CN110640763A - Comprehensive pipe rack inspection robot - Google Patents
Comprehensive pipe rack inspection robot Download PDFInfo
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- CN110640763A CN110640763A CN201911058990.3A CN201911058990A CN110640763A CN 110640763 A CN110640763 A CN 110640763A CN 201911058990 A CN201911058990 A CN 201911058990A CN 110640763 A CN110640763 A CN 110640763A
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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
- 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- 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
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The invention discloses a comprehensive pipe gallery inspection robot, which comprises a robot body and a control system thereof, wherein the robot body comprises a Mecanum wheel driving mechanism arranged at the bottom of the robot body, a fire extinguishing executing mechanism arranged at the rear part, a lifting monitoring mechanism arranged at the front part and snake-shaped detection mechanisms arranged at the left side part and the right side part.
Description
Technical Field
The invention relates to the technical field of inspection robots, in particular to an inspection robot for a comprehensive pipe rack.
Background
The utility tunnel is a city infrastructure integrating various engineering pipelines such as sewage, electric power, communication, comprehensive communication, gas, heat supply, water supply and drainage and is an important guarantee for ensuring normal operation of a city.
At present, the utility tunnel is mostly monitored and examined regularly and is combined the control alarm information of utility tunnel monitored control system feedback in the manual work, carries out daily detection and maintenance. However, utility tunnel generally has the distance length, the cabin is many, the detection project is complicated and the environment is bad characteristics such as inferior, and the manual work is patrolled and examined intensity of labour big, inefficiency, and is unfavorable for patroller's mental health, and in addition, utility tunnel monitoring video can only accomplish fixed point local control, has the control blind area, and coverage is limited.
Aiming at the problems existing at present, it is very necessary to design a comprehensive pipe rack inspection robot, and the comprehensive pipe rack inspection robot based on artificial intelligence technologies such as modern sensing technology, wireless communication technology, image acquisition and processing technology, computer technology and the like can provide pipeline, equipment, environment, fire, security monitoring and communication transmission services for a comprehensive pipe rack, and guarantee the safe operation and standard management of the comprehensive pipe rack.
Disclosure of Invention
The invention mainly aims to provide a comprehensive pipe rack inspection robot. The comprehensive pipe rack inspection robot is used as a novel intelligent inspection mode, and the burden of inspection personnel in traditional manual inspection can be effectively reduced; as a portable monitoring mode, can compensate the defect that utility tunnel monitored control system can only fixed point control again, further improve utility tunnel control managerial ability.
In order to achieve the purpose, the invention provides a comprehensive pipe gallery inspection robot which comprises a robot body and a control system thereof, wherein the robot body comprises a Mecanum wheel driving mechanism arranged at the bottom of the robot body, a fire extinguishing execution mechanism arranged at the rear part, a lifting monitoring mechanism arranged at the front part and snake-shaped detection mechanisms arranged at the left side part and the right side part;
the Mecanum wheel driving mechanism comprises a driving servo motor and Mecanum wheels, can realize 360-degree dead-angle-free movement, and can realize free driving walking in the comprehensive pipe rack;
the fire extinguishing executing mechanism comprises a fixed chassis, a rotary table and a mechanical arm base, wherein the fixed chassis is fixed on the driving mechanism chassis and is connected with the mechanical arm base through the rotary table, the rotary table is driven to realize rotary motion in the horizontal plane of the mechanical arm base, the mechanical arm base is sequentially provided with a first mechanical arm, a second mechanical arm and a fire extinguishing system from bottom to top, and the mechanical arm base is connected with the first mechanical arm through a first servo motor and used for driving the first mechanical arm to move; the first mechanical arm is connected with the second mechanical arm through a second servo motor and used for driving the second mechanical arm to move; the second mechanical arm is connected with the fire extinguishing system through a third servo motor and used for driving the fire extinguishing system to move; the fire extinguishing system comprises a high-pressure water spray head, a supporting base and a high-pressure water pump, and the fire extinguishing function of the comprehensive pipe gallery is realized by the fire extinguishing system;
the lifting monitoring mechanism comprises a fixed base, a lifting connecting rod, a carrying platform, a supporting seat and a monitoring device, wherein the fixed base is fixed on a chassis of the driving mechanism and is connected with the lifting connecting rod through a lifting motor, the carrying platform is connected with the lifting connecting rod through a rivet, the supporting seat is connected with the carrying platform through a first driving motor fixed on the carrying platform and used for realizing the rotary motion of the monitoring device in a horizontal plane, the monitoring device is connected with the supporting seat through a second driving motor and a third driving motor and used for realizing the rotary motion of the monitoring device in a vertical plane, and the monitoring device is detected in a manner that no dead angle exists for 360 degrees through matching motion;
the snake-shaped detection mechanism comprises a snake-shaped upper joint structure, a snake-shaped lower joint structure and a microminiature driving motor,
the snake-shaped upper joint structure and the snake-shaped lower joint structure are connected through a micro-miniature driving motor, and the snake-shaped upper joint structure and the snake-shaped lower joint structure can realize the free movement track of the snake-shaped structure through the movement of the micro-miniature driving motor, so that the short-distance dead-angle-free detection of a complex dangerous area is completed;
the control system comprises a software system, a driving mechanism, a control mechanism and a sensing mechanism.
Further, the software system includes an application component and a generic component. The application component mainly comprises electric power and electric fire monitoring, municipal pipe network monitoring, gas monitoring and alarming, operation management, comprehensive monitoring and video screen monitoring, and is mainly used for processing and displaying data, alarming after a limit value is set and the like; the universal assembly comprises a motion control and communication module, and the assembly is a universal assembly in the whole system and can be recycled.
Furthermore, the driving mechanism comprises a motor driver, a servo driving motor and a power supply module, the control of the servo driving motor is realized by the program control of an embedded CPU of the control mechanism on the motor driver, and the driving mechanism is adopted for the motor control of the whole robot; the power supply module is used for supplying power and converting voltage to each power utilization module.
Furthermore, the control mechanism comprises an embedded CPU and an expandable module thereon, wherein the expandable module comprises an A/D, D/A interface, an IO interface, an Ethernet interface and a communication interface, and the motion control of the robot is realized through the embedding of a program.
Furthermore, the sensing mechanism comprises a smoke alarm sensor, a temperature and humidity sensor, an oxygen monitoring sensor, a combustible gas sensor, a pressure sensor, a liquid level sensor, a liquid leakage sensor, a leakage current sensor, a 3D laser sensor and an ultrasonic sensor, the collected data are transmitted to the embedded CPU through connection of interfaces of the control mechanism extensible module, and the data are processed and then applied to an application component of the software system.
Furthermore, the 3D laser sensor is used for map scanning establishment, and automatic routing inspection is achieved after a map is established by combining with a navigation module.
Further, the navigation module is used for robot path planning and positioning navigation. In a preferred embodiment, the robot navigation system adopts a GS-SR001 laser navigation module, an internal path algorithm is configured for planning, the robot can scan according to an environment map, the internal algorithm plans a routing inspection path according to the map, the robot runs according to the planned path and is matched with a corresponding automatic control system, and the robot completes monitoring and data acquisition according to the position of the robot.
Further, the ultrasonic sensor is used for automatic obstacle avoidance of the robot.
Furthermore, a power supply mode combining battery power supply and distributed contact charging is adopted in the robot power supply aspect. And distributed charging points are arranged every 500m in the pipe gallery, and a 220V power supply cable is connected to charging station equipment for supplying power. The robot is provided with a large-capacity lithium battery, the battery can provide a current power supply system with the capacity of up to 20A, and the battery capacity meets the requirement that the full-load (once charging) walking mileage is not lower than 8 km. After the robot lithium battery electric quantity is lower than the preset threshold value or the task of once patrolling and examining is accomplished, power management module orders it to look for the charging point nearby and charges, in addition, the robot loses can look for the charging point nearby after the communication and charges to realize the function that the robot never cuts off the power supply in the piping lane.
Utility tunnel patrols and examines robot theory of operation as follows: the robot starts to work, and whether the map is established in the environment is judged by analyzing the acquired data; if the map is not established, the robot enters the detection environment for the first time, the robot slowly advances along the inspection road, scans and establishes the pipe gallery map in the advancing process, and uploads the acquired data to the software system through the wireless communication module; after the background processor processes the data, reasonable advancing route and driving speed are calculated, and the data are stored in a database; if the robot is located in the inspection environment, a map is established, and inspection is performed according to the stored inspection data arrangement; when emergency occurs in the inspection process, the internal algorithm analyzes the acquired data and uploads alarm information, relevant information is displayed on a display interface, and the internal algorithm of the robot autonomously judges whether the emergency can be handled or not; if the emergency condition can not be processed by self, the inspection is suspended and the real-time tracking monitoring is carried out on the emergency condition; if the emergency can be processed, judging whether the problem is solved or not after the processing is finished; if the problem is not solved, the inspection is suspended to track and monitor the emergency, and if the problem is solved, the incomplete inspection task is continued.
The invention has the beneficial effects that: patrol and examine the robot through this utility tunnel, solved the personnel burden of patrolling and examining of present traditional manual work to can compensate the defect that utility tunnel monitored control system can only fixed point control, further improve utility tunnel control managerial ability, in addition, carry on multiple gas sensor on the robot, get into the utility tunnel maintenance to the staff and provide the safety guarantee.
Drawings
FIG. 1 is a diagram of the overall technical framework of the robot of the present invention;
FIG. 2 is a schematic view of the overall structure of the robot of the present invention;
FIG. 3 is a schematic view of a robotic fire suppression actuator of the present invention;
FIG. 4 is a schematic view of a robot lift monitoring mechanism of the present invention;
FIG. 5 is a schematic view of a serpentine robotic detection mechanism of the present invention;
FIG. 6 is a flow chart of the robot operation of the present invention;
Detailed Description
The present invention will be further described with reference to the accompanying drawings to specifically illustrate the technical solutions.
As shown in fig. 1 to 6, the utility tunnel inspection robot comprises a robot body and a control system thereof, wherein the robot body comprises a mecanum wheel driving mechanism 41 arranged at the bottom of the robot body, a fire extinguishing execution mechanism 42 arranged at the rear part, a lifting monitoring mechanism 44 arranged at the front part, and snake-shaped detection mechanisms 43 arranged at the left side part and the right side part;
the Mecanum wheel driving mechanism 41 comprises a driving servo motor 411 and a Mecanum wheel 412, can realize 360-degree dead-angle-free movement, and can realize free driving walking in the comprehensive pipe rack;
the fire extinguishing executing mechanism 42 comprises a fixed chassis 421, a rotary table 422 and a mechanical arm base 423, wherein the fixed chassis 421 is fixed on a chassis of the driving mechanism 41 and is connected with the mechanical arm base 423 through the rotary table 422, the rotary table 422 is driven to realize rotary motion in the horizontal plane of the mechanical arm base, the mechanical arm base is sequentially provided with a first mechanical arm 425, a second mechanical arm 427 and a fire extinguishing system 429 from bottom to top, and the mechanical arm base 423 is connected with the first mechanical arm 425 through a first servo motor 424 and is used for driving the first mechanical arm 425 to move; the first mechanical arm 425 and the second mechanical arm 427 are connected through a second servo motor 426, and are used for driving the second mechanical arm 427 to move; the second mechanical arm 427 is connected with the fire extinguishing system 429 through a third servo motor 428 for driving the fire extinguishing system to move; the fire extinguishing system comprises a high-pressure water spray head 4291, a support base 4293 and a high-pressure water pump 4292, and the fire extinguishing function of the comprehensive pipe gallery is realized by the fire extinguishing system;
the lifting monitoring mechanism 44 comprises a fixed base 441, a lifting connecting rod 442, a carrying platform 443, a supporting seat 444, monitoring devices 445 and 446, the fixed base 441 is fixed on a chassis of the driving mechanism 41 and is connected with the lifting connecting rod 442 through a lifting motor 447, the carrying platform 443 is connected with the lifting connecting rod 442 through rivets, the supporting seat 444 is connected with the carrying platform 443 through a first driving motor 448 fixed on the carrying platform 443 and is used for realizing the rotating motion of the monitoring devices 445 and 446 in a horizontal plane, the monitoring devices 445 and 446 are connected with the supporting seat 444 through a second driving motor 4491 and a third driving motor 4492 and are used for realizing the rotating motion of the monitoring devices 445 and 446 in a vertical plane, and the monitoring devices can realize 360-degree dead angle-free detection through matching motion;
the snake-shaped detection mechanism 43 comprises a snake-shaped upper joint structure 431, a snake-shaped lower joint structure 432 and a microminiature drive motor 433, the snake-shaped upper joint structure 431 and the snake-shaped lower joint structure 432 are connected through the microminiature drive motor 433, and the snake-shaped structure can freely move through the movement of the microminiature drive motor 433, so that the short-distance dead-angle-free detection of a complex dangerous area is completed, wherein the diagram 434 is a connecting key groove, and 435 is a driving connecting meshing part;
the control system comprises a software system 1, a driving mechanism 2, a control mechanism 3 and a sensing mechanism 5.
The software system 1 comprises an application component 11 and a generic component 12. The application component 11 mainly comprises an electric power and electric fire monitoring 111, a municipal pipe network monitoring 112, a gas monitoring alarm 113, an operation management 114, a comprehensive monitoring 115 and a video screen monitoring 116, and is mainly used for functions of data processing and display, alarm after limit value setting and the like; the general-purpose component 12 comprises a motion control 121 and a communication module 122, and the components are general-purpose components in the whole system and can be recycled.
The driving mechanism 2 comprises a motor driver 21, a servo driving motor 22 and a power module 23, the control of the servo driving motor 22 is realized by the program control of the embedded CPU31 of the control mechanism 3 on the motor driver 21, and the motor control of the whole robot adopts the driving mechanism; the power module 23 is used for power supply and voltage conversion of each power utilization module.
The control mechanism 3 comprises an embedded CPU31 and an expandable module 32 thereon, wherein the expandable module 32 comprises an A/D, D/A interface 321, an IO interface 322, an Ethernet interface 323 and a communication interface 324, and realizes the motion control of the robot through the embedding of programs.
The sensing mechanism 5 comprises a smoke alarm sensor 51, a temperature and humidity sensor 52, an oxygen monitoring sensor 53, a combustible gas sensor 54, a pressure sensor 55, a liquid level sensor 56, a liquid leakage sensor 57, a leakage current sensor 58, a 3D laser sensor 59 and an ultrasonic sensor 60, collected data are transmitted to the embedded CPU31 through connection of interfaces of the extensible module 32 of the control mechanism 3, and the data are processed and then applied to the application component 11 of the software system 1.
The 3D laser sensor 59 is used for map scanning establishment, and automatic routing inspection is achieved after a map is established by combining a navigation module.
The navigation module is used for robot path planning and positioning navigation. In a preferred embodiment, the robot navigation system adopts a GS-SR001 laser navigation module, an internal path algorithm is configured for planning, the robot can scan according to an environment map, the internal algorithm plans a routing inspection path according to the map, the robot runs according to the planned path and is matched with a corresponding automatic control system, and the robot completes monitoring and data acquisition according to the position of the robot.
The ultrasonic sensor 60 is used for automatic obstacle avoidance of the robot.
And the power supply mode combining battery power supply and distributed contact charging is adopted in the aspect of robot power supply. And distributed charging points are arranged every 500m in the pipe gallery, and a 220V power supply cable is connected to charging station equipment for supplying power. The robot is provided with a large-capacity lithium battery, the battery can provide a current power supply system with the capacity of up to 20A, and the battery capacity meets the requirement that the full-load (once charging) walking mileage is not lower than 8 km. After the robot lithium battery electric quantity is lower than the preset threshold value or the task of once patrolling and examining is accomplished, power management module orders it to look for the charging point nearby and charges, in addition, the robot loses can look for the charging point nearby after the communication and charges to realize the function that the robot never cuts off the power supply in the piping lane.
The work flow of the comprehensive pipe rack inspection robot comprises the following steps: the robot starts to work, and whether the map is established in the environment is judged by analyzing the acquired data; if the map is not established, the robot enters the detection environment for the first time, the robot slowly advances along the inspection road, scans and establishes the pipe gallery map in the advancing process, and uploads the acquired data to the software system through the wireless communication module; after the background processor processes the data, reasonable advancing route and driving speed are calculated, and the data are stored in a database; if the robot is located in the inspection environment, a map is established, and inspection is performed according to the stored inspection data arrangement; when emergency occurs in the inspection process, the internal algorithm analyzes the acquired data and uploads alarm information, relevant information is displayed on a display interface, and the internal algorithm of the robot autonomously judges whether the emergency can be handled or not; if the emergency condition can not be processed by self, the inspection is suspended and the real-time tracking monitoring is carried out on the emergency condition; if the emergency can be processed, judging whether the problem is solved or not after the processing is finished; if the problem is not solved, the inspection is suspended to track and monitor the emergency, and if the problem is solved, the incomplete inspection task is continued.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A comprehensive pipe gallery inspection robot is characterized by comprising a robot body and a control system thereof, wherein the robot body comprises a Mecanum wheel driving mechanism arranged at the bottom of the robot body, a fire extinguishing executing mechanism arranged at the rear part, a lifting monitoring mechanism arranged at the front part and a snake-shaped detection mechanism arranged at the left side part and the right side part; the Mecanum wheel driving mechanism comprises a driving servo motor and Mecanum wheels, can realize 360-degree dead-angle-free movement, and can realize free driving walking in the comprehensive pipe rack;
the fire extinguishing executing mechanism comprises a fixed chassis, a rotary table and a mechanical arm base, wherein the fixed chassis is fixed on the driving mechanism chassis and is connected with the mechanical arm base through the rotary table, the rotary table is driven to realize rotary motion in the horizontal plane of the mechanical arm base, the mechanical arm base is sequentially provided with a first mechanical arm, a second mechanical arm and a fire extinguishing system from bottom to top, and the mechanical arm base is connected with the first mechanical arm through a first servo motor and used for driving the first mechanical arm to move; the first mechanical arm is connected with the second mechanical arm through a second servo motor and used for driving the second mechanical arm to move; the second mechanical arm is connected with the fire extinguishing system through a third servo motor and used for driving the fire extinguishing system to move; the fire extinguishing system comprises a high-pressure water spray head, a supporting base and a high-pressure water pump, and the fire extinguishing function of the comprehensive pipe gallery is realized by the fire extinguishing system;
the lifting monitoring mechanism comprises a fixed base, a lifting connecting rod, a carrying platform, a supporting seat and a monitoring device, wherein the fixed base is fixed on a chassis of the driving mechanism and is connected with the lifting connecting rod through a lifting motor, the carrying platform is connected with the lifting connecting rod through a rivet, the supporting seat is connected with the carrying platform through a first driving motor fixed on the carrying platform and used for realizing the rotary motion of the monitoring device in a horizontal plane, the monitoring device is connected with the supporting seat through a second driving motor and a third driving motor and used for realizing the rotary motion of the monitoring device in a vertical plane, and the monitoring device is detected in a manner that no dead angle exists for 360 degrees through matching motion;
the snake-shaped detection mechanism comprises a snake-shaped upper joint structure, a snake-shaped lower joint structure and a microminiature driving motor,
the snake-shaped upper joint structure and the snake-shaped lower joint structure are connected through a micro-miniature driving motor, and the snake-shaped upper joint structure and the snake-shaped lower joint structure can realize the free movement track of the snake-shaped structure through the movement of the micro-miniature driving motor, so that the short-distance dead-angle-free detection of a complex dangerous area is completed;
the control system comprises a software system, a driving mechanism, a control mechanism and a sensing mechanism.
2. The utility tunnel inspection robot according to claim 1, wherein the software system includes application components and general components; the application component mainly comprises electric power and electric fire monitoring, municipal pipe network monitoring, gas monitoring and alarming, operation management, comprehensive monitoring and video screen monitoring, and is mainly used for processing and displaying data, alarming after a limit value is set and the like; the universal assembly comprises a motion control and communication module, and the assembly is a universal assembly in the whole system and can be recycled.
3. The utility model discloses a utility tunnel inspection robot, according to claim 1, characterized in that, the actuating mechanism includes motor drive, servo drive motor and power module, through the embedded CPU of control mechanism to the program control of motor drive, realizes the control of servo drive motor, and this actuating mechanism is adopted in the motor control of whole robot; the power supply module is used for supplying power and converting voltage to each power utilization module.
4. The utility model provides a utility tunnel inspection robot according to claim 1, characterized in that, control mechanism includes embedded CPU to and the expandable module on it, expandable module include A/D, D/A interface, IO interface, Ethernet interface, communication interface, realize the motion control of robot through the embedding of procedure.
5. The utility model provides a utility tunnel patrols and examines robot of claim 1, characterized in that, the perception mechanism includes smog alarm sensor, temperature and humidity sensor, oxygen monitoring sensor, combustible gas sensor, pressure sensor, level sensor, liquid leakage sensor, leakage current sensor, 3D laser sensor, ultrasonic sensor, through the connection of each interface of the extensible module of control mechanism, with data transmission to embedded CPU, the data is used in the application component of software system after handling.
6. The utility model provides a utility tunnel patrols and examines robot, characterized in that, 3D laser sensor is used for map scanning to establish, combines navigation module, realizes automatic patrolling and examining after establishing the map.
7. The utility tunnel inspection robot according to claim 1, wherein the navigation module is used for robot path planning and positioning navigation; in a preferred embodiment, the robot navigation system adopts a GS-SR001 laser navigation module, an internal path algorithm is configured for planning, the robot can scan according to an environment map, the internal algorithm plans a routing inspection path according to the map, the robot runs according to the planned path and is matched with a corresponding automatic control system, and the robot completes monitoring and data acquisition according to the position of the robot.
8. The utility tunnel inspection robot according to claim 1, wherein the ultrasonic sensor is used for automatic obstacle avoidance of the robot.
9. The utility model provides a utility tunnel inspection robot of claim 1, characterized in that, adopt the power supply mode that battery powered and distributed contact charging combine in the aspect of the robot power supply; distributed charging points are arranged every 500m in the pipe gallery, and a 220V power supply cable is connected to charging station equipment for supplying power; the robot is provided with a high-capacity lithium battery, the battery can provide a current power supply system with the capacity of 20A, and the battery capacity meets the requirement that the full-load (once charging) walking mileage is not lower than 8 km; after the robot lithium battery electric quantity is lower than the preset threshold value or the task of once patrolling and examining is accomplished, power management module orders it to look for the charging point nearby and charges, in addition, the robot loses can look for the charging point nearby after the communication and charges to realize the function that the robot never cuts off the power supply in the piping lane.
10. The utility model provides a utility tunnel inspection robot according to claim 1, characterized in that, utility tunnel inspection robot work flow is as follows: the robot starts to work, and whether the map is established in the environment is judged by analyzing the acquired data; if the map is not established, the robot enters the detection environment for the first time, the robot slowly advances along the inspection road, scans and establishes the pipe gallery map in the advancing process, and uploads the acquired data to the software system through the wireless communication module; after the background processor processes the data, reasonable advancing route and driving speed are calculated, and the data are stored in a database; if the robot is located in the inspection environment, a map is established, and inspection is performed according to the stored inspection data arrangement; when emergency occurs in the inspection process, the internal algorithm analyzes the acquired data and uploads alarm information, relevant information is displayed on a display interface, and the internal algorithm of the robot autonomously judges whether the emergency can be handled or not; if the emergency condition can not be processed by self, the inspection is suspended and the real-time tracking monitoring is carried out on the emergency condition; if the emergency can be processed, judging whether the problem is solved or not after the processing is finished; if the problem is not solved, the inspection is suspended to track and monitor the emergency, and if the problem is solved, the incomplete inspection task is continued.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911058990.3A CN110640763A (en) | 2019-11-01 | 2019-11-01 | Comprehensive pipe rack inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911058990.3A CN110640763A (en) | 2019-11-01 | 2019-11-01 | Comprehensive pipe rack inspection robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111515917A (en) * | 2020-05-07 | 2020-08-11 | 中自机器人技术(安庆)有限公司 | Robot for inspecting underground pipeline |
| CN111550660A (en) * | 2020-05-07 | 2020-08-18 | 中自机器人技术(安庆)有限公司 | Portable piping lane inspection robot |
| CN112025669A (en) * | 2020-07-22 | 2020-12-04 | 嘉兴学院 | Pipe gallery inspection robot with adjustable wheelbase |
| CN112223310A (en) * | 2020-10-09 | 2021-01-15 | 哈尔滨工业大学（威海） | Intelligent inspection disinfection robot |
| CN115331325A (en) * | 2022-08-16 | 2022-11-11 | 杭州申昊科技股份有限公司 | Highway inspection equipment |
-
2019
- 2019-11-01 CN CN201911058990.3A patent/CN110640763A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111515917A (en) * | 2020-05-07 | 2020-08-11 | 中自机器人技术(安庆)有限公司 | Robot for inspecting underground pipeline |
| CN111550660A (en) * | 2020-05-07 | 2020-08-18 | 中自机器人技术(安庆)有限公司 | Portable piping lane inspection robot |
| CN112025669A (en) * | 2020-07-22 | 2020-12-04 | 嘉兴学院 | Pipe gallery inspection robot with adjustable wheelbase |
| CN112025669B (en) * | 2020-07-22 | 2021-06-29 | 嘉兴学院 | Pipe gallery inspection robot with adjustable wheelbase |
| CN112223310A (en) * | 2020-10-09 | 2021-01-15 | 哈尔滨工业大学（威海） | Intelligent inspection disinfection robot |
| CN112223310B (en) * | 2020-10-09 | 2023-01-13 | 哈尔滨工业大学（威海） | Intelligent inspection disinfection robot |
| CN115331325A (en) * | 2022-08-16 | 2022-11-11 | 杭州申昊科技股份有限公司 | Highway inspection equipment |
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