment 1 of the invention provides a travelling mechanism of a cable trench inspection robot, which comprises a chassis 1 as shown in fig. 1, wherein the chassis 1 comprises two first angle aluminums 11 arranged in parallel as shown in fig. 7 and 8, and two second angle aluminums 12 parallel to the first angle aluminums 11 are arranged between the two first angle aluminums 11; the second angle aluminum is fixedly connected with the first angle aluminum through screws; as shown in fig. 2, two first motors 2 are fixedly mounted on two opposite inner side walls of the chassis 1, output shafts of the first motors 2 penetrate through the side walls of the chassis 1, walking wheels 3 are mounted at end portions of the output shafts, openings can be formed in the side walls of the chassis 1, first bearings are arranged at the openings, the output shafts of the first motors can penetrate through the first bearings, walking wheels are mounted at end portions of the output shafts, and the walking wheels can also be connected with the output shafts of the first motors through the bearings; the front end and the rear end of the chassis 1 are respectively provided with an auxiliary wheel assembly 4, as shown in fig. 3 and 4, each auxiliary wheel assembly 4 comprises a copper column 41, a roller 42 partially sleeved on the copper column 41 and moving along with the copper column 41, and a second motor 43 driving the copper column 41 to rotate, an output shaft of the second motor 43 is parallel to an output shaft of the first motor 2, and an end part of the second motor is connected with one end of the copper column 41; the second motor 43 is fixed on an inner side wall of the chassis 1 through a motor bracket 44, the motor bracket can be fixed on the side wall of the chassis through screws, a bearing 45 is fixed at a corresponding position of the other opposite inner side wall of the chassis 1, and the other end of the copper column 41 is fixed on the bearing 45.

Referring to fig. 4 and 5, a thread is formed at one end of the copper pillar 41 connected to the bearing 45, the bearing 45 is fixedly connected to the copper pillar 41 through the thread, a through hole 46 for the output shaft of the second motor 43 to penetrate is formed at the other end of the copper pillar 41, a horizontal plane 47 is formed along the axial direction of the output shaft of the second motor 43, and further, a boss matched with the horizontal plane is formed on the through hole to prevent the second motor from rotating relative to the through hole.

Referring to fig. 6, the roller 42 includes a hollow roller 421, and a plurality of sets of rolling teeth parts are arranged on the outer surface of the roller 421 in parallel along the length direction; one end in the roller 421 is provided with a sleeve 422 coaxial with the roller 421, and the sleeve 422 is fixed on the inner wall of the roller 421 through a connecting plate 423; the cross section of the copper column 41 is hexagonal, and the inner side wall of the sleeve 422 is sleeved on the copper column 41 and is formed into a structure matched with the copper column 41. The cross section of the inner side wall of the sleeve 422 is formed into a hexagon matched with the copper column, so that the effect of preventing relative rotation is achieved; the hobbing part comprises a first hobbing group and a second hobbing group, the first hobbing group and the second hobbing group are respectively composed of 4 hobbing 424 which are parallel to each other and have the same interval, and the corresponding hobbing 424 in the first hobbing group and the second hobbing group are not on the same transverse and longitudinal sections.

The travelling mechanism provided by the invention is provided with the auxiliary wheel assembly, and when the first motor is locked, the auxiliary wheel assembly can drive the whole travelling mechanism to travel, so that the obstacle crossing capability of the whole travelling mechanism is improved. The second motor in the auxiliary wheel assembly can be started together with the first motor as required, and the starting of the first motor and the second motor can be controlled by a remote controller.

Example 2

Embodiment 2 of the present invention provides a travelling mechanism of a cable trench inspection robot, which is substantially the same as that in embodiment 1, except that, with reference to fig. 3, an included angle γ between each hobbing 424 and a horizontal plane is 15 °, corresponding hobbing 424 in the first hobbing group and the second hobbing group are not on the same horizontal and vertical cross-section, and an extended line where two corresponding hobbing 424 are located forms an included angle σ of 30 °.

The obstacle crossing capability of the walking mechanism can be obviously improved by limiting the included angles between the hobbing and the horizontal plane and between the hobbing sets and the corresponding gears.

Example 3

Embodiment 3 of the present invention provides a travelling mechanism of a cable trench inspection robot, which is basically the same as that in embodiment 1, except that, as shown in fig. 9 and 10, a supporting plate 6 is installed on a chassis 1 through four upright posts 5 which are vertically placed, and one side of the supporting plate 6 is provided with a first inspection edge strip 7 and a second inspection edge strip 8 which are parallel to each other.

Example 4

Embodiment 4 of the present invention provides a travelling mechanism of a cable trench inspection robot, which is basically the same as that in embodiment 3, except that the travelling mechanism further includes two first distance measuring sensors 10 disposed on an outer side surface of the chassis 1, preferably, the first distance measuring sensors can be disposed on an outer side surface of the first inspection edge strip 7, and a controller 20 connected to the first distance measuring sensors 10, the first motor 2, and the second motor 43, as shown in fig. 11, where the controller 20 includes:

a starting signal sending unit 200, configured to send a starting signal to the first motors 2, where the starting signal travels at a rotation speed V, each first motor 2 has a unique ID, and each ID is associated with a position of the first motor 2 relative to a target to be measured;

a first receiving unit 210 for receiving distance information a and b measured by the two first ranging sensors 10 from the target in real time;

the first judging unit 220 is used for judging the sizes of a and b, and sending an instruction to the first calculating unit 230 when b is larger than a, and sending an instruction to the second calculating module when b is smaller than a;

the first calculating unit 230 is configured to calculate an included angle α between the traveling mechanism and the measured target, where tan α is (b-a)/h, and send an instruction to the first control unit 250;

the second calculating unit 240 is configured to calculate an included angle β between the traveling mechanism and the target to be measured, where tan β is (a-b)/h, and send an instruction to the second control unit 260;

the first control unit 250 and the second control unit 260 are used for sending control signals to the first motor 2 and sending instructions to the third control unit 270;

and the third control unit 270 is configured to receive and determine the distance information a and b transmitted by the first receiving unit 210 in real time after receiving the instruction, and send signals for walking at the rotation speed V to all the first motors 2 when determining that a is equal to b.

Because the environment in the cable channel is complex, in order to ensure that the travelling mechanism can travel along the cable channel and avoid the collision with the cable channel and the like, the angle formed between the travelling mechanism and the cable channel wall is further judged, and when the travelling mechanism does not travel along the cable channel wall, the first control unit and the second control unit send control signals to the travelling mechanism so as to control the posture of the travelling mechanism to travel along the cable channel wall, and the specific flow is as follows:

firstly, a controller sends a starting signal to a first motor, the rotating speed of the first motor is limited, the first motor starts to work and drives a travelling mechanism to travel, and a first distance measuring sensor is arranged in the travelling mechanism in the travelling process and transmits acquired data to the controller; the controller judges the posture (posture relative to the cable channel wall) of the travelling mechanism according to the received distance information, and when the cable channel wall is not in a parallel structure, the travelling mechanism and the travelling mechanism can form two states, as shown in fig. 12 and 14, the first state is that the travelling mechanism and the cable channel wall form an alpha included angle, the second state is that the travelling mechanism and the cable channel wall form a beta included angle, the first state is that if the travelling mechanism continues to travel forwards, the situation that the travelling mechanism collides with the cable channel wall possibly exists, and the second state is that the travelling mechanism does not travel along the cable channel wall; therefore, the walking route of the walking mechanism needs to be adjusted, the invention is realized by controlling the rotating speeds of the four first motors, and the specific control method comprises the following steps:

the first control unit 250 includes:

the first control module 251 is configured to send a control signal to the first motors 2, where the control signal includes an ID of each first motor 2 and a corresponding rotation speed, where the rotation speeds of the two first motors 2 close to one side of the measured object are V (1+ ktan α), k is a constant, and the rotation speeds of the two first motors 2 far away from one side of the measured object are V;

the second control unit 260 includes:

the second control module 261 is configured to send a control signal to the first motors 2, where the control signal includes an ID of each first motor 2 and a corresponding rotation speed, where the rotation speeds of the two first motors 2 close to one side of the measured object are V (1-ktan β), and the rotation speeds of the two first motors 2 far away from one side of the measured object are V.

In the first case, the traveling mechanism needs to rotate left to travel along the cable trench wall, as shown in fig. 13, the rotation speeds of the two first motors near one side of the cable trench wall need to be increased, in the second case, the traveling mechanism needs to rotate right to travel along the cable trench wall, as shown in fig. 15, the rotation speeds of the two motors far away from one side of the cable trench wall need to be increased, and when the traveling mechanism travels parallel to the cable trench wall, signals for traveling according to the rotation speeds V are sent to the four first motors, so that the posture of the traveling mechanism is adjusted.

Example 5

Embodiment 5 of the present invention provides a travelling mechanism of a cable trench inspection robot, which is basically the same as that in embodiment 4, except that the travelling mechanism further includes a pulse sensor 70 connected to the controller 20 and the first motor 2, and as shown in fig. 16, the controller 20 further includes:

a first comparing unit 300 for receiving the pulse number x of each rotation of the first motor 2 transmitted by the pulse sensor 70 in real time and comparing the received pulse number x with a pulse number threshold x₁Making a comparison when x < x₁When the difference value Deltax of two adjacent x is larger than the difference threshold value Deltax₁Sending an instruction to turn on the second motor 43 to the auxiliary wheel control unit 320 when the difference value Deltax between two adjacent pulse numbers is less than or equal to Deltax₁Sending an instruction to turn off the second motor 43 to the auxiliary wheel control unit 320, and continuing the comparison, when the difference Δ x between two adjacent pulse numbers is larger than Δx₁Sending an instruction to the return control unit 330;

an auxiliary wheel control unit 320 for transmitting on and off signals to the second motor 43;

a return control unit 330 for sending a reverse signal to all the first motors 2.

In the walking process of the walking mechanism, if the walking mechanism meets an obstacle, the first motor possibly has a locked rotor phenomenon, and whether the locked rotor phenomenon occurs to the first motor is judged according to the pulse number acquired by the pulse sensor; if the stalling phenomenon occurs, an opening instruction is sent to the second motor, then whether the stalling phenomenon still exists in the first motor is continuously judged, if the stalling phenomenon does not exist, the second motor is closed, and if the stalling scene still exists, the obstacle does not pass, and a return instruction is sent to the traveling mechanism. The arrangement of the second motor can obviously improve the obstacle crossing capability of the walking structure.

Example 6

Embodiment 6 of the present invention provides a travelling mechanism of a cable trench inspection robot, which is basically the same as that of embodiment 5, except that, as shown in fig. 17, the controller 20 further includes: the second determining unit 280 and the fourth controlling unit 290, when the third controlling unit 270 determines that a is equal to b, the third controlling unit 270 is further configured to send an instruction to the second determining unit 280;

the second judging unit 280, when the first judging unit 220 or the third controlling unit 270 judges that a is b, is used for judging the sizes of a, b and s, when a or b is greater than s, sends an instruction to the fourth controlling unit 290, when a or b is less than or equal to s, does not process, and s is the minimum limit distance between the walking mechanism and the measured object;

a fourth control unit 290 for sending a control signal to the first motor 2;

as shown in fig. 18, the fourth control unit 290 includes:

the instruction sending module 291 is configured to send a control signal to the first motors 2 and send an instruction to the first processing module 292, where the control signal includes an ID of each first motor 2 and a corresponding rotation speed, where the rotation speeds of the two first motors 2 close to one side of the measured object are mV, the rotation speeds of the two first motors 2 far away from one side of the measured object are V, and m is greater than 0 and less than 1;

the first processing module 292, upon receiving the command, is configured to receive the distance information a and B generated by the first ranging sensor 10 in real time, and when determining that Bsin θ is s, where B is a or B,

and sends a control signal to the first motors 2 and a command to the third control unit 270, where the control signal includes the ID and the corresponding rotation speed of each first motor 2, the rotation speeds of the two first motors 2 close to the side of the measured object are V, and the rotation speeds of the two first motors 2 far away from the side of the measured object are mV.

When the first judging unit or the third controlling unit judges that the traveling mechanism is parallel to the cable trench wall, as shown in fig. 19, in order to avoid the obstacle to the greatest extent, the traveling mechanism is further limited to travel along a distance s of the cable trench wall, where s is a minimum limit distance between the traveling mechanism and the cable trench wall; continuing to examine fig. 19, at this time, a is b, and a > s, in order to shorten the distance between the running mechanism and the cable channel wall, the posture of the running mechanism needs to be adjusted, a schematic diagram of the posture of the running mechanism is shown in fig. 20, at this time, the rotating speeds of the two outer motors need to be increased, the adjusted rotating speed is only required to be greater than the rotating speeds of the two inner first rotating speeds, when the distance between the running mechanism and the cable channel wall is s when the distance between the running mechanism and the cable channel wall is adjusted to be s, then the running mechanism is adjusted to be in a posture parallel with the cable channel wall, at this time, the rotating speed of the first motor is adjusted according to an adjustment strategy opposite to the previous one, so that the running mechanism can be parallel with the cable channel wall, and then runs along the cable channel wall, and the effect of avoiding obstacles can be.

Example 7

Embodiment 7 of the present invention provides a travelling mechanism of a cable trench inspection robot, which is basically the same as that in embodiment 4, except that, as shown in fig. 21, the first control unit 250 further includes:

the first judging module 252 is used for judging the sizes of a and s, sending an instruction to the first control module 251 when the asin theta is not more than s, and sending an instruction to the second judging module 253 when the asin theta is more than s;

a second determining module 253 for determining the next time t₁Start detecting reception of a from the first receiving unit 210_t1When a is judged_t1sin theta ≦ s, sending an instruction to the first control module 251, when a_t1When sin θ > s, judge a_t1Whether or not to be equal to a, if a_t1Sends an instruction to the fourth control unit 290 if a_t1Not equal to a until a is judged_tnsin θ ═ s, a_tnRepresents t_nThe value at time a sends an instruction to the first control module 251.

The present invention further defines the first control unit for determining how to adjust the attitude of the traveling mechanism, and specifically includes: firstly, judging the sizes of a and s, if asin theta is not more than s, indicating that the travelling mechanism and the cable channel wall have reached the minimum limit distance, if the posture of the travelling mechanism is not adjusted immediately, the travelling mechanism possibly collides with the cable channel wall, so that the rotating speeds of four first motors need to be adjusted, and the adjustment mode is shown in figure 13; when asin theta > s, a for the next time can be_t1Judging that the distance between a and b is unequal due to the fact that a small recess or a small protrusion possibly exists on the wall of the cable channel, and further judging the situation to the next moment a_t1When a is large or small, the judgment is made_t1If sin theta is less than or equal to s, the attitude of the travelling mechanism is adjusted according to the regulation and control method of the first control module, and if a is less than or equal to s_t1sin θ > s, judging a_t1Whether or not to be equal to a, if a_t1If the cable channel wall is parallel while the vehicle continues to travel, the structural schematic diagram is shown in 22, and then the posture of the traveling mechanism is adjusted according to the regulation and control method of the fourth control unit; if a is_t1Not equal to a, see fig. 23, the traveling mechanism continues to travel until it is determined that the value a at a certain time tn satisfies a_tnAnd when sin theta is equal to s, adjusting the posture of the travelling mechanism according to the regulation and control mode of the first control module.

Example 8

Embodiment 8 of the present invention provides a travelling mechanism of a cable trench inspection robot, which is basically the same as that of embodiment 4, except that, as shown in fig. 24, the second control unit 260 includes:

the third judging module 262 is used for judging the sizes of b and s, when b is less than or equal to s, sending an instruction to the second control module 261, and when b is greater than s, sending an instruction to the fourth judging module 263;

a fourth determining module 263 for determining the next time t₁Start detecting reception of a from the first receiving unit 210_t1And b_t1When b is judged_t1When the value is less than or equal to s, an instruction is sent to the second control module 261, and when b is less than or equal to s_t1When > s, judge a_t1Whether or not to be equal to a, if a_t1Sends an instruction to the fourth control unit 290 if a_t1Not equal to a until b is judged_tnWhen is equal to s, b_tnRepresents t_nThe value at time b sends an instruction to the second control module 261.

The present invention further defines the second control unit for determining how to adjust the attitude of the traveling mechanism, and specifically includes: for judging the next moment a_t1If a is_t1Not equal to a, as shown in fig. 25, the attitude of the running gear needs to be adjusted, and the diagram of the adjusted attitude is shown in fig. 15, if a_t1Referring to fig. 26, the next time the cable trench wall is flat, so that a is judged_t1And s, when a_t1When the walking mechanism walks to a b, the posture is adjusted, the walking mechanism stops waiting for the command of the controller, and if a is less than or equal to s, the walking mechanism stops waiting for the command of the controller_t1And s, adjusting the posture of the travelling mechanism according to a fourth control unit.

Example 9

Embodiment 9 of the present invention provides a travelling mechanism of a cable trench inspection robot, which is substantially the same as that in embodiment 5, except that, as shown in fig. 27, the travelling mechanism further includes an ultrasonic distance measuring sensor 30 that is arranged at the upper end of the chassis 1 (preferably on the supporting plate 6) and is connected to the controller 20, and the controller 20 further includes:

the third receiving unit 340 is configured to send an instruction to the return control unit 330 after receiving the distance information acquired by the ultrasonic ranging sensor 30.

Because ultrasonic sensor is located the chassis top, when the front met prevent obstacles such as hot wall that can not cross, ultrasonic distance measuring sensor will detect the distance, after the controller received the distance, sent the reversal instruction to first motor, and then let running gear return.

Example 10

Embodiment 10 of the present invention provides a travelling mechanism of a cable trench inspection robot, which is substantially the same as that in embodiment 9, except that, with reference to fig. 27, the travelling mechanism further includes a storage battery for supplying power to the first motor 2 and the second motor 43, and an electric quantity sensor 60 connected to the storage battery and the controller 20, and the controller 20 further includes:

the third determining unit 370 is configured to receive the electric quantity G collected by the electric quantity sensor 60, and send an instruction to the return control unit 330 when the electric quantity G exceeds the electric quantity threshold.

Because running gear is by the battery power supply, when the electric quantity of battery reaches a certain amount, need let running gear return, otherwise when the battery electric quantity exhausts, be inconvenient for take out the robot.

Example 11

Embodiment 11 of the present invention provides a travelling mechanism of a cable trench inspection robot, which is basically the same as that in embodiment 10, except that, as shown in fig. 28, the travelling mechanism further includes a second distance measuring sensor 50 disposed at an upper end of the chassis 1, and the controller 20 further includes:

a fifth processing unit 350, configured to receive the distance S collected by the second distance measuring sensor 50 in real time, and compare the difference Δ S between two adjacent distances with the difference threshold Δ S₁Comparing when the delta S is more than or equal to the delta S₁Sends an instruction to the first motor control unit 360 to turn off the first motor 2,

a first motor control unit 360 for sending off and on signals to the first motor 2.

When running gear returned, need judge its position that returns, second range finding light sense ware can be used for measuring running gear and perpendicular top's distance, because the distance with the cable duct is in certain extent, when the lid of cable duct top was opened, the distance of running gear distance top just had taken place huge change this moment, let running gear stop the walking this moment, made things convenient for staff's processing to running gear.

Example 12

Embodiment 12 of the present invention provides a control system for a travelling mechanism of a cable trench inspection robot, as shown in fig. 11, the control system includes a first distance measuring sensor 10 and a controller 20 connected to the first distance measuring sensor 10 and configured to control a movement of a first motor 2, where the controller 20 includes:

The control system provided by the present invention may further include a third control unit, a fourth control unit, and a second determination unit, see fig. 16, 17, 18, 21, and 24, 27, and 28 in particular.

Claims

1. The walking mechanism of the cable trench inspection robot is characterized by comprising a chassis (1), wherein at least two first motors (2) are fixedly mounted on two opposite inner side walls of the chassis (1), output shafts of the first motors (2) penetrate through the side walls of the chassis (1), walking wheels (3) are mounted at the end parts of the output shafts, auxiliary wheel assemblies (4) are mounted at the front end and the rear end of the chassis (1), and each auxiliary wheel assembly (4) comprises a roller (42) and a second motor (43) for driving the roller (42) to move; the auxiliary wheel assembly (4) further comprises a copper column (41), the roller (42) is partially sleeved on the copper column (41) and moves along with the copper column (41), an output shaft of the second motor (43) is parallel to an output shaft of the first motor (2), and the end part of the second motor is connected with one end of the copper column (41); the second motor (43) is fixed on one inner side wall of the chassis (1), a bearing (45) is fixed at a corresponding position of the other opposite inner side wall of the chassis (1), and the other end of the copper column (41) is fixed on the bearing (45); a thread is formed at one end, connected with the bearing (45), of the copper column (41), the bearing (45) is fixedly connected with the copper column (41) through the thread, a through hole (46) for the output shaft of the second motor (43) to go deep is formed at the other end of the copper column (41), and a horizontal plane (47) is formed along the axial direction of the output shaft of the second motor (43); the roller comprises a hollow roller, and a plurality of groups of rolling tooth parts are arranged on the outer surface of the roller in parallel along the length direction; a sleeve coaxial with the roller is arranged at one end in the roller and is fixed on the inner wall of the roller through a connecting plate; the cross section of the copper column is polygonal, the inner side wall of the sleeve is sleeved on the copper column and is formed into a structure matched with the copper column, the hobbing part comprises a first hobbing group and a second hobbing group, the first hobbing group and the second hobbing group are respectively composed of n parallel hobbing teeth with the same interval, n is larger than or equal to 2, the included angle gamma between each hobbing tooth and the horizontal plane is 10-30 degrees, corresponding hobbing teeth in the first hobbing group and the second hobbing group are not on the same transverse and longitudinal sections, and the extended lines of the two corresponding hobbing teeth form an included angle sigma of 20-60 degrees.

2. The cable trench inspection robot traveling mechanism according to claim 1, further comprising at least two first distance measuring sensors (10) disposed on an outer side surface of the chassis (1), and a controller (20) connected to the first distance measuring sensors (10), the first motor (2), and the second motor (43), wherein the controller (20) comprises:

the starting signal sending unit (200) is used for sending starting signals walking according to the rotating speed V to all the first motors (2), each first motor (2) has a unique ID, and each ID is related to the position of the first motor (2) relative to a detected target;

a first receiving unit (210) for receiving distance information a and b measured by the first ranging sensor (10) from the target in real time;

the first judging unit (220) is used for judging the sizes of a and b, and sending an instruction to the first calculating unit (230) when b is larger than a, and sending an instruction to the second calculating module when b is smaller than a;

the first calculation unit (230) is used for calculating an included angle alpha between the travelling mechanism and the measured object, wherein tan alpha is (b-a)/h, and sending an instruction to the first control unit (250);

the second calculating unit (240) is used for calculating an included angle beta between the travelling mechanism and the measured object, wherein tan beta is (a-b)/h, and sending an instruction to the second control unit (260);

the first control unit (250) and the second control unit (260) are used for sending control signals to the first motor (2) so as to adjust the posture of the travelling mechanism.

3. The cable trench inspection robot traveling mechanism according to claim 2, wherein the first control unit (250) includes:

the first control module (251) is used for sending control signals to the first motors (2), wherein the control signals comprise the ID and the corresponding rotating speed of each first motor (2), the rotating speeds of the two first motors (2) close to one side of the measured object are V (1+ ktan alpha), k is a constant, and the rotating speeds of the two first motors (2) far away from one side of the measured object are V.

4. The cable trench inspection robot traveling mechanism according to claim 2, wherein the second control unit (260) includes:

and the second control module (261) is used for sending control signals to the first motors (2), wherein the control signals comprise the ID and the corresponding rotating speed of each first motor (2), the rotating speeds of the two first motors (2) close to one side of the measured object are V (1-ktan beta), and the rotating speeds of the two first motors (2) far away from one side of the measured object are V.

5. The cable trench inspection robot travel mechanism according to claim 2, wherein the controller (20) further includes: a third control unit (270), the first control unit (250) and the second control unit (260) being further configured to send instructions to the third control unit (270);

and the third control unit (270) is used for receiving the distance information a and b transmitted by the first receiving unit (210) in real time and judging after receiving the instruction, and is used for sending signals walking at the rotating speed V to all the first motors (2) when judging that a is equal to b.

6. The cable trench inspection robot travel mechanism according to claim 5, wherein the controller (20) further includes: the device comprises a second judging unit (280) and a fourth control unit (290), wherein when the third control unit (270) judges that a is equal to b, the third control unit is also used for sending an instruction to the second judging unit (280);

the second judging unit (280) is used for judging the sizes of a or b and s when the first judging unit (220) or the third controlling unit (270) judges that a is equal to b, when a or b is larger than s, a command is sent to the fourth controlling unit (290), when a or b is smaller than or equal to s, no processing is carried out, and s is the minimum limit distance between the walking mechanism and the measured object;

a fourth control unit (290) for sending a control signal to the first motor (2).

7. The cable trench inspection robot traveling mechanism according to claim 6, wherein the fourth control unit (290) includes:

the instruction sending module (291) is used for sending a control signal to the first motors (2) and sending an instruction to the first processing module (292), wherein the control signal comprises the ID and the corresponding rotating speed of each first motor (2), the rotating speeds of the two first motors (2) close to one side of the measured object are mV, the rotating speeds of the two first motors (2) far away from one side of the measured object are V, and 0 < m < 1;

the first processing module (292) is used for receiving the distance information a and B generated by the first ranging sensor (10) in real time after receiving the instruction, and when judging that Bsin theta is s, B is a or B,

and sending a control signal to the first motors (2) and sending a command to a third control unit (270), wherein the control signal comprises the ID and the corresponding rotating speed of each first motor (2), the rotating speeds of the two first motors (2) close to one side of the measured object are V, and the rotating speeds of the two first motors (2) far away from one side of the measured object are mV.

8. The cable trench inspection robot travel mechanism according to claim 7, wherein the first control unit (250) further includes:

the first judging module (252) is used for judging the sizes of a and s, when the asin theta is not more than s, an instruction is sent to the first control module (251), and when the asin theta is more than s, an instruction is sent to the second judging module (253);

a second judging module (253) for judging from the next moment t₁Start detection of a reception from a first receiving unit (210)_t1When a is judged_t1When sin theta is less than or equal to s, sending an instruction to a first control module (251) when a_t1When sin θ > s, judge a_t1Whether or not to be equal to a, if a_t1A to a fourth control unit (a)290) Send an instruction if a_t1Not equal to a until a is judged_tnsin θ ═ s, a_tnRepresents t_nThe value of time a sends an instruction to the first control module (251).

9. The cable trench inspection robot traveling mechanism according to claim 8, wherein the second control unit (260) includes:

the third judging module (262) is used for judging the sizes of b and s, when b is not more than s, an instruction is sent to the second control module (261), and when b is more than s, an instruction is sent to the fourth judging module (263);

a fourth judging module (263) for judging from the next time t₁Start detection of a reception from a first receiving unit (210)_t1And b_t1When b is judged_t1When the value is less than or equal to s, sending an instruction to a second control module (261), and when b is less than or equal to s_t1When > s, judge a_t1Whether or not to be equal to a, if a_t1Sending an instruction to the fourth control unit (290) if a_t1Not equal to a until b is judged_tnWhen is equal to s, b_tnRepresents t_nThe value at time b sends an instruction to the second control module (261).

10. The cable trench inspection robot travel mechanism according to claim 8, wherein the travel mechanism further includes a pulse sensor (70) coupled to the controller (20) and the first motor (2), the controller (20) further including:

a first comparison unit (300) for receiving the pulse number x of each rotation of the first motor (2) transmitted by the pulse sensor (70) in real time and comparing the pulse number x with a pulse number threshold value x₁Making a comparison when x < x₁When the difference value Deltax of two adjacent x is larger than the difference threshold value Deltax₁Sending an instruction for starting the second motor (43) to the auxiliary wheel control unit (320), and continuing to compare the instructions until the difference value delta x between two adjacent pulse numbers is less than or equal to delta x₁Sending an instruction to turn off the second motor (43) to the auxiliary wheel control unit (320), when the difference between two adjacent pulse numbers is delta x > -delta x₁Sending an instruction to a return control unit (330);

an auxiliary wheel control unit (320) for sending on and off signals to the second motor (43);

a return control unit (330) for sending a reverse signal to all the first motors (2).

11. The cable trench inspection robot traveling mechanism according to claim 9, wherein the traveling mechanism further includes an ultrasonic distance measuring sensor (30) provided at an upper end of the chassis (1) and connected to the controller (20), and the controller (20) further includes:

and the third receiving unit (340) is used for sending an instruction to the return control unit (330) after receiving the distance information acquired by the ultrasonic distance measuring sensor (30).

12. The cable trench inspection robot travel mechanism according to claim 11, wherein the travel mechanism further includes a battery for powering the first motor (2), the second motor (43), a power sensor (60) connected to the battery and the controller (20), the controller (20) further including:

and the third judging unit (370) is used for receiving the electric quantity G collected by the electric quantity sensor (60), and sending an instruction to the return control unit (330) when the electric quantity G exceeds the electric quantity threshold value.

13. The cable trench inspection robot traveling mechanism according to claim 12, wherein the traveling mechanism further includes a second distance measuring sensor (50) provided at an upper end of the chassis (1), and the controller (20) further includes:

a fifth processing unit (350) for receiving the distance S collected by the second distance measuring sensor (50) in real time and comparing the difference value deltaS between two adjacent distances with the difference threshold value deltaS₁Comparing when the delta S is more than or equal to the delta S₁Sending an instruction to the first motor control unit (360) to turn off the first motor (2),

a first motor control unit (360) for sending a signal to the first motor (2) to turn off and on.

14. The utility model provides a control system of robot running gear is patrolled and examined to cable pit, characterized in that, control system include first range finding sensor (10) and with first range finding sensor (10) connect be used for controlling the controller (20) of first motor (2) motion and with the host computer of controller (20) looks communication, controller (20) be the controller of any one of claim 2-13.