CN115092278B - Inspection robot control system - Google Patents
Inspection robot control system Download PDFInfo
- Publication number
- CN115092278B CN115092278B CN202210932282.3A CN202210932282A CN115092278B CN 115092278 B CN115092278 B CN 115092278B CN 202210932282 A CN202210932282 A CN 202210932282A CN 115092278 B CN115092278 B CN 115092278B
- Authority
- CN
- China
- Prior art keywords
- module
- bolted
- wheeled robot
- control system
- bolt
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000007689 inspection Methods 0.000 title claims description 34
- 238000012544 monitoring process Methods 0.000 claims abstract description 27
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 230000002457 bidirectional effect Effects 0.000 claims description 9
- 238000009529 body temperature measurement Methods 0.000 claims description 3
- 230000002265 prevention Effects 0.000 claims description 2
- 230000000007 visual effect Effects 0.000 claims description 2
- 239000012535 impurity Substances 0.000 description 7
- 230000000694 effects Effects 0.000 description 6
- 238000009434 installation Methods 0.000 description 5
- 238000013480 data collection Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H6/00—Apparatus equipped with, or having provisions for equipping with, both elements for especially removal of refuse or the like and elements for removal of snow or ice
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/046—Allowing translations adapted to upward-downward translation movement
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/24—Reminder alarms, e.g. anti-loss alarms
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B7/00—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00
- G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q9/00—Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q2209/00—Arrangements in telecontrol or telemetry systems
- H04Q2209/70—Arrangements in the main station, i.e. central controller
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q2209/00—Arrangements in telecontrol or telemetry systems
- H04Q2209/80—Arrangements in the sub-station, i.e. sensing device
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Emergency Management (AREA)
- Business, Economics & Management (AREA)
- Chemical & Material Sciences (AREA)
- Transportation (AREA)
- Signal Processing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Combustion & Propulsion (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a patrol robot control system, which belongs to the technical field of intelligent electrical appliance control panels, and is characterized in that an acousto-optic alarm module is arranged to remind surrounding personnel or collect audio, a set cradle head module can be used for adjusting the position of video information collection with a folding lifting module, a set central control module is used for controlling the whole structure, a set motion control module control device moves, a set data acquisition module is used for collecting the later behavior of a video information supply system, a set remote data transmission module is used for remotely controlling and monitoring the device, and can be convenient for collecting data or inputting information, a set anti-falling module is used for collecting information to prevent the device from moving at a position with overlarge drop height to cause falling, and a set self-standing component is used for automatically standing up after the device falls.
Description
Technical Field
The invention belongs to the technical field of inspection robots, and particularly relates to a control system of an inspection robot.
Background
With the rapid development of China railway construction, the high-speed and high-density running of trains brings more strict requirements to the safety and operation and maintenance management of railway electric service, power supply equipment and systems, the daily inspection of a high-speed railway station, a relay station, a communication mechanical room of a base station, a signal mechanical room and an electric power substation is divided into a manned mode and an unmanned mode, most of the above sites have the problems of inconvenient traffic, difficult night inspection operation and the like, so that inspection personnel cannot master the running working condition of equipment in real time, a monitoring blind area is easy to appear, and inspection robots on the market can inspect for a long time, so that the generation of the detection blind area and the monitoring idle window period is avoided.
At present, chinese patent with bulletin number of CN212828769U discloses a patrol robot, which comprises a vehicle body, a driving wheel, universal wheels and a bracket; the driving wheel and the universal wheels are arranged on the vehicle body; the bracket is arranged on the vehicle body; the driving wheel gives the power of the inspection robot so that the inspection robot moves, the universal wheel is used for adjusting the moving direction of the inspection robot, the turning operation with smaller radius can be realized, no dry friction exists between the driving wheel and the ground, and the improvement of the positioning precision and the extension of the service life of the tire can be realized.
The existing inspection robot not only works indoors, but also can fall down due to strong wind or artificial collision in the outdoor operation, cannot stand up without manual lifting, and the normal inspection of the wheel type inspection robot can be influenced when snow or small impurities are accumulated outside the room.
Disclosure of Invention
The invention aims at the existing inspection robot control system, and has the advantages that the inspection robot control system can automatically rise after being toppled over by external force, and can push away snow or impurities to avoid blocking travelling.
The technical aim of the invention is realized by the following technical scheme: including wheeled robot carrier and inspection control system, the top of wheeled robot carrier is provided with elevator motor drive structure, the top of wheeled robot carrier rotates and is connected with folding elevator structure, folding elevator structure's the outside and elevator motor drive structure bolt, folding elevator structure's top bolt has two degrees of freedom double-light cloud platform of high accuracy, wheeled robot carrier's top bolt has three-dimensional laser radar, wheeled robot carrier's bottom bolt has train drive structure, wheeled robot carrier's outside bolt has train steering structure, wheeled robot carrier's left side bolt has anti-falling sensor, high accuracy two degrees of freedom double-light cloud platform's rear side bolt has high definition digtal camera, high accuracy two degrees of freedom double-light cloud platform's front side bolt has infrared camera, wheeled robot carrier's left side and right side all stand by oneself and set up the subassembly, the right side bolt of self-supporting subassembly has the promotion subassembly, left side robot carrier has the shovel subassembly.
Adopt above-mentioned technical scheme, through setting up wheeled robot carrier, be used for supporting the structure, the inspection control system of setting is arranged in controlling the structure in the equipment, the elevator motor drive structure of setting is used for cooperating with folding elevator structure, drive it, the high accuracy two degrees of freedom two light cloud platforms of setting are used for installing infrared camera and high definition digtal camera and can be convenient for move about in order to regulate and control shooting angle, the train drive structure and the train steering structure of setting are used for letting wheeled robot advance under inspection control system's control, the free-standing subassembly of setting can cooperate the promotion subassembly can be automatic standing when device self is emptyd, the end shovel subassembly of setting can be in snow or impurity more position the clearance of road of marcing.
The invention is further provided with: the inspection control system comprises a central control module, wherein the input end of the central control module is electrically connected with an acousto-optic alarm module in a bidirectional manner, the output end of the central control module is electrically connected with a cradle head module in a single way, the output end of the central control module is electrically connected with a motion control module in a unidirectional manner, the output end of the central control module is electrically connected with a self-supporting module in a unidirectional manner, the output end of the central control module is electrically connected with a folding lifting module in a unidirectional manner, the output end of the central control module is electrically connected with a data acquisition module in a bidirectional manner, the output end of the central control module is electrically connected with a remote data transmission module in a bidirectional manner, and the input end of the central control module is electrically connected with an anti-falling module in a unidirectional manner.
By adopting the technical scheme, the sound and light alarm module is used for reminding surrounding personnel or collecting audio frequency, the cradle head module can be used for carrying out position adjustment with the collection of the video information by the folding lifting module, the central control module is used for controlling the whole structure, the motion control module control device is arranged to move, the data acquisition module is used for collecting the behavior after the video information supply system is used for judging, the remote data transmission module is used for remotely controlling and monitoring the device, and can be convenient for collecting data or input information, and the anti-falling module is used for collecting information and avoiding the device to advance at the position with overlarge fall to cause falling.
The invention is further provided with: the sound and light alarm module comprises an emergency broadcasting module, a sound collecting module and an alarm lamp module, wherein the emergency broadcasting module is a sound amplifying horn, the alarm lamp module is a flash alarm lamp, and the sound amplifying horn is arranged on the inner side of the wheeled robot carrier.
By adopting the technical scheme, the loudspeaker is arranged to serve as an emergency broadcasting module, the audio is conveniently played in a remote mode, and the alarm lamp module is arranged to warn surrounding personnel.
The invention is further provided with: the data acquisition module comprises an environment monitoring module, an infrared temperature measuring module and a video monitoring module, wherein the environment monitoring module is a three-dimensional laser radar, the infrared temperature measuring module comprises an infrared camera, the video monitoring module is a high-definition camera, the sound acquisition module is an acquisition microphone, and the acquisition microphone is arranged on the inner side of the wheeled robot carrier.
By adopting the technical scheme, through setting up the three-dimensional laser radar as environment monitoring module, can effectually gather surrounding environment information, the infrared camera as infrared temperature measuring module can be convenient for monitor the temperature to also can play the effect of gathering at night, the high definition camera as video monitoring module is used for transmitting conventional video information, and the sound collection module of setting is used for collecting the surrounding sound.
The invention is further provided with: the motion control module is of a wheel train driving structure, the self-standing module is a self-standing component and a pushing component, the folding lifting module is of a folding lifting structure, and the anti-falling module is an anti-falling sensor.
By adopting the technical scheme, the high-precision two-degree-of-freedom double-light holder is used as a holder module, the angle of the high-definition camera and the angle of the infrared camera can be flexibly adjusted, the folding lifting structure is used as a folding lifting module, the holder module can be conveniently adjusted in height and position, and the holder module is used as a falling-preventing sensor of the falling-preventing module, so that the height drop of the position can be sensed, and falling is avoided.
The invention is further provided with: the self-supporting assembly comprises an annular guide rail, the outer side of the annular guide rail is connected with a mounting shell in a sliding mode, a rack is bolted to the inner side of the annular guide rail, a gear is connected to the right side of the rack in a meshed mode, a driving motor is bolted to the top of the inner side of the mounting shell, and the end portion of an output shaft of the driving motor is bolted to the gear.
By adopting the technical scheme, through setting up the annular guide rail, as the movable guide rail of installation shell and inner structure, driving motor drives the gear rotation during the use, and gear and rack engagement, along with the rotation of gear, installation shell and outer structure can slide along the annular guide rail.
The invention is further provided with: the pushing assembly comprises a guide shell, the top of the left side of the guide shell is bolted with a mounting shell, the bottom of the inner side of the guide shell is bolted with a driving motor, the end part of an output shaft of the driving motor is bolted with a driving screw, the top of the guide shell is bolted with a top plate, the bottom of the top plate is rotationally connected with the driving screw, the surface of the driving screw is in threaded connection with a driving plate, the outer side of the driving plate is in sliding connection with the guide shell, a first connecting rod is welded at a top chamfer of the driving plate, the top of the first connecting rod is welded with a pushing plate, and the outer side of the first connecting rod penetrates through the top plate and is in sliding connection with the top plate.
By adopting the technical scheme, through setting up driving motor, when driving the drive screw pivoted, the drive plate in the drive screw outside can be along direction shell vertical migration to drive the push plate through first connecting rod and move perpendicularly, when the device falls down, the installation shell of self-standing subassembly will promote the subassembly and remove one side of falling down, can support when the push plate stretches out from direction shell inside and press the ground of empting the position, and jack-up the device.
The invention is further provided with: the left side the right side bolt of annular guide rail has the enclosure frame, the enclosure frame is close to one side of wheeled robot carrier and wheeled robot carrier bolt, the right side the left side bolt of annular guide rail has the link, the link is close to one side of wheeled robot carrier and wheeled robot carrier bolt.
By adopting the technical scheme, the surrounding frame is matched with the connecting frame, so that the self-standing assembly and the wheeled robot carrier are connected conveniently, and the use of other structures is not hindered.
The invention is further provided with: the bottom shovel assembly comprises a stress frame, the right side and the right side of the stress frame are bolted to the left side of the annular guide rail, an electric telescopic cylinder is bolted to the top of the left side of the stress frame, a shovel plate is arranged on the left side of the electric telescopic cylinder, a second connecting rod is bolted to the bottom of the left side of the stress frame, and the left side of the second connecting rod is rotationally connected with the shovel plate.
By adopting the technical scheme, through setting up the atress frame, can be convenient for install end shovel subassembly on annular guide rail, the second connecting rod of setting is used for supporting the shovel board, and the electric telescopic jar of setting is used for standing up or putting flat the shovel board, avoids influencing the device downhill path when not needing to promote impurity.
The invention is further provided with: the telescopic shaft end part of the electric telescopic cylinder is bolted with a first rotating shaft, the left side of the first rotating shaft is rotationally connected with a sliding block, the outer side of the sliding block is slidably connected with a sliding rail, the left side of the sliding rail is bolted with a shovel plate, the left side of the second connecting rod is bolted with a second rotating shaft, and the left side of the second rotating shaft is rotationally connected with the shovel plate.
By adopting the technical scheme, through setting up first pivot and slider and slide rail cooperation, when electric telescopic jar is retracted or is extended, the tip of electric telescopic jar is through first pivot pulling or promote the slider and slide in the slide rail, and the second pivot of setting can be in the second pivot rotation when shovel board activity.
In summary, the invention has the following beneficial effects:
1. the set cradle head module can be used for reminding surrounding personnel or collecting audio frequency, the set cradle head module can be used for adjusting the position of the collection of video information with the folding lifting module, the set central control module is used for controlling the whole structure, the set motion control module control device moves, the set data collection module is used for collecting the behavior after the video information supply system is used for judging, the set remote data transmission module is used for remotely controlling and monitoring the device and can be convenient for collecting data or inputting information, the set anti-falling module is used for collecting information and preventing the device from running at the position with overlarge fall to drop, the set self-standing component is used for automatically rising after the device falls, the annular guide rail in the self-standing component is used as a movable guide rail of a mounting shell and an inner structure, a driving motor drives a gear to rotate when in use, so that the gear is meshed with a rack, the mounting shell and the outer structure can slide along the annular guide rail, a driving motor drives a driving screw to rotate, a driving plate on the outer side of the driving screw vertically moves along the guide shell, and drives the driving plate to vertically move through a first connecting rod, when the self-standing component falls, the self-standing component is used for automatically rising, the self-standing component is used for pushing the self-standing component to automatically rise to the lifting device to push the lifting device to the lifting device, the self-standing component is used for pushing the lifting device to push the lifting device, and the lifting device is matched with the lifting device to lift the lifting device, and the lifting device is used for lifting down, the high-precision two-degree-of-freedom double-light holder is used for installing an infrared camera and a high-definition camera and can conveniently move to adjust and control shooting angles, and the set wheel train driving structure and wheel train steering structure are used for enabling the wheeled robot to travel under the control of a patrol control system.
2. Through setting up the promotion subassembly, be convenient for clear up the position of marcing, the atress frame of setting can be installed end shovel subassembly on annular guide rail, and the second connecting rod of setting is used for supporting the shovel board, and the electric telescopic jar of setting is used for standing up or putting flat the shovel board, and when electric telescopic jar was retracted or is extended, the tip of electric telescopic jar was through first pivot pulling or promote the slider and slide in the slide rail, played the effect of adjustment shovel board, avoided influencing the device downhill path when not needing to promote impurity.
Drawings
FIG. 1 is a schematic structural view of a main structure of the present invention;
FIG. 2 is a schematic view of a wheeled robotic vehicle according to the present invention;
FIG. 3 is a schematic view of the structure of the midsole shovel assembly of the present invention;
FIG. 4 is a schematic view of the position of the sliding rail according to the present invention;
FIG. 5 is a schematic view of a second connecting rod according to the present invention;
FIG. 6 is a schematic view of the structure of the free-standing assembly of the present invention;
FIG. 7 is a schematic view of a pushing assembly according to the present invention;
FIG. 8 is a schematic diagram of a patrol control system according to the present invention.
Reference numerals: 1. a wheeled robotic vehicle; 2. a patrol control system; 201. a central control module; 202. an acousto-optic alarm module; 2021. an emergency broadcast module; 2022. a warning lamp module; 203. a cradle head module; 204. a motion control module; 205. a self-standing module; 206. a folding lifting module; 207. a data acquisition module; 2071. an environmental monitoring module; 2072. an infrared temperature measurement module; 2073. a video monitoring module; 2074. a sound collection module; 208. a remote data transmission module; 209. a fall protection module; 3. a lifting motor driving structure; 4. a folding lifting structure; 5. high-precision two-degree-of-freedom double-light holder; 6. a three-dimensional laser radar; 7. a gear train driving structure; 8. a wheel train steering structure; 9. a fall-off prevention sensor; 10. a high definition camera; 11. an infrared camera; 12. a surrounding frame; 13. a connecting frame; 14. a first rotating shaft; 15. a slide block; 16. a slide rail; 17. a second rotating shaft; a. a free-standing assembly; a1, an annular guide rail;
a2, installing a shell; a3, a rack; a4, a gear; a5, driving a motor; b. a pushing assembly;
b1, guiding the shell; b2, driving a motor; b3, driving a screw; b4, a top plate; b5, driving the plate; b6, a first connecting rod; b7, pushing the plate; c. a bottom shovel assembly; c1, a stress frame; c2, an electric telescopic cylinder; c3, a shovel plate; and c4, a second connecting rod.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Example 1:
referring to fig. 1-8, a inspection robot control system comprises a wheeled robot carrier 1 and an inspection control system 2, wherein the top of the wheeled robot carrier 1 is provided with a lifting motor driving structure 3, the top of the wheeled robot carrier 1 is rotatably connected with a folding lifting structure 4, the outer side of the folding lifting structure 4 is bolted with the lifting motor driving structure 3, the top of the folding lifting structure 4 is bolted with a high-precision two-degree-of-freedom double-light holder 5, the top of the wheeled robot carrier 1 is bolted with a three-dimensional laser radar 6, the bottom of the wheeled robot carrier 1 is bolted with a wheel train driving structure 7, the outer side of the wheeled robot carrier 1 is bolted with a wheel train steering structure 8, the left side of the wheeled robot carrier 1 is bolted with a fall-preventing sensor 9, the rear side of the high-precision two-degree-of-freedom double-light holder 5 is bolted with a high-definition camera 10, an infrared camera 11 is bolted to the front side of the high-precision two-degree-of-freedom double-light holder 5, a self-standing component a is arranged on the left side and the right side of the wheeled robot carrier 1, a pushing component b is bolted to the right side of the self-standing component a, the wheeled robot carrier 1 is arranged for supporting the structure, a patrol control system 2 is arranged for controlling the structure in the equipment, a lifting motor driving structure 3 is arranged for being matched with the folding lifting structure 4 to drive the same, the high-precision two-degree-of-freedom double-light holder 5 is arranged for installing the infrared camera 11 and the high-definition camera 10 and can conveniently move the same to regulate and control shooting angles, a wheel train driving structure 7 and a wheel train steering structure 8 are arranged for enabling the wheeled robot to travel under the control of the patrol control system 2, the self-standing component a can be matched with the pushing component b to automatically rise when the device falls down, the inspection control system 2 comprises a central control module 201, the input end of the central control module 201 is electrically connected with an acousto-optic alarm module 202 in a bidirectional manner, the single output end of the central control module 201 is electrically connected with a cradle head module 203, the output end of the central control module 201 is electrically connected with a motion control module 204 in a unidirectional manner, the output end of the central control module 201 is electrically connected with a self-standing module 205 in a unidirectional manner, the output end of the central control module 201 is electrically connected with a folding lifting module 206 in a unidirectional manner, the output end of the central control module 201 is electrically connected with a data acquisition module 207 in a bidirectional manner, the output end of the central control module 201 is electrically connected with a remote data transmission module 208 in a bidirectional manner, the input end of the central control module 201 is electrically connected with a falling-preventing module 209 in a unidirectional manner, the set pan-tilt module 203 can adjust the position of the folding lifting module 206 for collecting the video information by the set acousto-optic alarm module 202 for reminding the surrounding personnel or collecting the audio, the set central control module 201 is used for controlling the whole structure, the set motion control module 204 is used for controlling the device to move, the set data collection module 207 is used for collecting the video information supply system for judging the later behavior, the set remote data transmission module 208 is used for controlling and monitoring the device remotely and can be convenient for collecting the data or inputting the information, the set anti-falling module 209 is used for collecting the information to avoid falling caused by the device traveling at the position with overlarge fall, the acousto-optic alarm module 202 comprises an emergency broadcasting module 2021 and an alarm lamp module 2022, the emergency broadcasting module 2021 is a loudspeaker, the alarm lamp module 2022 is a flash alarm lamp, the loudspeaker is arranged at the inner side of the wheeled robot carrier 1, the loudspeaker is arranged as an emergency broadcasting module 2021, the remote playing of the audio is convenient, the arranged alarm lamp module 2022 is used for warning surrounding personnel, the data acquisition module 207 comprises an environment monitoring module 2071, an infrared temperature measuring module 2072, a video monitoring module 2073 and a sound acquisition module 2074, the environment monitoring module 2071 is a three-dimensional laser radar 6, the infrared temperature measuring module 2072 comprises an infrared camera 11, the video monitoring module 2073 is a high-definition camera 10, the surrounding environment information can be effectively acquired by arranging the three-dimensional laser radar 6 as the environment monitoring module 2071, the infrared camera 11 as the infrared temperature measuring module 2072 can be convenient for monitoring the temperature, the acquisition effect can be also achieved at night, the sound acquisition module 2074 is an acquisition microphone, the acquisition microphone is arranged at the inner side of the wheeled robot carrier 1, the sound collecting module 2074 is used for collecting peripheral sounds, the infrared camera 11 serving as the infrared temperature measuring module 2072 can be used for conveniently monitoring the temperature and can also have the collecting effect at night, the high-definition camera 10 serving as the video monitoring module 2073 is used for transmitting conventional video information, the tripod head module 203 is a high-precision two-degree-of-freedom double-light tripod head 5, the motion control module 204 is a wheel train driving structure 7, the self-standing module 205 is a self-standing component a and a pushing component b, the folding lifting module 206 is a folding lifting structure 4, the falling preventing module 209 is a falling preventing sensor 9, the high-definition camera 10 and the infrared camera 11 can be flexibly subjected to angle adjustment by the high-precision two-degree-of-freedom double-light tripod head 5 serving as the tripod head module 203, the folding lifting structure 4 serving as the folding lifting module 206 is arranged, the cradle head module 203 can be conveniently adjusted in height and position, the anti-falling sensor 9 serving as the anti-falling module 209 can sense the height difference of the position to avoid falling, the self-standing component a comprises an annular guide rail a1, the outer side of the annular guide rail a1 is slidably connected with a mounting shell a2, the inner side of the annular guide rail a1 is bolted with a rack a3, the right side of the rack a3 is in meshed connection with a gear a4, the top of the inner side of the mounting shell a2 is bolted with a driving motor a5, the end part of an output shaft of the driving motor a5 is bolted with the gear a4, the driving motor a5 drives the gear a4 to rotate when in use by arranging the annular guide rail a1 to serve as a movable guide rail for the mounting shell a2 and an internal structure, the gear a4 is meshed with the rack a3, the mounting shell a2 and the external structure can slide along the annular guide rail a1 along with the rotation of the gear a4, the top of the left side of the guide shell b1 is bolted with the installation shell a2, the bottom of the inner side of the guide shell b1 is bolted with the driving motor b2, the end part of the output shaft of the driving motor b2 is bolted with the driving screw b3, the top of the guide shell b1 is bolted with the top plate b4, the bottom of the top plate b4 is rotationally connected with the driving screw b3, the surface of the driving screw b3 is in threaded connection with the driving plate b5, the outer side of the driving plate b5 is slidably connected with the guide shell b1, a first connecting rod b6 is welded at the top chamfer of the driving plate b5, the top of the first connecting rod b6 is welded with the pushing plate b7, the outer side of the first connecting rod b6 penetrates through the top plate b4 and is slidably connected with the top plate b4, by arranging the driving motor b2, when the driving screw b3 is driven to rotate, the driving plate b5 at the outer side of the driving screw b3 can vertically move along the guide shell b1, and the pushing plate b7 is driven to vertically move by the first connecting rod b6, when the device falls, the installation shell a2 of the self-standing assembly a moves the pushing assembly b to the falling side, the pushing plate b7 can prop against the ground at the falling position when extending out of the guide shell b1, the device is jacked up, the surrounding frame 12 is bolted to the right side of the left annular guide rail a1, one side of the surrounding frame 12, which is close to the wheeled robot carrier 1, is bolted to the wheeled robot carrier 1, the connecting frame 13 is bolted to the left side of the right annular guide rail a1, one side of the connecting frame 13, which is close to the wheeled robot carrier 1, is bolted to the wheeled robot carrier 1, and the self-standing assembly a and the wheeled robot carrier 1 are conveniently connected by being matched with the connecting frame 13 through the surrounding frame 12, and the use of other structures is not hindered.
The use process is briefly described: by providing the audible and visual alarm module 202 for reminding surrounding personnel or collecting audio, the provided pan-tilt module 203 can adjust the position of the collection of video information with the folding lifting module 206, the provided central control module 201 for controlling the whole structure, the provided motion control module 204 for controlling the device to move, the provided data collection module 207 for collecting the video information supply system for judging the later behavior, the provided remote data transmission module 208 for controlling and monitoring the device remotely and for collecting data or input information, the provided anti-falling module 209 for collecting information to avoid falling caused by the device traveling at a position with an excessive drop, the provided self-standing component a for automatically standing after the device falls, the annular guide rail a1 in the self-standing component a as a movable guide rail for installing the housing a2 and the internal structure, when the device is used, the driving motor a5 drives the gear a4 to rotate so as to be meshed with the rack a3, the mounting shell a2 and an external structure can slide along the annular guide rail a1 when the gear a4 rotates, the driving motor b2 drives the driving screw b3 to rotate, the driving plate b5 outside the driving screw b3 can vertically move along the guide shell b1 and drives the pushing plate b7 to vertically move through the first connecting rod b6, when the device falls down, the mounting shell a2 of the self-standing component a moves the pushing component b to one side of the falling down, the pushing plate b7 can prop against the ground of the falling position when extending out from the inside of the guide shell b1 so as to jack up the device, the wheeled robot carrier 1 is used for mounting the structure, the inspection control system 2 is used for controlling the structure in the device, the lifting motor driving structure 3 is used for matching with the folding lifting structure 4, the high-precision two-degree-of-freedom double-light holder 5 is used for installing an infrared camera 11 and a high-definition camera 10 and can conveniently move to adjust and control shooting angles, and the set wheel train driving structure 7 and wheel train steering structure 8 are used for enabling the wheeled robot carrier 1 to travel under the control of the inspection control system 2.
Examples:
referring to fig. 1-4, a inspection robot control system, including wheeled robot carrier 1, the left side of wheeled robot carrier 1 is provided with end shovel subassembly c, end shovel subassembly c includes atress frame c1, atress frame c 1's right side and the left side bolt of right side annular guide rail a1, atress frame c1 left top bolt has electric telescopic cylinder c2, electric telescopic cylinder c 2's left side is provided with shovel board c3, atress frame c1 left bottom bolt has second connecting rod c4, the left side and the shovel board c3 rotation of second connecting rod c4 are connected, through setting up atress frame c1, can be convenient for install end shovel subassembly c on annular guide rail a1, second connecting rod c4 that sets up is used for supporting shovel board c3, electric telescopic cylinder c2 that sets up is used for standing or is put down to shovel board c3, avoid when not needing to promote the device of impurity to go up and down, electric telescopic cylinder c 2's telescopic shaft tip bolt has first pivot 14, first slider 14 rotation 15 is connected with shovel board c3 rotation, slider 15 rotation 15 is connected with shovel board c3 rotation 15 rotation, slider 16 rotation 15 is connected with second pivot 16 rotation 17 rotation 15 in the side and slide rail c is provided with second pivot 17 rotation 15, extension cylinder rotation 17, extension cylinder c is connected with rotation 17 rotation axis 3 rotation axis and rotation axis 3 rotation 17 rotation axis, extension 17 side is provided with rotation axis 16 rotation 17 rotation of rotation axis C is in the second side and side of rotation axis C is provided with the second slider rotation.
The use process is briefly described: through setting up pushing component b, be convenient for clear up the position of marcing, the atress frame c1 of setting can install end shovel subassembly c on annular guide rail a1, the second connecting rod c4 of setting is used for supporting shovel board c3, the electric telescopic jar c2 of setting is used for standing up or putting flat shovel board c3, when electric telescopic jar c2 is retracted or is extended, electric telescopic jar c 2's tip is through first pivot 14 pulling or promote slider 15 and slide in slide rail 16, play the effect of adjustment shovel board c3, avoid influencing the device and go up and down the slope when not needing to promote impurity.
The present embodiment is only for explanation of the present invention and is not to be construed as limiting the present invention, and modifications to the present embodiment, which may not creatively contribute to the present invention as required by those skilled in the art after reading the present specification, are all protected by patent laws within the scope of claims of the present invention.
Claims (8)
1. The utility model provides a patrol and examine robot control system, includes wheeled robot carrier (1) and patrol and examine control system (2), its characterized in that: the top of wheeled robot carrier (1) is provided with lift motor drive structure (3), the top of wheeled robot carrier (1) rotates and is connected with folding lift structure (4), the outside and lift motor drive structure (3) bolt of folding lift structure (4), the top bolt of folding lift structure (4) has high accuracy two degree of freedom two-light cloud platform (5), the top bolt of wheeled robot carrier (1) has three-dimensional laser radar (6), the bottom bolt of wheeled robot carrier (1) has train drive structure (7), the outside bolt of wheeled robot carrier (1) has train steering structure (8), the left side bolt of wheeled robot carrier (1) has anti-drop sensor (9), the rear side bolt of high accuracy two degree of freedom two-light cloud platform (5) has high definition digtal camera (10), the front side bolt of high accuracy two degree of freedom two-light cloud platform (5) has infrared camera (11), the bottom bolt of wheeled robot carrier (1) has high definition digtal camera (c), left side and right side self-supporting robot carrier (1) have left side self-supporting component (c);
the self-supporting assembly (a) comprises an annular guide rail (a 1), wherein the outer side of the annular guide rail (a 1) is connected with a mounting shell (a 2) in a sliding manner, a rack (a 3) is bolted to the inner side of the annular guide rail (a 1), a gear (a 4) is connected to the right side of the rack (a 3) in a meshed manner, a driving motor (a 5) is bolted to the top of the inner side of the mounting shell (a 2), and the end part of an output shaft of the driving motor (a 5) is bolted to the gear (a 4);
the pushing assembly (b) comprises a guide shell (b 1), the top of the left side of the guide shell (b 1) is bolted with a mounting shell (a 2), a driving motor (b 2) is bolted to the bottom of the inner side of the guide shell (b 1), a driving screw (b 3) is bolted to the end part of an output shaft of the driving motor (b 2), a top plate (b 4) is bolted to the top of the guide shell (b 1), the bottom of the top plate (b 4) is rotationally connected with the driving screw (b 3), a driving plate (b 5) is connected with the surface of the driving screw (b 3) in a threaded manner, a first connecting rod (b 6) is welded to the top chamfer of the driving plate (b 5), a pushing plate (b 7) is welded to the top of the first connecting rod (b 6), and the outer side of the first connecting rod (b 6) penetrates through the top plate (b 4) and is slidingly connected with the top plate (b 4).
2. The inspection robot control system of claim 1, wherein: the inspection control system (2) comprises a central control module (201), wherein an input end of the central control module (201) is in bidirectional electrical connection with an acousto-optic alarm module (202), an output end single-phase electrical connection of the central control module (201) is provided with a cradle head module (203), an output end of the central control module (201) is in unidirectional electrical connection with a motion control module (204), an output end of the central control module (201) is in unidirectional electrical connection with a self-supporting module (205), an output end of the central control module (201) is in unidirectional electrical connection with a folding lifting module (206), an output end of the central control module (201) is in bidirectional electrical connection with a data acquisition module (207), an output end of the central control module (201) is in bidirectional electrical connection with a remote data transmission module (208), and an input end of the central control module (201) is in unidirectional electrical connection with a falling prevention module (209).
3. The inspection robot control system of claim 2, wherein: the audible and visual alarm module (202) comprises an emergency broadcasting module (2021) and an alarm lamp module (2022), wherein the emergency broadcasting module (2021) is a sound amplifying horn, the alarm lamp module (2022) is a flash alarm lamp, and the sound amplifying horn is arranged on the inner side of the wheeled robot carrier (1).
4. The inspection robot control system of claim 2, wherein: the data acquisition module (207) comprises an environment monitoring module (2071), an infrared temperature measurement module (2072), a video monitoring module (2073) and a sound acquisition module (2074), wherein the environment monitoring module (2071) is a three-dimensional laser radar (6), the infrared temperature measurement module (2072) comprises an infrared camera (11), the video monitoring module (2073) is a high-definition camera (10), the sound acquisition module (2074) is an acquisition microphone, and the acquisition microphone is arranged on the inner side of the wheeled robot carrier (1).
5. The inspection robot control system of claim 2, wherein: the cradle head module (203) is a high-precision two-degree-of-freedom double-light cradle head (5), the motion control module (204) is a wheel train driving structure (7), the self-standing module (205) is a self-standing component (a) and a pushing component (b), the folding lifting module (206) is a folding lifting structure (4), and the anti-falling module (209) is an anti-falling sensor (9).
6. The inspection robot control system of claim 1, wherein: the left side the right side bolt of annular guide rail (a 1) has enclosure frame (12), the one side that enclosure frame (12) is close to wheeled robot carrier (1) is bolted with wheeled robot carrier (1), the right side the left side bolt of annular guide rail (a 1) has link (13), the one side that link (13) is close to wheeled robot carrier (1) is bolted with wheeled robot carrier (1).
7. The inspection robot control system of claim 1, wherein: the bottom shovel assembly (c) comprises a stress frame (c 1), the right side and the right side of the stress frame (c 1) are bolted to the left side of the annular guide rail (a 1), an electric telescopic cylinder (c 2) is bolted to the top of the left side of the stress frame (c 1), a shovel plate (c 3) is arranged on the left side of the electric telescopic cylinder (c 2), a second connecting rod (c 4) is bolted to the bottom of the left side of the stress frame (c 1), and the left side of the second connecting rod (c 4) is rotationally connected with the shovel plate (c 3).
8. The inspection robot control system of claim 7, wherein: the telescopic shaft end portion of the electric telescopic cylinder (c 2) is bolted with a first rotating shaft (14), the left side of the first rotating shaft (14) is rotationally connected with a sliding block (15), the outer side of the sliding block (15) is slidably connected with a sliding rail (16), the left side of the sliding rail (16) is bolted with a shovel plate (c 3), the left side of a second connecting rod (c 4) is bolted with a second rotating shaft (17), and the left side of the second rotating shaft (17) is rotationally connected with the shovel plate (c 3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210932282.3A CN115092278B (en) | 2022-08-04 | 2022-08-04 | Inspection robot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210932282.3A CN115092278B (en) | 2022-08-04 | 2022-08-04 | Inspection robot control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115092278A CN115092278A (en) | 2022-09-23 |
| CN115092278B true CN115092278B (en) | 2024-02-06 |
Family
ID=83301208
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210932282.3A Active CN115092278B (en) | 2022-08-04 | 2022-08-04 | Inspection robot control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115092278B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004188581A (en) * | 2002-11-26 | 2004-07-08 | Yoshiaki Okamoto | Rescue robot |
| CN109079740A (en) * | 2018-09-04 | 2018-12-25 | 南京理工大学 | A kind of Intelligent Mobile Robot |
| CN209437922U (en) * | 2018-10-22 | 2019-09-27 | 科艺天和(天津)科技有限公司 | A kind of fire-fighting robot roadblock cleaning plant |
| CN209579619U (en) * | 2019-03-13 | 2019-11-05 | 山东沐点智能科技有限公司 | A kind of fall-proofing device for wheeled crusing robot |
| CN112569036A (en) * | 2020-12-29 | 2021-03-30 | 聂香琴 | Prevent traction chair that emptys |
| CN214870617U (en) * | 2021-05-14 | 2021-11-26 | 国网江苏省电力有限公司句容市供电分公司 | Wheel type robot in power distribution room |
-
2022
- 2022-08-04 CN CN202210932282.3A patent/CN115092278B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004188581A (en) * | 2002-11-26 | 2004-07-08 | Yoshiaki Okamoto | Rescue robot |
| CN109079740A (en) * | 2018-09-04 | 2018-12-25 | 南京理工大学 | A kind of Intelligent Mobile Robot |
| CN209437922U (en) * | 2018-10-22 | 2019-09-27 | 科艺天和(天津)科技有限公司 | A kind of fire-fighting robot roadblock cleaning plant |
| CN209579619U (en) * | 2019-03-13 | 2019-11-05 | 山东沐点智能科技有限公司 | A kind of fall-proofing device for wheeled crusing robot |
| CN112569036A (en) * | 2020-12-29 | 2021-03-30 | 聂香琴 | Prevent traction chair that emptys |
| CN214870617U (en) * | 2021-05-14 | 2021-11-26 | 国网江苏省电力有限公司句容市供电分公司 | Wheel type robot in power distribution room |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115092278A (en) | 2022-09-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN216030791U (en) | Single-drive hanging rail type inspection robot | |
| CN210800582U (en) | Road cleaning monitoring device for environmental sanitation | |
| CN111477009A (en) | Intelligent traffic monitor based on computer vision | |
| CN115092278B (en) | Inspection robot control system | |
| CN108801570B (en) | Wisdom bridge management system | |
| CN113048354A (en) | Artificial intelligence supervisory equipment and monitored control system | |
| CN209132642U (en) | A kind of signal Machine Room intelligent robot device intelligence operational system | |
| CN116389689A (en) | Intelligent monitoring device is removed to highway | |
| CN210629688U (en) | Intelligent robot for auxiliary indication of intersection | |
| CN112770085A (en) | Tunnel intelligent monitoring device and monitoring system thereof | |
| CN210181752U (en) | Interim supervisory equipment based on thing networking | |
| CN210402728U (en) | Intelligent traffic light | |
| CN209913906U (en) | Traffic stabilize effectual intelligent monitoring equipment | |
| CN207880405U (en) | A kind of intelligent camera mounting bracket | |
| CN214901113U (en) | Tunnel intelligent monitoring device and monitoring system thereof | |
| CN220338160U (en) | Highway supervisory equipment | |
| CN218479649U (en) | Electric power overhauls warning device | |
| CN218499189U (en) | Transmission line prevents outer broken equipment | |
| CN212887633U (en) | Transformer substation inspection robot | |
| CN213657810U (en) | Intelligent alarm system for preventing electric power line pole tower from being damaged | |
| CN220727822U (en) | Expressway tunnel power failure emergency early warning system | |
| CN220168972U (en) | Adjustable monitoring device | |
| CN220795504U (en) | Meteorological disaster early warning device | |
| CN220983536U (en) | Meteorological warning machine | |
| CN214410094U (en) | Highway maintenance safety supervisory systems |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |