CN203812055U - Track inspection robot system - Google Patents
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- CN203812055U CN203812055U CN201420062719.3U CN201420062719U CN203812055U CN 203812055 U CN203812055 U CN 203812055U CN 201420062719 U CN201420062719 U CN 201420062719U CN 203812055 U CN203812055 U CN 203812055U
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Abstract
A track inspection robot system comprises an inspection robot, a fire extinguishing robot and a central management platform. The body of the inspection robot comprises a first monitoring unit, a second monitoring unit and a first communication unit connected to the first and the second monitoring units. The body of the fire extinguishing robot comprises a third monitoring unit, a fire extinguishing device and a second communication unit connected to the third monitoring unit and the fire extinguishing device. The inspection robot is connected to the central management platform via the first communication unit, and the fire extinguishing robot is connected to the central management platform via the second communication unit. The central management platform determines if a fire exists through analysis of detected gas information and image information without real-time monitoring by workers. When a fire source is found, the central management platform can control and start the fire extinguishing robot to carry out fire extinguishing in real time, and there is no need to wait for the workers to arrive at the field. The treatment is in time, does not cause any threat to the safety of the workers, and is highly reliable.
Description
Technical field
The utility model relates to electric power supervisory control field, particularly relates to a kind of rail polling robot system.
Background technology
Along with sustained economic growth, urban distribution network fast development, Modern Urban Living and production have reached unprecedented degree to the dependence of electric power, modern urban construction is carried and is had higher requirement electric power, urban aerial circuit power transmission is replaced by underground high voltage cable, and the quantity of underground high voltage cable just sharply rises.Therefore to the monitoring of underground high voltage cable and to the monitoring of tunnel environment, become particularly important.
Traditional monitor mode adopts artificial inspection mode, but the mode of manually patrolling manpower goods and materials cost has high input, tunnel communication is of poor quality, existing problems early warning in time, tunnel inner air flow is not smooth, there is poisonous, harmful, flammable explosive gas, the person is threatened, and can not accomplish real-time monitoring.
In order to address the above problem, conventionally adopt fixing video monitoring equipment to fix a point to monitor, by the fixing fixed point of equidistant installation watch-dog, realize the real-time monitoring of tunnel device state, environment.But fixed point monitor mode needs manually to watch in real time monitor video, easily misses important information, and cannot process timely and effectively when breaking out of fire, causes reliability low.
Utility model content
Based on this, be necessary, for because fixed point monitor mode needs manually to watch in real time monitor video, easily to miss important information, and cannot process timely and effectively when breaking out of fire, cause the problem that reliability is low, a kind of rail polling robot system is provided.
A rail polling robot system, comprising:
Can comprise inspection machine human body and the first driving mechanism at the crusing robot of default circuit operation, described inspection machine human body is connected with described the first driving mechanism; Described inspection machine human body comprises the first monitoring means of the gas information of monitoring crusing robot environment of living in, the second monitoring means of the image information of monitoring crusing robot environment of living in, and for transmission of monitoring information, crusing robot running status and receive the first communication unit of steering order, described the first communication unit is connected with the second monitoring means with described the first monitoring means respectively;
Can comprise fire extinguishing machine human body and the second driving mechanism at the firefighting robot of default circuit operation, described fire extinguishing machine human body is connected with described the second driving mechanism; Described fire extinguishing machine human body comprises the 3rd monitoring means of the gas information of monitoring firefighting robot environment of living in, the extinguishing device that can put out a fire and process, and for transmission of monitoring information, firefighting robot running status and receive the second communication unit of steering order, described second communication unit is connected with described extinguishing device with described the 3rd monitoring means respectively;
Receive the monitoring information of described the first communication unit transmission and the monitoring information of described second communication unit transmission, in the time that need putting out a fire processing according to the monitoring information analysis judgement of described the first communication unit transmission, control the central management platform that described firefighting robot is put out a fire and processed, be connected with the first communication unit of described inspection machine human body and described fire extinguishing machine human body's second communication unit communication respectively.
Therein in an embodiment, described the first monitoring means comprises the first smoke transducer of gas-monitoring concentration, and the first Temperature Humidity Sensor of the humiture information of monitoring crusing robot environment of living in, described the first smoke transducer and described the first Temperature Humidity Sensor are all installed on described inspection machine human body;
Described the second monitoring means comprises can carry camera at the first cloud platform rotation parts of the first monitoring surface rotation, can carry camera at the second cloud platform rotation parts of the second monitoring surface rotation, and can carry the The Cloud Terrace of Visible Light Camera and infrared thermal imager, described the first cloud platform rotation parts and described the second cloud platform rotation parts are all installed on described The Cloud Terrace, and described The Cloud Terrace is installed on described inspection machine human body;
Described the 3rd monitoring means comprises the second smoke transducer of gas-monitoring concentration, and described the second smoke transducer is installed on described fire extinguishing machine human body.
Therein in an embodiment, described extinguishing device comprises fire extinguishing parts and can control the fire valve that starts described fire extinguishing parts when need is put out a fire processing, described fire valve is connected with described fire extinguishing parts, and described fire valve is connected with second communication unit respectively with described fire extinguishing parts.
Therein in an embodiment, described inspection machine human body comprises the first vehicle-mounted control parts of controlling described crusing robot operation, and described the first vehicle-mounted control parts are connected with described the first driving mechanism, described the first monitoring means, described the second monitoring means and described the first communication unit respectively;
Described fire extinguishing machine human body comprises the second vehicle-mounted control parts of controlling described firefighting robot operation, described the second vehicle-mounted control parts are connected with described second communication unit with described the second driving mechanism, described the 3rd monitoring means, described extinguishing device respectively, and described the second vehicle-mounted control parts are connected with described the first vehicle-mounted control component communication.
Therein in an embodiment, described inspection machine human body comprises the light compensating lamp that light source is provided, and carry out the speech talkback device of audio transmission, described light compensating lamp and described speech talkback device are all installed on described inspection machine human body, and described speech talkback device is connected with described central management platform by described the first communication unit.
Therein in an embodiment, described inspection machine human body is also included in and while finding there is risk on fire, sends the precaution device of warning, survey crusing robot in the process of walking periphery barrier the first probe unit and can control crusing robot the out-of-work first anxious parts that stop rapidly, described precaution device, the first probe unit and first suddenly stop parts and are all installed on described inspection machine human body;
Described fire extinguishing machine human body is included in to put out a fire and while processing, sends the alarm unit of warning message, survey firefighting robot in the process of walking periphery barrier the second probe unit and can control firefighting robot the out-of-work second anxious parts that stop rapidly.
Therein in an embodiment, described crusing robot comprises the first supply unit, described the first supply unit comprises the first power supply unit of supply power, and be the first inductive charging unit of described the first power supply unit charging, described the first power supply unit is installed on described inspection machine human body, described the first inductive charging cellular installation is in described the first driving mechanism, and described the first power supply unit is connected with described the first inductive charging unit;
Described firefighting robot comprises second source device, described second source device comprises the second power supply unit of supply power, and be the second inductive charging unit of described the second power supply unit charging, described the second power supply unit is installed on described fire extinguishing machine human body, described the second inductive charging cellular installation is in described the second driving mechanism, and described the second power supply unit is connected with described the second inductive charging unit.
In an embodiment, described the first driving mechanism comprises can be at the first row travelling wheel and the first drive motor that driving force is provided of default circuit walking therein, and described the first drive motor is connected with described the first row travelling wheel;
Described the second driving mechanism comprises can be at second road wheel and the second drive motor that driving force is provided of default circuit walking, and described the second drive motor is connected with described the second road wheel.
In an embodiment, described the first drive motor is provided with for the first code-disc at crusing robot described in default line location therein, and described the second drive motor is provided with for the second code-disc at firefighting robot described in default line location.
Above-mentioned rail polling robot system, arranges crusing robot and firefighting robot, and crusing robot is connected with central management platform by the first communication unit, and firefighting robot is connected with central management platform by second communication unit.In use, the first driving mechanism drives inspection machine human body to patrol and examine along default circuit, the gas information of the first monitoring means monitoring crusing robot location, the image information of the second monitoring means monitoring crusing robot location, the information exchange that the first monitoring means and the second monitoring means monitor is crossed the first communication unit and is transferred to central management platform and analyze judgement, when judgement has burning things which may cause a fire disaster to put out a fire to process, central management platform is by the processing of putting out a fire of second communication unit triggers firefighting robot.So, gas information and image information that central management platform is monitored by analysis judge whether to exist fire, without staff, monitor in real time, and can be in real time when finding burning things which may cause a fire disaster by control, start the firefighting robot processing of putting out a fire, without waiting staff to reach the scene processing of just putting out a fire, process in time, and can not threaten to staff's the person, reliability is high.
Accompanying drawing explanation
Fig. 1 is the structural representation of an embodiment rail polling robot system;
Fig. 2 is another visual angle structural representation of an embodiment rail polling robot system;
Fig. 3 is the crusing robot structural representation of an embodiment rail polling robot system;
Fig. 4 is the firefighting robot structural representation of an embodiment rail polling robot system.
Embodiment
For above-mentioned purpose of the present utility model, feature and advantage can be become apparent more, below in conjunction with accompanying drawing, embodiment of the present utility model is described in detail.A lot of details have been set forth in the following description so that fully understand the utility model.But the utility model can be implemented to be much different from alternate manner described here, and those skilled in the art can do similar improvement without prejudice to the utility model intension in the situation that, so the utility model is not subject to the restriction of following public concrete enforcement.
As shown in Figure 1, Figure 2 and Figure 3, a kind of rail polling robot system, comprises crusing robot 10, firefighting robot 20 and central management platform 30, and crusing robot 10 is connected with central management platform 30 respectively with firefighting robot 20.
Can comprise inspection machine human body 110 and the first driving mechanism 120 at the crusing robot 10 of default circuit operation, inspection machine human body 110 is connected with the first driving mechanism 120; Inspection machine human body 110 comprises the first monitoring means 112 of the gas information of monitoring crusing robot 10 environment of living in, the second monitoring means 114 of the image information of monitoring crusing robot 10 environment of living in, and be connected with the second monitoring means 114 with the first monitoring means 112 respectively for the first communication unit 116, the first communication units 116 of transmission of monitoring information, crusing robot 10 running statuses and reception steering order.
Therein in an embodiment, the first monitoring means 112 comprises the first smoke transducer of gas-monitoring concentration, and the first Temperature Humidity Sensor of the humiture information of monitoring crusing robot 10 environment of living in, the first smoke transducer and the first Temperature Humidity Sensor are all installed on inspection machine human body 110.So, by the first smoke transducer and the first Temperature Humidity Sensor are set, gas-monitoring concentration and humiture information, to grasp in real time the toxic and harmful content of crusing robot 10 present positions, by gas concentration and content, derive and whether can threaten to staff's personal safety, guarantee that staff enters on-the-spot security.
The second monitoring means 114 comprises can carry camera at the first cloud platform rotation parts 1140 of the first monitoring surface rotation, can carry camera at the second cloud platform rotation parts 1142 of the second monitoring surface rotation, and can carry the The Cloud Terrace 1144 of Visible Light Camera and infrared thermal imager, the first cloud platform rotation parts 1140 and the second cloud platform rotation parts 1142 are all installed on The Cloud Terrace 1144, and The Cloud Terrace 1144 is installed on inspection machine human body 110.The Visible Light Camera that The Cloud Terrace 1144 carries and infrared thermal imager can be analyzed the maximum temperature of object in visual range, central management platform 30 can be by maximum temperature and the preset value comparison of monitoring, while surpassing preset value, represent to exist possibility on fire occurs, and the image information of monitoring by the camera of the first cloud platform rotation parts 1140 and the second cloud platform rotation parts 1142 lift-launchs determines whether that generation is on fire, in this way, control to start firefighting robot 20 and run to the processing of putting out a fire of fire spot, reliability is high.It is to be noted, the first cloud platform rotation parts 1140, the second cloud platform rotation parts 1142 and the The Cloud Terrace 1144 with lift-launch camera or miscellaneous equipment are the mature technologies of The Cloud Terrace technical field, here repeat no more its structure and principle of work, the first monitoring means 112 and the second monitoring means 114 all also can be other monitoring component are set, as long as can realize gas information and image information that scope is patrolled and examined in monitoring.
By the first cloud platform rotation parts 1140 and the second cloud platform rotation parts 1142 are set, to guarantee that the second monitoring means 114 monitors the image information in each corner, tunnel.Wherein, the first monitoring surface can vertically arrange with the second monitoring surface, and if the first monitoring surface is vertical plane, the second monitoring surface is surface level, and the first cloud platform rotation parts 1140 and the second cloud platform rotation parts 1142 all carry two cameras, and monitoring range is large and effective.
Can comprise fire extinguishing machine human body 210 at the firefighting robot 20 of default circuit operation, and the second driving mechanism 220, fire extinguishing machine human body 210 is connected with the second driving mechanism 220; Fire extinguishing machine human body 210 comprises the 3rd monitoring means 212 of the gas information of monitoring firefighting robot 20 environment of living in, the extinguishing device 214 that can put out a fire and process, and for transmission of monitoring information, firefighting robot 20 running statuses and receive the second communication unit 216 of steering order, second communication unit 216 is connected with extinguishing device 214 with the 3rd monitoring means 212 respectively.
The gas that the first monitoring means 112 and the 3rd monitoring means 212 are monitored can comprise oxygen, sulfuretted hydrogen, carbon monoxide, methane and inflammable gas.Default circuit needs determine according to patrolling and examining object, as need to tunnel patrol and examine and when the tunnel breaking out of fire fire extinguishing in time process, this predetermined paths is and needs the route of patrolling and examining and putting out a fire inside tunnel.
In an embodiment, the 3rd monitoring means 212 comprises the second smoke transducer of gas-monitoring concentration therein, and the second smoke transducer is installed on fire extinguishing machine human body 210.So, by the second smoke transducer is set, gas-monitoring concentration information, to grasp in real time the toxic and harmful content in firefighting robot 20 places on fire of living in, by gas concentration and content, derive and whether can threaten to staff's personal safety, guarantee that staff enters on-the-spot security.
Extinguishing device 214 can comprise fire extinguishing parts 2142, and when putting out a fire processing, need can control the fire valve 2144 that starts fire extinguishing parts 2142, fire valve 2144 is connected with fire extinguishing parts 2142, and fire valve 2144 is connected with second communication unit 216 respectively with fire extinguishing parts 2142.So, when need turnover fire extinguishing is processed, second communication unit 216 receives fire extinguishing processing instruction, and then controls and open fire valve 2144, triggers fire extinguishing parts 2142 to fire extinguishing point, realizes the object of fire extinguishing.Fire extinguishing parts 2142 can be realized the parts of fire extinguishing for dry powder, foam annihilator or fire extinguisher bomb etc.It is pointed out that the 3rd monitoring means 212 also can not arrange the second smoke transducer, as long as can realize the object of gas-monitoring information.Extinguishing device 214 also can be the fire extinguishing parts of other type, as long as can realize the object of fire extinguishing.
Receive the monitoring information of the first communication unit 116 transmission and the monitoring information of second communication unit 216 transmission, in the time that need putting out a fire processing according to the monitoring information analysis judgement of the first communication unit 116 transmission, control the central management platform 30 that firefighting robot 20 is put out a fire and processed, be connected with the first communication unit 116 of inspection machine human body 110 and fire extinguishing machine human body 210 second communication unit 216 respectively.
The first communication unit 116 can adopt wireless network to be connected with the communications platform 310 in central management platform 30 respectively with second communication unit 216, to realize the object of remote transmission information.It can be connection, the connection based on WIFI or the connection based on 3G etc. based on GPRS that this wireless network connects.Central management platform 30 can pass to on-line monitoring system platform 510, electricity Jian department 520, power supply administration 530, Long-distance Control Zu540Deng relevant departments by the information of crusing robot 10 and firefighting robot 20 by power private network, or by short message mode, be sent on relevant staff's mobile phone 550, to control in real time the present situation in tunnel.
Above-mentioned rail polling robot system, crusing robot 10 and firefighting robot 20 are set, and crusing robot 10 is connected with central management platform 30 by the first communication unit 116, firefighting robot 20 is connected with central management platform 30 by second communication unit 216.In use, the first driving mechanism 120 drives inspection machine human body 110 to patrol and examine along default circuit, the gas information of first monitoring means 112 monitoring crusing robot 10 locations, the image information of second monitoring means 114 monitoring crusing robot 10 locations, the information exchange that the first monitoring means 112 and the second monitoring means 114 monitor is crossed the first communication unit 116 and is transferred to central management platform 30 and analyze judgement, when judgement has burning things which may cause a fire disaster need put out a fire processing, central management platform 30 triggers firefighting robots 20 processing of putting out a fire by second communication unit 216.So, gas information and image information that central management platform 30 is monitored by analysis judge whether to exist fire, without staff, monitor in real time, and can be in real time when finding burning things which may cause a fire disaster by control, start firefighting robot 20 processing of putting out a fire, without waiting staff to reach the scene processing of just putting out a fire, process in time, and can not threaten to staff's the person, reliability is high.
Crusing robot 10 and firefighting robot 20 are set respectively, only at need, put out a fire while processing, just startup work of firefighting robot 20, the independence and the dirigibility that have improved system.In carrying out fire extinguishing procedure, the image information of crusing robot 10 monitorings can coordinate provides accurate fire extinguishing position, improves fire-fighting efficiency and fire extinguishing precision.Central management platform 30 receives the monitoring information of second communication unit 216 transmission, the gas information of firefighting robot 20 present positions that the 3rd monitoring means 212 is monitored, central management platform 30 can be by receiving the toxic and harmful situation of the gas information analysis and judgment burning things which may cause a fire disaster spot of second communication unit 216 transmission, before staff enters scene, guarantee that staff is in the security of relevant range activity.
Refer to Fig. 2, therein in an embodiment, inspection machine human body 110 comprises the speech talkback device 113 that the light compensating lamp of light source 111 is provided and carries out audio transmission, light compensating lamp 111 and speech talkback device 113 are all installed on inspection machine human body 110, and speech talkback device 113 is connected with central management platform 30 by the first communication unit 116.So, by light compensating lamp 111 is set, can be the second monitoring means 114 and provide enough lighting demands when monitoring image information, be conducive to image information more clear and accurate.Speech talkback device 113 is connected with central management platform 30 by the first communication unit 116, when fire occurs, can collection site acoustic information, and field staff is evacuated in broadcast, in subsequent treatment after fire suppression, also can be used for remote command, so that extraneous, exchange with field personnel's speech talkback, improved the convenience using.
In the present embodiment, speech talkback device 113 can comprise audio call button and loudspeaker, presses audio call button when needs carry out speech talkback with the external world, and the external world can pass through loudspeaker broadcast audio information, easy to use and reliable.
Refer to Fig. 2 and Fig. 3, therein in an embodiment, inspection machine human body 110 is also included in and while finding there is risk on fire, sends the precaution device 115 of warning, survey crusing robot 10 the first probe unit 115 of periphery barrier in the process of walking, and can control crusing robot 10 the out-of-work first anxious parts 119 that stop rapidly, suddenly stopping parts 119 is all installed on inspection machine human body 110 for precaution device 115, the first probe unit 115 and first.
Fire extinguishing machine human body 210 is included in to put out a fire and while processing, sends the alarm unit 211 of warning message, survey firefighting robot 20 in the process of walking periphery barrier the second probe unit 213 and can control firefighting robot 20 the out-of-work second anxious parts 215 that stop rapidly.It is pointed out that the first urgency is stopped parts 119 and the second anxious parts 215 that stop are anxious mature technologies that stop equipment technical field, repeat no more its structure and principle of work here.
Inspection machine human body 110 is provided with precaution device 115, when crusing robot 10 is found to have risk on fire in the process of patrolling and examining, as the temperature monitoring is higher than predetermined value etc., precaution device 115 can carry out early warning in early stage, so that staff confirms and preventive measure in time, reduce as much as possible fire and occur.Fire extinguishing machine human body 210 is provided with alarm unit 211, can send warning message putting out a fire while processing, as sound and light alarm, so that near staff can learn in time on fire and withdraw, safe.
Whether inspection machine human body 110 arranges the first probe unit 115, and fire extinguishing machine human body 210 arranges the second probe unit 213, to survey periphery in the process of walking, have barrier impact to move ahead, and shields.The first probe unit 115 and the second probe unit 213 can be ultrasonic radar.When finding that there is barrier, to control in time crusing robot 10 automatic stopping in time, firefighting robot 20 also can reduce speed, slowly current.Inspection machine human body 110 arranges the first anxious parts 119 that stop, fire extinguishing machine human body 210 arranges the second anxious parts 215 that stop, at crusing robot 10 or firefighting robot 20 is out of control or while breaking down, can suddenly stop parts 215 and quit work immediately by the first anxious parts 119 or second that stop, prevent larger harm, reliability is high.In the present embodiment, first suddenly stops parts 119 and second, and suddenly stopping parts 215 is equipped with scram button, as long as press corresponding scram button, can realize out-of-work object, and it is quick convenient to use.Fire extinguishing machine human body 210 also can comprise debugging interface 217 and fuse 219, and debugging interface 217 can be debugged before use to firefighting robot 20, guarantees normally to work.Fuse 219 can shield to firefighting robot 20 operation circuit, safe and reliable.
Refer to Fig. 2 and Fig. 3, therein in an embodiment, crusing robot 10 comprises the first supply unit 130, the first supply unit 130 comprises the first power supply unit 132 of supply power, and be the first inductive charging unit 134 of the first power supply unit 132 chargings, the first power supply unit 132 is installed on inspection machine human body 110, the first inductive charging unit 134 and is installed on the first driving mechanism 120, the first power supply units 132 and is connected with the first inductive charging unit 134.So, crusing robot 10 is by the first power supply unit 132 power supplies, and this first power supply unit 132 is generally Rechargeable battery, as lithium battery etc.When the first power supply unit 132 power supplys deficiency, can charge by the first inductive charging unit 134, to supplement power supply.Adopt inductive charging unit, can carry out Energy Transfer by the mode of electromagnetic field couples, between the first power supply unit 132 and the first inductive charging unit 134, without electrical connection and physical contact are set, easy for installation simple, reliability is high.
Firefighting robot 20 comprises second source device 230, second source device 230 comprises the second power supply unit 232 of supply power, and be the second inductive charging unit 234 of the second power supply unit 232 chargings, the second power supply unit 232 is installed on fire extinguishing machine human body 210, the second inductive charging unit 234 is installed on the second driving mechanism 220, the second power supply units 232 and is connected with the second inductive charging unit 234.The function of the second power supply unit 232 and the second inductive charging unit 234 is identical with the function of the first power supply unit 132 and the first inductive charging unit 134, does not repeat them here.
Refer to Fig. 2 and Fig. 3, therein in an embodiment, inspection machine human body 110 comprises that the first vehicle-mounted control parts 118, the first vehicle-mounted control parts 118 of controlling crusing robot 10 operations are connected with the first communication unit 116 with the first driving mechanism 120, the first monitoring means 112, the second monitoring means 114 respectively.Fire extinguishing machine human body 210 comprises the second vehicle-mounted control parts 218 of controlling described firefighting robot 20 operations, the second vehicle-mounted control parts 218 are connected with second communication unit 216 with the second driving mechanism 220, the 3rd monitoring means 212, extinguishing device 214 respectively, the second vehicle-mounted control parts 218 and the first vehicle-mounted control parts 118 communication connections.
In use, the first vehicle-mounted control parts 118 are controlled the first driving mechanism 120 and are driven inspection machine human body 110 to carry out patrol task, the relevant information of the first monitoring means 112 and the second monitoring means 114 monitorings is passed to the first vehicle-mounted control parts 118 and carries out analyzing and processing, and the first vehicle-mounted control parts 118 judge whether breaking out of fire according to monitoring information.When there is fire in judgement, the first vehicle-mounted control parts 118 carry out fire extinguishing task by the first communication unit 116, second communication unit 216 interlock the second vehicle-mounted control parts 218, the second vehicle-mounted control parts 218 are controlled the second driving mechanism 220 and are driven fire extinguishing machine human body 210 to move to fire spot, and then control extinguishing device 214 and aim at and need put out a fire by fire extinguishing point.So, by the first vehicle-mounted control parts 118 and the second vehicle-mounted control parts 218 are set, control crusing robot 10 and automatically carry out patrol task, and control firefighting robot 20 completes fire extinguishing task automatically, avoid central management platform 30 to break down or the instruction issue situation such as not in time, also can tunnel be patrolled and examined and in time fire be processed, further improve reliability.
In the present embodiment, inspection machine human body 110 is provided with the first vehicle-mounted control parts 118, these the first vehicle-mounted control parts 118 are respectively with the first driving mechanism 120, the first monitoring means 112, the second monitoring means 114, the first communication unit 116, light compensating lamp 111, the first probe unit 115, precaution device 115, first suddenly stops parts 119 and the first supply unit 130 is connected, in order to control the overall operation of crusing robot 10, realize automatic detecting task.Patrol and examine that content can comprise whether environment temperature and humidity normal, whether associated gas concentration exceeds standard in tunnel, whether crusing robot 10 self part temperatures exceeds standard, whether have in ponding, tunnel, whether there is barrier etc. in tunnel.
Fire extinguishing machine human body 210 is provided with the second vehicle-mounted control parts 218, these the second vehicle-mounted control parts 218 are respectively with the second driving mechanism 220, the 3rd monitoring means 212, second communication unit 216, extinguishing device 214, the second probe unit 213, alarm unit 211, second suddenly stops parts 215 and second source device 230 is connected, in order to control the overall operation of firefighting robot 20, realize self-extinguishing task.Extinguishing device 214 comprises fire extinguishing parts 2142 and fire valve 2144, when need are put out a fire processing, except can be by central management platform 30 by second communication unit 216 Long-distance Control extinguishing devices 214, also can automatically control and open fire valve 2144 by the second vehicle-mounted control parts 218, trigger fire extinguishing parts 2142 to fire extinguishing point, and then complete fire extinguishing.It is pointed out that the first vehicle-mounted control parts 118 and the second vehicle-mounted control parts 218 are mature technologies of onboard control device technical field, as truck-mounted computer, repeat no more its structure and principle of work here.
Refer to Fig. 1 and Fig. 4, in an embodiment, rail polling robot system is according to the default route operation of track element 40 therein.Track element 40 comprises that mounting bracket 420, the first driving mechanisms 120 that the track body of default circuit 410 can be provided and track body 410 can be installed on to tunnel top are installed and the second driving mechanism 220 is installed on track body 410 in interval respectively.So, track body 410 is fixed on tunnel top by mounting bracket 420, inspection machine human body 110 can be installed on track body 410 by the first driving mechanism 120, fire extinguishing machine human body 210 can be installed on track body 410 by the second driving mechanism 220, when there is ponding in tunnel or has the situations with a varied topography such as climb and fall, can guarantee that crusing robot 10 and firefighting robot 20 walk smoothly, improve reliability.
Conventionally longer because of tunnel, therefore crusing robot 10 and firefighting robot 20 can be a plurality of and subsection setup, the corresponding firefighting robot 20 of each crusing robot 10, and have all the time a determining deviation, guarantees current smoothly.Because crusing robot 10 and firefighting robot 20 all can move on a large scale on track body 410, therefore reduce in a large number the installation quantity of equipment, save cost, easy to maintenance.When without duty, crusing robot 10 and firefighting robot 20 all can rest against the positions such as tunnel import and export or ventilating opening, are convenient to attended operation.
Refer to Fig. 2 and Fig. 3, in an embodiment, the first driving mechanism 120 comprises the first row travelling wheel 122 that can walk at default circuit, and provides the first drive motor 124, the first drive motor 124 of driving force to be connected with the first row travelling wheel 122 therein.In use, the first drive motor 124 provides driving force, drives the first row travelling wheel 122 along default circuit walking, and then drives crusing robot 10 walkings, simple and reliable for structure.In the present embodiment, the quantity of the first row travelling wheel 122 is four, symmetrical, and the first row travelling wheel 122 is along 410 walkings of track body.The quantity of the first row travelling wheel 122 also can be other numerical value, as long as can realize the object in default circuit walking.
The second driving mechanism 220 comprises the second road wheel 222 that can walk at default circuit, and provides the second drive motor 224, the second drive motor 224 of driving force to be connected with the second road wheel 222.The second road wheel 222 is identical with principle and the function of function and the first row travelling wheel 122 and the first drive motor 124 with the principle of the second drive motor 224, does not repeat them here.In the present embodiment, the quantity of the second road wheel 222 is four, symmetrical, and the second road wheel 222 is along 410 walkings of track body.The quantity of the second road wheel 222 also can be other numerical value, as long as can realize the object in default circuit walking.
Therein in an embodiment, the first drive motor 124 is provided with for the first code-disc (not shown) at default line location crusing robot 10, and the second drive motor 224 is provided with for the second code-disc (not shown) at default line location firefighting robot 20.So, crusing robot 10 and firefighting robot 20 are after operation a period of time, can not be offset by the position of the first code-disc control crusing robot 10, the position that the second code-disc is controlled firefighting robot 20 is not offset, there is large deviation and occur operation troubles in the position that prevents crusing robot 10 and firefighting robot 20, guarantee walking smoothly, improve reliability.
In the present embodiment, track body 410 is provided with the position correction parts of the error of adjustable the first code-disc and the generation of the second code-disc location, the first code-disc is calibrated the position of crusing robot 10 by position correction parts, and the second code-disc is calibrated the position of firefighting robot 20 by position correction parts.
The above embodiment has only expressed several embodiment of the present utility model, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to the utility model the scope of the claims.It should be pointed out that for the person of ordinary skill of the art, without departing from the concept of the premise utility, can also make some distortion and improvement, these all belong to protection domain of the present utility model.Therefore, the protection domain of the utility model patent should be as the criterion with claims.
Claims (9)
1. a rail polling robot system, is characterized in that, comprising:
Can comprise inspection machine human body and the first driving mechanism at the crusing robot of default circuit operation, described inspection machine human body is connected with described the first driving mechanism; Described inspection machine human body comprises the first monitoring means of the gas information of monitoring crusing robot environment of living in, the second monitoring means of the image information of monitoring crusing robot environment of living in, and for transmission of monitoring information, crusing robot running status and receive the first communication unit of steering order, described the first communication unit is connected with the second monitoring means with described the first monitoring means respectively;
Can comprise fire extinguishing machine human body and the second driving mechanism at the firefighting robot of default circuit operation, described fire extinguishing machine human body is connected with described the second driving mechanism; Described fire extinguishing machine human body comprises the 3rd monitoring means of the gas information of monitoring firefighting robot environment of living in, the extinguishing device that can put out a fire and process, and for transmission of monitoring information, firefighting robot running status and receive the second communication unit of steering order, described second communication unit is connected with described extinguishing device with described the 3rd monitoring means respectively;
Receive the monitoring information of described the first communication unit transmission and the monitoring information of described second communication unit transmission, in the time that need putting out a fire processing according to the monitoring information analysis judgement of described the first communication unit transmission, control the central management platform that described firefighting robot is put out a fire and processed, be connected with the first communication unit of described inspection machine human body and described fire extinguishing machine human body's second communication unit communication respectively.
2. rail polling robot system according to claim 1, it is characterized in that, described the first monitoring means comprises the first smoke transducer of gas-monitoring concentration, and the first Temperature Humidity Sensor of the humiture information of monitoring crusing robot environment of living in, described the first smoke transducer and described the first Temperature Humidity Sensor are all installed on described inspection machine human body;
Described the second monitoring means comprises can carry camera at the first cloud platform rotation parts of the first monitoring surface rotation, can carry camera at the second cloud platform rotation parts of the second monitoring surface rotation, and can carry the The Cloud Terrace of Visible Light Camera and infrared thermal imager, described the first cloud platform rotation parts and described the second cloud platform rotation parts are all installed on described The Cloud Terrace, and described The Cloud Terrace is installed on described inspection machine human body;
Described the 3rd monitoring means comprises the second smoke transducer of gas-monitoring concentration, and described the second smoke transducer is installed on described fire extinguishing machine human body.
3. rail polling robot system according to claim 1, it is characterized in that, described extinguishing device comprises fire extinguishing parts and can control the fire valve that starts described fire extinguishing parts when need is put out a fire processing, described fire valve is connected with described fire extinguishing parts, and described fire valve is connected with second communication unit respectively with described fire extinguishing parts.
4. rail polling robot system according to claim 1, it is characterized in that, described inspection machine human body comprises the first vehicle-mounted control parts of controlling described crusing robot operation, and described the first vehicle-mounted control parts are connected with described the first driving mechanism, described the first monitoring means, described the second monitoring means and described the first communication unit respectively;
Described fire extinguishing machine human body comprises the second vehicle-mounted control parts of controlling described firefighting robot operation, described the second vehicle-mounted control parts are connected with described second communication unit with described the second driving mechanism, described the 3rd monitoring means, described extinguishing device respectively, and described the second vehicle-mounted control parts are connected with described the first vehicle-mounted control component communication.
5. rail polling robot system according to claim 1, it is characterized in that, described inspection machine human body comprises the light compensating lamp that light source is provided, and carry out the speech talkback device of audio transmission, described light compensating lamp and described speech talkback device are all installed on described inspection machine human body, and described speech talkback device is connected with described central management platform by described the first communication unit.
6. rail polling robot system according to claim 1, it is characterized in that, described inspection machine human body is also included in and while finding there is risk on fire, sends the precaution device of warning, survey crusing robot in the process of walking periphery barrier the first probe unit and can control crusing robot the out-of-work first anxious parts that stop rapidly, described precaution device, the first probe unit and first suddenly stop parts and are all installed on described inspection machine human body;
Described fire extinguishing machine human body is included in to put out a fire and while processing, sends the alarm unit of warning message, survey firefighting robot in the process of walking periphery barrier the second probe unit and can control firefighting robot the out-of-work second anxious parts that stop rapidly.
7. rail polling robot system according to claim 1, it is characterized in that, described crusing robot comprises the first supply unit, described the first supply unit comprises the first power supply unit of supply power, and be the first inductive charging unit of described the first power supply unit charging, described the first power supply unit is installed on described inspection machine human body, described the first inductive charging cellular installation is in described the first driving mechanism, and described the first power supply unit is connected with described the first inductive charging unit;
Described firefighting robot comprises second source device, described second source device comprises the second power supply unit of supply power, and be the second inductive charging unit of described the second power supply unit charging, described the second power supply unit is installed on described fire extinguishing machine human body, described the second inductive charging cellular installation is in described the second driving mechanism, and described the second power supply unit is connected with described the second inductive charging unit.
8. according to the rail polling robot system described in claim 1 to 7 any one, it is characterized in that, described the first driving mechanism comprises can be at the first row travelling wheel and the first drive motor that driving force is provided of default circuit walking, and described the first drive motor is connected with described the first row travelling wheel;
Described the second driving mechanism comprises can be at second road wheel and the second drive motor that driving force is provided of default circuit walking, and described the second drive motor is connected with described the second road wheel.
9. rail polling robot system according to claim 8, it is characterized in that, described the first drive motor is provided with for the first code-disc at crusing robot described in default line location, and described the second drive motor is provided with for the second code-disc at firefighting robot described in default line location.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420062719.3U CN203812055U (en) | 2014-02-11 | 2014-02-11 | Track inspection robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420062719.3U CN203812055U (en) | 2014-02-11 | 2014-02-11 | Track inspection robot system |
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| Publication Number | Publication Date |
|---|---|
| CN203812055U true CN203812055U (en) | 2014-09-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420062719.3U Expired - Lifetime CN203812055U (en) | 2014-02-11 | 2014-02-11 | Track inspection robot system |
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| CN (1) | CN203812055U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103823438A (en) * | 2014-02-11 | 2014-05-28 | 广州供电局有限公司 | Track inspection robot system |
| CN105931431A (en) * | 2016-05-30 | 2016-09-07 | 无锡昊瑜节能环保设备有限公司 | Factory workshop smoke alarm system |
| CN109794017A (en) * | 2019-01-21 | 2019-05-24 | 国家电网公司 | A kind of cable tunnel extinguishing method and system |
| CN115487444A (en) * | 2022-09-30 | 2022-12-20 | 应急管理部四川消防研究所 | Unmanned aerial vehicle fire extinguishing path planning method for long and large traffic tunnel |
-
2014
- 2014-02-11 CN CN201420062719.3U patent/CN203812055U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103823438A (en) * | 2014-02-11 | 2014-05-28 | 广州供电局有限公司 | Track inspection robot system |
| CN103823438B (en) * | 2014-02-11 | 2016-04-20 | 广州供电局有限公司 | Rail polling robot system |
| CN105931431A (en) * | 2016-05-30 | 2016-09-07 | 无锡昊瑜节能环保设备有限公司 | Factory workshop smoke alarm system |
| CN109794017A (en) * | 2019-01-21 | 2019-05-24 | 国家电网公司 | A kind of cable tunnel extinguishing method and system |
| CN115487444A (en) * | 2022-09-30 | 2022-12-20 | 应急管理部四川消防研究所 | Unmanned aerial vehicle fire extinguishing path planning method for long and large traffic tunnel |
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Effective date of registration: 20200928 Address after: 510620 Tianhe District, Guangzhou, Tianhe South Road, No. two, No. 2, No. Patentee after: Guangzhou Power Supply Bureau of Guangdong Power Grid Co.,Ltd. Address before: 510620 Tianhe District, Guangzhou, Tianhe South Road, No. two, No. 2, No. Patentee before: GUANGZHOU POWER SUPPLY Co.,Ltd. |
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