CN109968321A - A kind of crusing robot for vcehicular tunnel - Google Patents
A kind of crusing robot for vcehicular tunnel Download PDFInfo
- Publication number
- CN109968321A CN109968321A CN201910395187.2A CN201910395187A CN109968321A CN 109968321 A CN109968321 A CN 109968321A CN 201910395187 A CN201910395187 A CN 201910395187A CN 109968321 A CN109968321 A CN 109968321A
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- inspection platform
- mobile inspection
- platform mechanism
- robot
- vcehicular tunnel
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- 230000007246 mechanism Effects 0.000 claims abstract description 43
- 238000007689 inspection Methods 0.000 claims abstract description 30
- 230000003612 virological effect Effects 0.000 claims abstract description 5
- 241000700605 Viruses Species 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 11
- 230000000694 effects Effects 0.000 abstract description 5
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 3
- 238000012512 characterization method Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 238000012360 testing method Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
Classifications
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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
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of crusing robots for vcehicular tunnel, belong to robot field, including mobile inspection platform mechanism, one end of mobile inspection platform mechanism is provided with power supply unit, the other end of mobile inspection platform mechanism is provided with viral measuring device, and viral measuring device is internally provided with infrared sensor, is equipped with driving device in mobile inspection platform mechanism, the both ends of driving device, mobile inspection platform mechanism are provided with travel switch.A kind of crusing robot for vcehicular tunnel changes the detection mode of traditional artificial tunnel's detection, automatic detection effect can reach using the robot, not only at work between and working efficiency on be turned up significantly, save a large amount of manpower and material resources cost, the characterization processes quality in tunnel is improved simultaneously, prevent to omit phenomenon, effectively reduces security hidden trouble.
Description
Technical field
The invention belongs to field of machines, are related to a kind of crusing robot for vcehicular tunnel.
Background technique
Robot is the automatic installations for executing work.It can not only receive mankind commander, but also can run preparatory volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or replace the mankind
The work of work, such as production industry, construction industry, or dangerous work, wherein detection device is the fortune of real-time detection robot
Dynamic and working condition, feeds back to control system as needed, after being compared with set information, is adjusted to executing agency,
To guarantee that the movement of robot meets scheduled requirement.Sensor as detection device can be roughly divided into two types: Yi Leishi
Internal information sensor, for detecting the internal state of robot each section, such as position, the speed, acceleration in each joint, and
It send measured information as feedback signal to controller, forms closed-loop control.One kind is external information sensor, for obtaining
The information of manipulating object and external environment etc. in relation to robot is taken, so that the movement of robot adapts to extraneous circumstance
Variation, makes up to higher level automation, or even robot is made to have certain " feeling ", to intelligent development, such as regards
The external sensors such as feel, sound sensation provide target, working environment for information about, are constituted using these information one big anti-
It is fed back to road, thus the operating accuracy that robot will be greatly improved.
In the equipment of the inspection of existing vcehicular tunnel, traditional Tunnel testing is carried out at inspection using artificial
Reason, the working time not only spent is longer, and the precision of artificial detection is poor, can not meet the requirement of modern tunnel inspection.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of crusing robots for vcehicular tunnel.
In order to achieve the above objectives, the invention provides the following technical scheme:
The present invention provides a kind of crusing robot for vcehicular tunnel, including mobile inspection platform mechanism, institutes
The one end for stating mobile inspection platform mechanism is provided with power supply unit, and the other end of the mobile inspection platform mechanism is provided with virus
Measuring device, the virus measuring device are internally provided with infrared sensor, are equipped in the mobile inspection platform mechanism
The both ends of driving device, the driving device, the mobile inspection platform mechanism are provided with travel switch.
As a preferred technical solution of the present invention, the driving device includes walking mechanism, the walking mechanism
Inside is equipped with guide wheel group, and the side of the guide wheel group is respectively arranged with driving wheel and contact roller.
As a preferred technical solution of the present invention, the both sides external of the driving device is provided with braking mechanism,
The bottom end of the braking mechanism is provided with slide wire power supply structure.
As a preferred technical solution of the present invention, the bottom end of the walking mechanism is equipped with driving motor, the drive
Dynamic motor and driving wheel are sequentially connected.
As a preferred technical solution of the present invention, the inside of the mobile inspection platform mechanism is by moving inspection platform
System, motion control subsystem, location navigation subsystem, power supply system and power-supply system, data acquisition subsystem and communicator
System is constituted.
The beneficial effects of the present invention are: a kind of crusing robot for vcehicular tunnel changes traditional artificial tunnel
Road detection detection mode, automatic detection effect can reach using the robot, not only at work between and working efficiency on
It is turned up significantly, saves a large amount of manpower and material resources cost, while improving the characterization processes quality in tunnel, prevent to omit existing
As effectively reducing security hidden trouble.
Other advantages, target and feature of the invention will be illustrated in the following description to a certain extent, and
And to a certain extent, based on will be apparent to those skilled in the art to investigating hereafter, Huo Zheke
To be instructed from the practice of the present invention.Target of the invention and other advantages can be realized by following specification and
It obtains.
Detailed description of the invention
To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention is made below in conjunction with attached drawing excellent
The detailed description of choosing, in which:
Fig. 1 is one of overall structure diagram of the invention；
Fig. 2 is the two of partial structural diagram of the invention；
In figure: 1, mobile inspection platform mechanism；2, power supply unit；3, driving device；4, viral measuring device；5, infrared biography
Sensor；6, travel switch；7, walking mechanism；8, braking mechanism；9, slide wire power supply structure；10, active damping mechanism；11, it leads
To wheel group；12, driving wheel；13, contact roller；14, driving motor.
Specific embodiment
Illustrate embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this specification
Other advantages and efficacy of the present invention can be easily understood for disclosed content.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints and application, without departing from
Various modifications or alterations are carried out under spirit of the invention.It should be noted that diagram provided in following embodiment is only to show
Meaning mode illustrates basic conception of the invention, and in the absence of conflict, the feature in following embodiment and embodiment can phase
Mutually combination.
Wherein, the drawings are for illustrative purposes only and are merely schematic diagrams, rather than pictorial diagram, should not be understood as to this
The limitation of invention；Embodiment in order to better illustrate the present invention, the certain components of attached drawing have omission, zoom in or out, not
Represent the size of actual product；It will be understood by those skilled in the art that certain known features and its explanation may be omitted and be in attached drawing
It is understood that.
The same or similar label correspond to the same or similar components in the attached drawing of the embodiment of the present invention；It is retouched in of the invention
In stating, it is to be understood that if there is the orientation or positional relationship of the instructions such as term " on ", "lower", "left", "right", "front", "rear"
To be based on the orientation or positional relationship shown in the drawings, be merely for convenience of description of the present invention and simplification of the description, rather than indicate or
It implies that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore is described in attached drawing
The term of positional relationship only for illustration, is not considered as limiting the invention, for the ordinary skill of this field
For personnel, the concrete meaning of above-mentioned term can be understood as the case may be.
Fig. 1-Fig. 2 is please referred to, the present invention is a kind of crusing robot for vcehicular tunnel, including mobile inspection platform machine
Structure 1, one end of mobile inspection platform mechanism 1 are provided with power supply unit 2, and the other end setting of mobile inspection platform mechanism 1 is ill
Malicious measuring device 4, viral measuring device 4 are internally provided with infrared sensor 5, are equipped with drive in mobile inspection platform mechanism 1
The both ends of dynamic device 3, driving device 3, mobile inspection platform mechanism 1 are provided with travel switch 6.
Driving device 3 includes walking mechanism 7, and the inside of walking mechanism 7 is equipped with guide wheel group 11, and the one of guide wheel group 11
Side is respectively arranged with driving wheel 12 and contact roller 13, and the driving wheel 12 and contact roller 13 of setting are locked for track, reached
Clamp mobile effect.
The both sides external of driving device 3 is provided with braking mechanism 8, and the bottom end of braking mechanism 8 is provided with slide wire power supply
The braking mechanism 8 of structure 9, setting carries out brake use for robot, simple and convenient.
The bottom end of walking mechanism 7 is equipped with driving motor 14, and driving motor 14 and driving wheel 12 are sequentially connected, and robot moves
The dynamic driving motor 14 by setting drives driving wheel 12 to be rotated, reaches mobile effect by power.
The inside of mobile inspection platform mechanism 1 is by moving inspection platform system, motion control subsystem, location navigation subsystem
System, power supply system and power-supply system, data acquisition subsystem and communication subsystem are constituted.
When specifically used, robot is carried out by electric power using the virus for passing through setting is surveyed by the power supply unit 2 of setting
The infrared sensor 5 measured on device 4 carries out Tunnel testing, is moved by the driving device 3 of setting, the driving being provided with
Wheel 12 and contact roller 13 are locked for track, reach the mobile effect of clamping, and the braking mechanism 8 of setting is carried out for robot
Brake uses, simple and convenient, and the mobile driving motor 14 by setting of robot drives 12 turns of driving wheel by power
Dynamic, travel switch 6 is arranged in the terminal position at track both ends, and robot is run to track end touching travel switch 6, machine
System receives the information of stroke end to people's control system by wireless communication, and the driving device for controlling robot brakes and change electricity
Machine turns to, and to change the direction of travel of robot, robot operation in orbit is then controlled by servo drive 3,
The detection speed of service of robot, polling rate control of the control system according to testing staff's setting are set according to testing requirements first
Servo motor revolving speed processed, and the actual speed of the servo motor by acquisition subsystem acquisition motor speed test encoder measurement, into
And control system is fed back to, control system is calculated defeated according to the deviation of setting speed and feedback actual speed by pid algorithm
Control signal forms the closed-loop control of robot speed, by the closed-loop control, can be improved robot and exist to servo motor out
Stability in detection process.
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to compared with
Good embodiment describes the invention in detail, those skilled in the art should understand that, it can be to skill of the invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of the technical program, should all be covered in the present invention
Scope of the claims in.
Claims (5)
1. a kind of crusing robot for vcehicular tunnel, including it is mobile inspection platform mechanism (1), it is characterised in that: the shifting
The one end of dynamic inspection platform mechanism (1) is provided with power supply unit (2), the other end setting of the mobile inspection platform mechanism (1)
Have viral measuring device (4), virus measuring device (4) is internally provided with infrared sensor (5), and the mobile inspection is flat
It is equipped in platform mechanism (1) driving device (3), the driving device (3), the both ends of the mobile inspection platform mechanism (1) are equal
It is provided with travel switch (6).
2. a kind of crusing robot for vcehicular tunnel according to claim 1, it is characterised in that: the driving device
(3) include walking mechanism (7), be equipped with guide wheel group (11) on the inside of the walking mechanism (7), the guide wheel group (11)
Side is respectively arranged with driving wheel (12) and contact roller (13).
3. a kind of crusing robot for vcehicular tunnel according to claim 2, it is characterised in that: the driving device
(3) both sides external is provided with braking mechanism (8), and the bottom end of the braking mechanism (8) is provided with slide wire power supply structure
(9)。
4. a kind of crusing robot for vcehicular tunnel according to claim 2, it is characterised in that: the walking mechanism
(7) bottom end is equipped with driving motor (14), and the driving motor (14) and driving wheel (12) are sequentially connected.
5. a kind of crusing robot for vcehicular tunnel according to claim 1, it is characterised in that: the mobile inspection
The inside of platform mechanism (1) by move inspection platform system, motion control subsystem, location navigation subsystem, power supply system and
Power-supply system, data acquisition subsystem and communication subsystem are constituted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910395187.2A CN109968321A (en) | 2019-05-13 | 2019-05-13 | A kind of crusing robot for vcehicular tunnel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910395187.2A CN109968321A (en) | 2019-05-13 | 2019-05-13 | A kind of crusing robot for vcehicular tunnel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109968321A true CN109968321A (en) | 2019-07-05 |
Family
ID=67073565
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910395187.2A Withdrawn CN109968321A (en) | 2019-05-13 | 2019-05-13 | A kind of crusing robot for vcehicular tunnel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109968321A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111730579A (en) * | 2020-07-03 | 2020-10-02 | 北京交跃通达检测科技有限公司 | Power system and highway tunnel monitoring system |
| WO2022199177A1 (en) * | 2021-03-25 | 2022-09-29 | 国网山东省电力公司电力科学研究院 | Automatic fire-extinguishing system and method for cable tunnel |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110196536A1 (en) * | 2010-02-10 | 2011-08-11 | Electric Power Research Institute, Inc. | Line inspection robot and system |
| CN104267731A (en) * | 2014-10-21 | 2015-01-07 | 山东鲁能智能技术有限公司 | Indoor track type intelligent patrolling robot system based on combined track |
| CN105397795A (en) * | 2015-12-10 | 2016-03-16 | 深圳市施罗德工业测控设备有限公司 | Rail type polling robot |
| CN206195232U (en) * | 2016-11-21 | 2017-05-24 | 深圳供电局有限公司 | Tunnel intelligence hangs rail and patrols and examines robot monitored control system |
| CN107433952A (en) * | 2017-05-12 | 2017-12-05 | 北京瑞途科技有限公司 | A kind of intelligent inspection robot |
| CN209755194U (en) * | 2019-05-13 | 2019-12-10 | 招商局重庆交通科研设计院有限公司 | A patrol and examine robot for highway tunnel |
-
2019
- 2019-05-13 CN CN201910395187.2A patent/CN109968321A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110196536A1 (en) * | 2010-02-10 | 2011-08-11 | Electric Power Research Institute, Inc. | Line inspection robot and system |
| CN104267731A (en) * | 2014-10-21 | 2015-01-07 | 山东鲁能智能技术有限公司 | Indoor track type intelligent patrolling robot system based on combined track |
| CN105397795A (en) * | 2015-12-10 | 2016-03-16 | 深圳市施罗德工业测控设备有限公司 | Rail type polling robot |
| CN206195232U (en) * | 2016-11-21 | 2017-05-24 | 深圳供电局有限公司 | Tunnel intelligence hangs rail and patrols and examines robot monitored control system |
| CN107433952A (en) * | 2017-05-12 | 2017-12-05 | 北京瑞途科技有限公司 | A kind of intelligent inspection robot |
| CN209755194U (en) * | 2019-05-13 | 2019-12-10 | 招商局重庆交通科研设计院有限公司 | A patrol and examine robot for highway tunnel |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111730579A (en) * | 2020-07-03 | 2020-10-02 | 北京交跃通达检测科技有限公司 | Power system and highway tunnel monitoring system |
| WO2022199177A1 (en) * | 2021-03-25 | 2022-09-29 | 国网山东省电力公司电力科学研究院 | Automatic fire-extinguishing system and method for cable tunnel |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190705 |