CN109291032A - Buried cable channel information sniffing robot - Google Patents
Buried cable channel information sniffing robot Download PDFInfo
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- CN109291032A CN109291032A CN201811217866.2A CN201811217866A CN109291032A CN 109291032 A CN109291032 A CN 109291032A CN 201811217866 A CN201811217866 A CN 201811217866A CN 109291032 A CN109291032 A CN 109291032A
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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Abstract
Buried cable channel information sniffing robot of the present invention belongs to buried cable channel information sniffing robot technical field；Technical problem to be solved are as follows: a kind of buried cable channel information sniffing robot is provided；Solve the technical solution of technical problem use are as follows: including car body, the bottom of the car body is provided with chassis, and the both ends on the chassis are provided with Athey wheel, and the driving end of the Athey wheel is connect by gear with transmission motor；The front end of the car body is provided with camera and headlamp；Gyro sensor is provided at the top of the car body；The rear portion of the car body is provided with data communication module；The rear portion on the chassis is additionally provided with cable recover；The inside of the car body is additionally provided with control circuit board, and central controller is integrated in the control circuit board, and the signal output end of the central controller is connected with transmission motor, headlamp, data communication module, cable recover respectively；The present invention is applied in buried cable channel.
Description
Technical field
Buried cable channel information sniffing robot of the present invention belongs to buried cable channel information sniffing robot technology neck
Domain.
Background technique
Very more using the field of robot at present, robot develops towards intelligent, diversified direction；Wherein, underground
Robot mainly includes digging robot and underground pipeline robot two major classes, main research are as follows: mechanical structure, Running System
System, sensor and positioning system, control system, communication and remote control technology；It has developed at present applied to petroleum, natural gas etc.
The robot of large-scale pipeline maintenance, various robots and automated system are also developing in development.
Underground piping detector is developed, underground electric pipe network position data is obtained, can be built for smart city and number is provided
Electric power Underground Pipe Network Information System is constructed, specification is electrically by geographical information technology and three-dimensional virtual reality technology according to support
The data acquisition of lower pipe network arranges, the technical requirements of displaying and shared link, can not only strengthen smart city infrastructure, but also
Can electrically to descend the information system management of pipe network to provide unified standard and workflow, be the planning of smart city, construction,
Management provides computer aided technique decision support.
Experience abundant has been had accumulated to based on Internet of Things and three-dimension GIS urban pipe network system aspects both at home and abroad, and needle
Less to the research of the tube Net Information System of the polynary energy, one of obstacle is that ground wire cable passage information detection machine
The development of people；With the development of smart city, the pipe network information management of the polynary energy will be put forward higher requirements, therefore be studied and divided
It analyses the electric power underground pipe network three-dimensional control towards smart city and evaluates key technology with equipment state, established using intelligent robot
Smart city cable passage database has become the project for needing further investigation.
Summary of the invention
The present invention is in order to overcome the deficiencies in the prior art, technical problem to be solved are as follows: provides a kind of underground
Cable passage information detection robot；In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention are as follows: buried cable is logical
Road information detection robot, including car body, the bottom of the car body are provided with chassis, and the both ends on the chassis are provided with crawler belt
The driving end of wheel, the Athey wheel is connect by gear with transmission motor；
The front end of the car body is provided with camera and headlamp；
Gyro sensor is provided at the top of the car body；
The rear portion of the car body is provided with data communication module；
The rear portion on the chassis is additionally provided with cable recover；
The inside of the car body is additionally provided with control circuit board, is integrated with central controller in the control circuit board, it is described in
The signal output end of controller is entreated to be connected respectively with transmission motor, headlamp, data communication module, cable recover；
The signal input part of the central controller is connected with camera, gyro sensor respectively, the central controller
Signal input part is also connected with GPS positioning module；
The data communication module is connected with monitoring computer；
The power input of the central controller is connected with power module.
The chip that the central controller uses is control chip U1, the circuit structure of the central controller are as follows:
One end of the 34 foot shunt-wound capacitance C19 of the control chip U1 is followed by 5V input power, another termination of the capacitor C19
Ground；
The 43 feet ground connection of the control chip U1；
13 feet of the control chip U1 connect reset circuit；
16 feet of the control chip U1 and one end of connecting resistance R55, are connected behind one end of crystal oscillator Y1 with one end of capacitor C2；
17 feet of the control chip U1 and the other end of connecting resistance R55, one end phase after the other end of crystal oscillator Y1 with capacitor C3
Even；
The capacitor C2, capacitor C3 the other end be grounded；
44 feet of the control chip U1 simultaneously connect 24 feet for controlling chip U1, one end phase behind one end of inductance L1 with capacitor C4
Even, the other end ground connection of the capacitor C4；
42 feet of the control chip U1 are sequentially connected in series capacitor C5, are grounded after inductance L2；
14 feet of the control chip U1 simultaneously connect 2 feet of control chip U1, after the other end of inductance L1 with+5V input power phase
Even；
15 feet of the control chip U1 are simultaneously grounded after connecing control 23 feet of chip U1,35 feet, 0 foot；
One end of the 7 foot shunt-wound capacitance C20 of the control chip U1 is followed by 5V input power, another termination of the capacitor C20
Ground；
It is connected behind 41 feet for controlling chip U1 and the one end for meeting photo resistance RL2 with one end of photo resistance RL1, the light
The other end series resistor R34 of quick resistance RL2 is followed by 5V input power, the other end ground connection of the photo resistance RL1；
20 feet, 21 feet of the control chip U1 connect programming interface；
25 feet of the control chip U1 are connected with keyboard；
26 feet, 27 feet, 1 foot, 31 feet of the control chip U1 are connected with drive motor control terminal；
32 feet, 8 feet, 28 feet of the control chip U1 are connected with avoidance obstacle module；
9 feet of the control chip U1 are connected with 3 feet of port P1；
11 feet of the control chip U1 are connected with 1 foot of port P1；
It is connected behind 5 feet of the port P1 and one end of connecting resistance R7 with one end of button switch S2, the resistance R7's is another
End is connected with 5V input power, the other end ground connection of the button S2；
6 feet of the port P1 are grounded；
It is connected after the 4 foot series resistor R9 of the port P1 with the base stage of triode Q3, the collector of the triode Q3 and bee
The cathode of ring device SP is connected, the emitter ground connection of the triode Q3；
One end of the 2 foot shunt-wound capacitance C7 of the port P1 is connected behind one end of resistance R8 with 5V input power, the capacitor C7
The other end ground connection, the anode of another termination buzzer SP of the resistance R8；
It is connected behind 29 feet for controlling chip U1 and one end of connecting resistance R59 with one end of resistance R60, the resistance R60's
Other end ground connection, another termination VCC input power of the resistance R59.
The chip that the power module uses is field-effect tube U2, voltage-stablizer U3, U4, the circuit structure of the power module
Are as follows:
One end of the power input VCC and connecting resistance R12 of the power module, one end of resistance R13, the 3 of field-effect tube U2
Foot is connected after 2 feet of field-effect tube U2 with 1 foot of field-effect tube U2；
One end of the other end of the resistance R12 and connecting resistance R11, after the drain electrode of field-effect tube Q1 with the grid of field-effect tube Q2
It is connected；
One end of the other end shunt-wound capacitance C8 of the resistance R11, one end phase behind one end of resistance R10 with button switch S1
Even, it is grounded after the other end of the other end shunt-wound capacitance C8 of the resistance R10；
The other end of the button switch S1 is simultaneously connected after connecing the grid of field-effect tube Q1 with one end of resistance R14；
The source electrode of the field-effect tube Q1, the source electrode of field-effect tube Q2 are grounded respectively；
The drain electrode of the field-effect tube Q2 and the other end of connecting resistance R13, after the other end of resistance R14 with field-effect tube U2 4
Foot is connected；
5 feet of the field-effect tube U2 successively and connect 6 feet, 7 feet, 8 feet of field-effect tube U2, VCC input power, resistance R15's
One end is connected after having the anode of electrode capacitance C9 with 6 feet of voltage-stablizer U3, the cathode ground connection for having electrode capacitance C9；
The other end of the resistance R15 and the one end for meeting inductance L4 are connected behind one end of resistance R16 with 7 feet of voltage-stablizer U3；
The other end of the inductance L4 is simultaneously connected after connecing 1 foot of voltage-stablizer U3 with the anode of diode D2, the diode D2's
, there is the anode of electrode capacitance C11 in one end of cathode and connecting resistance R17,3 feet of voltage-stablizer U4 are followed by+8V power output end；
The other end of the resistance R16 is connected with 8 feet of voltage-stablizer U3；
4 feet of the voltage-stablizer U3 are grounded；
It is grounded after the 3 foot serial capacitance C10 of the voltage-stablizer U3；
It is connected after 5 feet of the voltage-stablizer U3 and the other end of connecting resistance R17 with one end of resistance R18；
The other end of 2 feet of the voltage-stablizer U3 and connecting resistance R18 is grounded after the cathode for having electrode capacitance C11；
1 foot of the voltage-stablizer U4 is grounded；
2 feet of the voltage-stablizer U4 and 4 feet for meeting voltage-stablizer U4, there is the anode of electrode capacitance C12, and one end of capacitor C13 is followed by+5V
Power output end, the cathode for having electrode capacitance C12, capacitor C13 the other end be grounded.
The model ATMEGA32U4 of the control chip U1；
The model SI9435DY of the field-effect tube U2；
The model MC34063 of the voltage-stablizer U3；
The model LM1117 of the voltage-stablizer U4.
The central controller is also connected with data memory module.
Damping device is additionally provided between the driving wheel and transmission motor of the Athey wheel.
The axial arrangement of the Athey wheel and the internal diameter of cable passage are adapted.
What the present invention had compared with the existing technology has the beneficial effect that the present invention provides one kind and is exclusively used in acquisition buried cable
The sniffing robot of channel data, the humanoid robot structure is simple, flexible and convenient to use, may be mounted in buried cable channel
It uses, acquires pipeline path, the data such as pipe inner video image and cable work state in real time, and have field wiring or exhausting line
The functions such as cable, save labour turnover, and improve working efficiency, large-scale promotion can use in buried cable channel.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawing:
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is electrical block diagram of the invention；
Fig. 3 is use state of the invention with reference to figure；
Fig. 4 is the circuit diagram of central controller of the present invention；
Fig. 5 is the circuit diagram of power module of the present invention；
In figure: 1 being car body, 2 be chassis, 3 be Athey wheel, 4 be transmission motor, 5 be camera, 6 be headlamp, 7 be gyroscope
Sensor, 8 be data communication module, 9 be cable recover, 10 be central controller, 11 be GPS positioning module, 12 be monitoring
Computer, 13 be power module, 14 be data memory module.
Specific embodiment
As shown in Figures 1 to 5, buried cable channel information sniffing robot of the present invention, including car body 1, the car body 1
Bottom is provided with chassis 2, and the both ends on the chassis 2 are provided with Athey wheel 3, and the driving end of the Athey wheel 3 by gear and passes
Dynamic motor 4 connects；
The front end of the car body 1 is provided with camera 5 and headlamp 6；
The top of the car body 1 is provided with gyro sensor 7；
The rear portion of the car body 1 is provided with data communication module 8；
The rear portion on the chassis 2 is additionally provided with cable recover 9；
The inside of the car body 1 is additionally provided with control circuit board, and central controller 10 is integrated in the control circuit board, described
The signal output end of central controller 10 respectively with transmission motor 4, headlamp 6, data communication module 8,9 phase of cable recover
Even；
The signal input part of the central controller 10 is connected with camera 5, gyro sensor 7 respectively, the center control
The signal input part of device 10 is also connected with GPS positioning module 11；
The data communication module 8 is connected with monitoring computer 12；
The power input of the central controller 10 is connected with power module 13.
The chip that the central controller 10 uses is control chip U1, the circuit structure of the central controller 10 are as follows:
One end of the 34 foot shunt-wound capacitance C19 of the control chip U1 is followed by 5V input power, another termination of the capacitor C19
Ground；
The 43 feet ground connection of the control chip U1；
13 feet of the control chip U1 connect reset circuit；
16 feet of the control chip U1 and one end of connecting resistance R55, are connected behind one end of crystal oscillator Y1 with one end of capacitor C2；
17 feet of the control chip U1 and the other end of connecting resistance R55, one end phase after the other end of crystal oscillator Y1 with capacitor C3
Even；
The capacitor C2, capacitor C3 the other end be grounded；
44 feet of the control chip U1 simultaneously connect 24 feet for controlling chip U1, one end phase behind one end of inductance L1 with capacitor C4
Even, the other end ground connection of the capacitor C4；
42 feet of the control chip U1 are sequentially connected in series capacitor C5, are grounded after inductance L2；
14 feet of the control chip U1 simultaneously connect 2 feet of control chip U1, after the other end of inductance L1 with+5V input power phase
Even；
15 feet of the control chip U1 are simultaneously grounded after connecing control 23 feet of chip U1,35 feet, 0 foot；
One end of the 7 foot shunt-wound capacitance C20 of the control chip U1 is followed by 5V input power, another termination of the capacitor C20
Ground；
It is connected behind 41 feet for controlling chip U1 and the one end for meeting photo resistance RL2 with one end of photo resistance RL1, the light
The other end series resistor R34 of quick resistance RL2 is followed by 5V input power, the other end ground connection of the photo resistance RL1；
20 feet, 21 feet of the control chip U1 connect programming interface；
25 feet of the control chip U1 are connected with keyboard；
26 feet, 27 feet, 1 foot, 31 feet of the control chip U1 are connected with drive motor control terminal；
32 feet, 8 feet, 28 feet of the control chip U1 are connected with avoidance obstacle module；
9 feet of the control chip U1 are connected with 3 feet of port P1；
11 feet of the control chip U1 are connected with 1 foot of port P1；
It is connected behind 5 feet of the port P1 and one end of connecting resistance R7 with one end of button switch S2, the resistance R7's is another
End is connected with 5V input power, the other end ground connection of the button S2；
6 feet of the port P1 are grounded；
It is connected after the 4 foot series resistor R9 of the port P1 with the base stage of triode Q3, the collector of the triode Q3 and bee
The cathode of ring device SP is connected, the emitter ground connection of the triode Q3；
One end of the 2 foot shunt-wound capacitance C7 of the port P1 is connected behind one end of resistance R8 with 5V input power, the capacitor C7
The other end ground connection, the anode of another termination buzzer SP of the resistance R8；
It is connected behind 29 feet for controlling chip U1 and one end of connecting resistance R59 with one end of resistance R60, the resistance R60's
Other end ground connection, another termination VCC input power of the resistance R59.
The chip that the power module 13 uses is field-effect tube U2, voltage-stablizer U3, U4, the circuit of the power module 13
Structure are as follows:
One end of the power input VCC and connecting resistance R12 of the power module 13, one end of resistance R13, field-effect tube U2's
3 feet are connected after 2 feet of field-effect tube U2 with 1 foot of field-effect tube U2；
One end of the other end of the resistance R12 and connecting resistance R11, after the drain electrode of field-effect tube Q1 with the grid of field-effect tube Q2
It is connected；
One end of the other end shunt-wound capacitance C8 of the resistance R11, one end phase behind one end of resistance R10 with button switch S1
Even, it is grounded after the other end of the other end shunt-wound capacitance C8 of the resistance R10；
The other end of the button switch S1 is simultaneously connected after connecing the grid of field-effect tube Q1 with one end of resistance R14；
The source electrode of the field-effect tube Q1, the source electrode of field-effect tube Q2 are grounded respectively；
The drain electrode of the field-effect tube Q2 and the other end of connecting resistance R13, after the other end of resistance R14 with field-effect tube U2 4
Foot is connected；
5 feet of the field-effect tube U2 successively and connect 6 feet, 7 feet, 8 feet of field-effect tube U2, VCC input power, resistance R15's
One end is connected after having the anode of electrode capacitance C9 with 6 feet of voltage-stablizer U3, the cathode ground connection for having electrode capacitance C9；
The other end of the resistance R15 and the one end for meeting inductance L4 are connected behind one end of resistance R16 with 7 feet of voltage-stablizer U3；
The other end of the inductance L4 is simultaneously connected after connecing 1 foot of voltage-stablizer U3 with the anode of diode D2, the diode D2's
, there is the anode of electrode capacitance C11 in one end of cathode and connecting resistance R17,3 feet of voltage-stablizer U4 are followed by+8V power output end；
The other end of the resistance R16 is connected with 8 feet of voltage-stablizer U3；
4 feet of the voltage-stablizer U3 are grounded；
It is grounded after the 3 foot serial capacitance C10 of the voltage-stablizer U3；
It is connected after 5 feet of the voltage-stablizer U3 and the other end of connecting resistance R17 with one end of resistance R18；
The other end of 2 feet of the voltage-stablizer U3 and connecting resistance R18 is grounded after the cathode for having electrode capacitance C11；
1 foot of the voltage-stablizer U4 is grounded；
2 feet of the voltage-stablizer U4 and 4 feet for meeting voltage-stablizer U4, there is the anode of electrode capacitance C12, and one end of capacitor C13 is followed by+5V
Power output end, the cathode for having electrode capacitance C12, capacitor C13 the other end be grounded.
The model ATMEGA32U4 of the control chip U1；
The model SI9435DY of the field-effect tube U2；
The model MC34063 of the voltage-stablizer U3；
The model LM1117 of the voltage-stablizer U4.
The central controller 10 is also connected with data memory module 14.
Damping device is additionally provided between the driving wheel and transmission motor 4 of the Athey wheel 3.
The axial arrangement of the Athey wheel 3 and the internal diameter of cable passage are adapted.
The present invention provides a kind of intelligent robot for subway detection, can visit to pipeline conditions
It surveys, dredging, cabling bracing wire, and the information such as pipeline location and extension track can be acquired.
Car body 1 provided by the invention and the width on chassis 2 can be adjusted according to the tube channel diameter adaptive of different size, pipe
Adjustable between diameter 150mm-300mm, the length on the car body 1 and chassis 2 is generally less than 500mm, can be in underground -10
It works in DEG C -60 DEG C of temperature environment, maximum speed can achieve 3.5Km/h；Due to being built-in with corresponding control mould in car body 1
Block, the shell of the car body 1 have the functions such as dust-proof, waterproof, anti-corrosion, anti-electromagnetic interference, tamper-proof pipeline.
The present invention supports to transmit control data and acquisition Data Over Cable or wireless data, greatly improves data biography
Defeated reliability, even if trolley is out of hand in the duct or failure, ground staff still can be by retracting controlling cable
It is recycled；Cable to be laid is preset in the cable recover, the corresponding control communications cable can also be preset,
When trolley carries out mobile wiring, the rotating shaft motor starting of central controller controls recover, trolley is cableed release on one side while traveling
Cable carries out bracing wire operation in the duct.
The present invention is built-in with dedicated 24V battery as modules power supply, and the cruising ability of buggy robot is made to be greater than 4
Hour, ultimate run can achieve 200m or more, and battery can provide sufficiently large tractive force for transmission motor, make trolley can
To walk in acclive pipeline, trolley is supported to walk in the pipeline of -40 ° to the 40 ° gradients.
The data communication module 8 that the present invention uses has wireless and wired communication function, can by the acquisition of trolley and
Location data is sent in real time monitors computer 12, real-time acquisition of the realization to data, real-time delivery, and to pipe database reality
Shi Gengxin；Robot acquisition data mainly pass through camera 5, gyro sensor 7 and GPS positioning module 11 and complete, described to take the photograph
As first 5 cooperation headlamp 6 can acquire the video information in cable channel in real time, environment in pipeline is confirmed, whether is observation pipeline
Breakage is squeezed and deformed or there are other pollutants；The gyro sensor 7 cooperates GPS positioning module 11 can be by robot
Space coordinate analyzed, track is generated as trolley is mobile and returns the three dimensional space coordinate data Real-time Feedback of the track
Computer is monitored, monitoring computer analyzes the pipe shape in this section of path, positional relationship immediately, and is stored in database, monitors
Interior is provided with large scale monitoring screen, observes in real time for staff.
Further, the sniffing robot that the present invention uses can carry out the position sensing of underground electric pipeline, obtain ground
Lower electric power pipe network location information provides data supporting for building electric power buried pipe network data managing and control system.
According to actual needs, it can be provided with damping device between the driving wheel and transmission motor 4 of Athey wheel 3, to
Solve the problems, such as sniffing robot attitude stabilization；
The car body 1 is internally provided with control circuit board, and the size of the circuit board can be according to the size adaptation tune of car body 1
It is whole, it further decreases robot energy consumption, reduce volume；The present invention optimizes three-dimensional rail using sensors such as advanced optical fibre gyros
Mark algorithm, and compatible with GPS/BEI-DOU position system is cooperated to use, keep the underground pipe network location information obtained accurate and reliable, measurement
Precision is better than ± 0.5%.
The sniffing robot that the present invention develops constructs electric power buried pipe by geographical information technology and dimensional Modeling Technology
Network data managing and control system, the data acquisition of specification underground pipe network arrange, the technical requirements of displaying and shared link, for electrically
The information system management of lower pipe network provides unified standard and workflow, provides calculating for the planning, construction, management of smart city
Machine ancillary technique decision support improves the production efficiency and community service of the production of energy supply system including grid company
It is horizontal.
The gyro sensor 7 that the present invention uses can effectively improve positioning accuracy using blending algorithm；Underground piping
Sterically defined conventional method is positioned using only inertial gyroscope, positioning accuracy difference and there are accumulated error, and targeted duct away from
It is bigger from longer error, by the data anastomosing algorithm of the sensors and inertial gyroscope such as research barometer, encoder, for auxiliary
The dynamic correction and compensation for helping gyroscope to position, can be improved data processing speed, reduce the load of processor, improve detector
Cruising ability.
The present invention uses the central controller 10 of model ATMEGA32U4, has motor control, and keyboard input communicates,
The functions such as alarm, and have extension function, it can be reequiped according to actual needs, extension function includes setting infrared transceiver module
Barrier is detected, setting photodiode has robot to seek photoinduction locomotive function；
Described photo resistance RL1, RL2 have light source looking up function, and trolley can be made voluntarily to seek in the state of closing headlamp 6
It looks for light source and the function mobile to light source, carries out mobile manual control different from observation video information, it can using photo resistance
So that robot has semiautomatic control function, data acquisition efficiency is improved；
20 feet, 21 feet of the control chip U1 support external computer to carry out control programming, support that a variety of robot datas are written
The control script of acquisition and move mode, control robot are more flexible；25 feet of the control chip U1 support external control
Keyboard can control it manually；1 foot of the control chip U1 and 27 foot control systems first are driven motor, main to drive
Athey wheel 3 is run, and 31 feet of the control chip U1 and 26 foot control systems second are driven motor, main driving cable recover 9
Shaft operation；9 feet, 11 feet of the control chip U1 can be with external ECP Extended Capabilities Port P1, and controls buzzer SP and alarm, should
Function can be opened by control switch S2.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (7)
1. buried cable channel information sniffing robot, it is characterised in that: including car body (1), the bottom of the car body (1) is arranged
Have chassis (2), the both ends of the chassis (2) are provided with Athey wheel (3), and the driving end of the Athey wheel (3) by gear and passes
Dynamic motor (4) connection；
The front end of the car body (1) is provided with camera (5) and headlamp (6)；
Gyro sensor (7) are provided at the top of the car body (1)；
The rear portion of the car body (1) is provided with data communication module (8)；
The rear portion of the chassis (2) is additionally provided with cable recover (9)；
The inside of the car body (1) is additionally provided with control circuit board, and central controller (10) are integrated in the control circuit board,
The signal output end of the central controller (10) respectively with transmission motor (4), headlamp (6), data communication module (8), line
Cable recover (9) is connected；
The signal input part of the central controller (10) is connected with camera (5), gyro sensor (7) respectively, it is described in
The signal input part of centre controller (10) is also connected with GPS positioning module (11)；
The data communication module (8) is connected with monitoring computer (12)；
The power input of the central controller (10) is connected with power module (13).
2. buried cable channel information sniffing robot according to claim 1, it is characterised in that: the central controller
(10) chip used is control chip U1, the circuit structure of the central controller (10) are as follows:
One end of the 34 foot shunt-wound capacitance C19 of the control chip U1 is followed by 5V input power, another termination of the capacitor C19
Ground；
The 43 feet ground connection of the control chip U1；
13 feet of the control chip U1 connect reset circuit；
16 feet of the control chip U1 and one end of connecting resistance R55, are connected behind one end of crystal oscillator Y1 with one end of capacitor C2；
17 feet of the control chip U1 and the other end of connecting resistance R55, one end phase after the other end of crystal oscillator Y1 with capacitor C3
Even；
The capacitor C2, capacitor C3 the other end be grounded；
44 feet of the control chip U1 simultaneously connect 24 feet for controlling chip U1, one end phase behind one end of inductance L1 with capacitor C4
Even, the other end ground connection of the capacitor C4；
42 feet of the control chip U1 are sequentially connected in series capacitor C5, are grounded after inductance L2；
14 feet of the control chip U1 simultaneously connect 2 feet of control chip U1, after the other end of inductance L1 with+5V input power phase
Even；
15 feet of the control chip U1 are simultaneously grounded after connecing control 23 feet of chip U1,35 feet, 0 foot；
One end of the 7 foot shunt-wound capacitance C20 of the control chip U1 is followed by 5V input power, another termination of the capacitor C20
Ground；
It is connected behind 41 feet for controlling chip U1 and the one end for meeting photo resistance RL2 with one end of photo resistance RL1, the light
The other end series resistor R34 of quick resistance RL2 is followed by 5V input power, the other end ground connection of the photo resistance RL1；
20 feet, 21 feet of the control chip U1 connect programming interface；
25 feet of the control chip U1 are connected with keyboard；
26 feet, 27 feet, 1 foot, 31 feet of the control chip U1 are connected with drive motor control terminal；
32 feet, 8 feet, 28 feet of the control chip U1 are connected with avoidance obstacle module；
9 feet of the control chip U1 are connected with 3 feet of port P1；
11 feet of the control chip U1 are connected with 1 foot of port P1；
It is connected behind 5 feet of the port P1 and one end of connecting resistance R7 with one end of button switch S2, the resistance R7's is another
End is connected with 5V input power, the other end ground connection of the button S2；
6 feet of the port P1 are grounded；
It is connected after the 4 foot series resistor R9 of the port P1 with the base stage of triode Q3, the collector of the triode Q3 and bee
The cathode of ring device SP is connected, the emitter ground connection of the triode Q3；
One end of the 2 foot shunt-wound capacitance C7 of the port P1 is connected behind one end of resistance R8 with 5V input power, the capacitor C7
The other end ground connection, the anode of another termination buzzer SP of the resistance R8；
It is connected behind 29 feet for controlling chip U1 and one end of connecting resistance R59 with one end of resistance R60, the resistance R60's
Other end ground connection, another termination VCC input power of the resistance R59.
3. buried cable channel information sniffing robot according to claim 2, it is characterised in that: the power module
(13) chip used is field-effect tube U2, voltage-stablizer U3, U4, the circuit structure of the power module (13) are as follows:
One end of the power input VCC and connecting resistance R12 of the power module (13), one end of resistance R13, field-effect tube U2
3 feet, be connected after 2 feet of field-effect tube U2 with 1 foot of field-effect tube U2；
One end of the other end of the resistance R12 and connecting resistance R11, after the drain electrode of field-effect tube Q1 with the grid of field-effect tube Q2
It is connected；
One end of the other end shunt-wound capacitance C8 of the resistance R11, one end phase behind one end of resistance R10 with button switch S1
Even, it is grounded after the other end of the other end shunt-wound capacitance C8 of the resistance R10；
The other end of the button switch S1 is simultaneously connected after connecing the grid of field-effect tube Q1 with one end of resistance R14；
The source electrode of the field-effect tube Q1, the source electrode of field-effect tube Q2 are grounded respectively；
The drain electrode of the field-effect tube Q2 and the other end of connecting resistance R13, after the other end of resistance R14 with field-effect tube U2 4
Foot is connected；
5 feet of the field-effect tube U2 successively and connect 6 feet, 7 feet, 8 feet of field-effect tube U2, VCC input power, resistance R15's
One end is connected after having the anode of electrode capacitance C9 with 6 feet of voltage-stablizer U3, the cathode ground connection for having electrode capacitance C9；
The other end of the resistance R15 and the one end for meeting inductance L4 are connected behind one end of resistance R16 with 7 feet of voltage-stablizer U3；
The other end of the inductance L4 is simultaneously connected after connecing 1 foot of voltage-stablizer U3 with the anode of diode D2, the diode D2's
, there is the anode of electrode capacitance C11 in one end of cathode and connecting resistance R17,3 feet of voltage-stablizer U4 are followed by+8V power output end；
The other end of the resistance R16 is connected with 8 feet of voltage-stablizer U3；
4 feet of the voltage-stablizer U3 are grounded；
It is grounded after the 3 foot serial capacitance C10 of the voltage-stablizer U3；
It is connected after 5 feet of the voltage-stablizer U3 and the other end of connecting resistance R17 with one end of resistance R18；
The other end of 2 feet of the voltage-stablizer U3 and connecting resistance R18 is grounded after the cathode for having electrode capacitance C11；
1 foot of the voltage-stablizer U4 is grounded；
2 feet of the voltage-stablizer U4 and 4 feet for meeting voltage-stablizer U4, there is the anode of electrode capacitance C12, and one end of capacitor C13 is followed by+5V
Power output end, the cathode for having electrode capacitance C12, capacitor C13 the other end be grounded.
4. buried cable channel information sniffing robot according to claim 3, it is characterised in that: the control chip U1
Model ATMEGA32U4；
The model SI9435DY of the field-effect tube U2；
The model MC34063 of the voltage-stablizer U3；
The model LM1117 of the voltage-stablizer U4.
5. buried cable channel information sniffing robot according to claim 4, it is characterised in that: the central controller
(10) data memory module (14) are also connected with.
6. buried cable channel information sniffing robot according to claim 5, it is characterised in that: the Athey wheel (3)
Driving wheel and transmission motor (4) between be additionally provided with damping device.
7. buried cable channel information sniffing robot according to claim 6, it is characterised in that: the Athey wheel (3)
Axial arrangement and cable passage internal diameter be adapted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811217866.2A CN109291032A (en) | 2018-10-18 | 2018-10-18 | Buried cable channel information sniffing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811217866.2A CN109291032A (en) | 2018-10-18 | 2018-10-18 | Buried cable channel information sniffing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109291032A true CN109291032A (en) | 2019-02-01 |
Family
ID=65157168
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811217866.2A Pending CN109291032A (en) | 2018-10-18 | 2018-10-18 | Buried cable channel information sniffing robot |
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| Country | Link |
|---|---|
| CN (1) | CN109291032A (en) |
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Application publication date: 20190201 |