CN205263046U - Chemicals scene of accident toxic gas monitoring mobile robot - Google Patents
Chemicals scene of accident toxic gas monitoring mobile robot Download PDFInfo
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- CN205263046U CN205263046U CN201520797815.7U CN201520797815U CN205263046U CN 205263046 U CN205263046 U CN 205263046U CN 201520797815 U CN201520797815 U CN 201520797815U CN 205263046 U CN205263046 U CN 205263046U
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Abstract
The utility model relates to a chemicals scene of accident toxic gas monitoring mobile robot belongs to hazardous chemicals accident emergency rescue technical field, and this mobile robot includes: wheeled actuating mechanism, bearing structure, lead screw drive part, toxic gas monitoring part, image acquisition part, wireless sending module, control command receiving module, power module, movement control module. Toxic gas monitoring part includes 6 kinds of poisonous gas sensor, toxic gas concentration acquisition circuit board and GPS orientation module, the image acquisition part includes image acquisition processing module and infrared high definition camera, every single move angel position control steering wheel, horizontal rotation control steering wheel. This robot can gather leakage gas strength, GPS information and the live video image information of each monitoring point of the chemical leakage scene of the accident in real time to can be according to the poisonous gas sensor's of toxic gas rerum natura dynamic adjustment sampling height.
Description
Technical field
The utility model belongs to chemical accident emergency rescue technology field, particularly one is used for obtaining the on-the-spot concentration of toxic gases of leakage accident, GPS information and video information, and according to these information and weather information, accident sight is carried out to comprehensive analysis and source of leaks intensity inverse, thereby determine evacuating personnel scope, for accident emergency is rescued the mobile robot that decision-making assistant information is provided.
Background technology
Chemical accident may leak out a large amount of toxic and harmfuls after occurring, and jeopardizes periphery resident safety and rescue personnel's personal safety. In order to ensure rescue personnel's safety, scientifically delimit periphery evacuating personnel scope, need to carry out Real-Time Monitoring to on-the-spot toxic gas and video by mobile robot, and carry out computational analysis according to on-the-spot weather information, concentration of toxic gases, Leakage Gas model, thereby determine the coverage of accident maximum, for accident emergency rescue provides decision support.
Due to the physical property difference of toxic gas, what have is heavier than air, some ltas, and in diffusion process, the height of sedimentation is not identical yet. Therefore,, in order to realize the comprehensive monitoring to on-the-spot toxic gas, not only require mobile robot to carry out Real-Time Monitoring to multiple toxic gas simultaneously, but also need to dynamically adjust height of sampling according to the diffusion property of gas with various. But, existing mobile robot's majority can only carry out Real-Time Monitoring to one or two kind of gas, in monitoring poisonous gas process, can not dynamically adjust height of sampling, utilize the toxic gas information that mobile robot monitors to leak source strength and accident impact range computation, determine that the emergent decision-making technique of evacuating personnel scope is not reported.
Utility model content
The purpose of this utility model is the weak point for overcoming prior art, proposes the on-the-spot monitoring poisonous gas mobile robot of a kind of chemical accident. This mobile robot carries out Real-Time Monitoring to 6 of chemical leakage accident scene kinds of concentration of toxic gases, GPS information and live videos, and can dynamically adjust height of sampling according to the diffusion property of toxic gas, and carry out accident leakage source strength inverse according to these information, weather information, gas diffusion model, determine accident impact scope, thereby provide aid decision support for scientifically delimiting the rescue of evacuating personnel scope and accident emergency, improve emergency management and rescue commander's efficiency.
The on-the-spot monitoring poisonous gas mobile robot of a kind of chemical accident who the utility model proposes, it is characterized in that, this mobile robot comprises wheeled driving mechanism, supporting construction, lead screw transmission parts, monitoring poisonous gas parts, image acquisition component, wireless sending module, control command receiver module, power module, motion-control module; Monitoring poisonous gas parts comprise 6 kinds of toxic gas sensors, concentration of toxic gases collecting circuit board and GPS locating module; Image acquisition component comprises image acquisition and processing module and infrared high-definition camera, luffing angle control steering wheel, horizontally rotates control steering wheel; The mechanical connection of described mobile robot's each several part closes: wheeled driving mechanism is connected with supporting construction; Lead screw transmission parts are connected with supporting construction; 6 kinds of toxic gas sensors of monitoring poisonous gas parts are inlaid on lead screw transmission parts, and GPS locating module is fixed in supporting construction, and concentration of toxic gases collecting circuit board is connected with the image acquisition and processing module of image acquisition component; The image acquisition and processing module of image acquisition component is fixed on motion-control module, horizontally rotates control steering wheel and is fixed in supporting construction, horizontally rotates control steering wheel and is connected with luffing angle control steering wheel; Pitch rotation control steering wheel is connected with infrared high-definition camera; Wireless sending module is connected with supporting construction; Power module is connected with supporting construction; Motion-control module is connected with image acquisition component, supporting construction; The circuit connecting relation of described mobile robot's each several part is: concentration of toxic gases collecting circuit board is connected with the holding wire of toxic gas sensor, is connected, is connected with wireless sending module by RS232 mouth by RS485 mouth with GPS sensor by AD interface; Image acquisition and processing module is connected with infrared high-definition camera by BNC mouth, is connected with wireless sending module by RJ45 Ethernet interface; Motion control circuit plate is connected with the control line of revolver drive motors, right wheel drive motor by holding wire, be connected with the control line of luffing angle control steering wheel, level angle control steering wheel by holding wire, be connected with leading screw control motor by holding wire, be connected with control command receiver module by RS232 mouth; The output of power module is connected with the power input of each parts of mobile robot respectively by power line.
Feature of the present utility model and effect:
This mobile robot can Real-time Collection chemical leakage accident gas leakage concentration, GPS information and the live video image information of on-the-spot each monitoring point, and be wirelessly transmitted to remote monitoring subsystem, and can dynamically adjust according to toxic gas physical property the height of sampling of toxic gas sensor; Remote monitoring subsystem is according to the positional information of the gas leakage concentration of the scene of the accident, wind direction and wind velocity, each monitoring point and gas diffusion Gauss model, calculate intensity and the accident injury consequence of source of leaks, for the delimitation evacuating personnel scope of science provides aid decision support, there is important effect to improving the efficiency of accident emergency rescue command and controlling causality loss.
Brief description of the drawings
Fig. 1 is system architecture composition diagram of the present utility model.
Fig. 2 is circuit system annexation block diagram of the present utility model.
Detailed description of the invention
The on-the-spot monitoring poisonous gas mobile robot of the chemical accident that the utility model proposes by reference to the accompanying drawings and embodiment be described in detail as follows:
Mobile robot of the present utility model comprises: wheeled driving mechanism, supporting construction, lead screw transmission parts, monitoring poisonous gas parts, image acquisition component, wireless sending module 6, control command receiver module 7, power module, motion-control module 9; Monitoring poisonous gas parts comprise 6 kinds of toxic gas sensors, concentration of toxic gases collecting circuit board and GPS locating module; Image acquisition component comprises image acquisition and processing module and infrared high-definition camera, luffing angle control steering wheel, horizontally rotates control steering wheel;
Wherein the mechanical connection of mobile robot's each several part closes and is: wheeled driving mechanism is connected with supporting construction; Lead screw transmission parts are connected with supporting construction; 6 kinds of toxic gas sensors of monitoring poisonous gas parts are inlaid on lead screw transmission parts, and GPS locating module is fixed in supporting construction, and concentration of toxic gases collecting circuit board is connected with the image acquisition and processing module of image acquisition component; The image acquisition and processing module of image acquisition component is fixed on motion-control module, horizontally rotates control steering wheel and is fixed in supporting construction, horizontally rotates control steering wheel and is connected with luffing angle control steering wheel; Pitch rotation control steering wheel is connected with infrared high-definition camera; Wireless sending module is connected with supporting construction; Power module is connected with supporting construction; Motion-control module is connected with image acquisition component, supporting construction;
The circuit connecting relation of mobile robot's each several part is: concentration of toxic gases collecting circuit board is connected with the holding wire of toxic gas sensor, is connected, is connected with wireless sending module by RS232 mouth by RS485 mouth with GPS sensor by AD interface; Image acquisition and processing module is connected with infrared high-definition camera by BNC mouth, is connected with wireless sending module by RJ45 Ethernet interface; Motion control circuit plate is connected with the control line of revolver drive motors, right wheel drive motor by holding wire, be connected with the control line of luffing angle control steering wheel, level angle control steering wheel by holding wire, be connected with leading screw control motor by holding wire, be connected with control command receiver module by RS232 mouth; The output of power module is connected with the power input of each parts of mobile robot respectively by power line.
As shown in Figure 1, specific implementation and the function of each part are respectively described below this mobile robot example structure:
Supporting construction, for carrying other parts of mobile robot, comprise top layer gripper shoe 201, middle level gripper shoe 202,203 and 8 support posts 204 of base layer support plate, wherein between top layer gripper shoe 201 and middle level gripper shoe 202, connected by 4 support posts respectively between middle level gripper shoe 202 and base layer support plate 203; 4 support post upper ends between top layer gripper shoe and middle level gripper shoe tighten together with top layer gripper shoe with screw, and lower end is connected with middle level gripper shoe with screw; 4 support post upper ends between middle level gripper shoe and base layer support plate are connected with middle level gripper shoe with screw, and lower end tightens together with base layer support plate with screw, and top layer gripper shoe is highly overhead 45cm;
Wheeled driving mechanism is mobile robot's walking mechanism, comprises revolver 101, universal wheel 102, rightly takes turns 103, revolver drive motors 104, right wheel drive motor 105; Revolver is connected with the driving shaft of revolver drive motors, right wheel drive motor respectively with right wheel shaft of taking turns, the wheel shaft of universal wheel is connected on the base layer support plate in supporting construction by fixture, and revolver drive motors, right wheel drive motor are fixed by screws on the base layer support plate in supporting construction;
Lead screw transmission parts, comprise leading screw control motor 301, guide post 302, leading screw 303, supporting seat 304, slide block 305, and DC stepper motor 301 is with movable slider 305 to move both vertically by leading screw 303; Leading screw control motor is screwed in the gripper shoe of the middle level of supporting construction, supporting seat is screwed in the top layer gripper shoe of supporting construction, leading screw lower end is connected on the driving shaft of leading screw control motor by the through hole in the through hole on supporting seat fixture, top layer gripper shoe successively, leading screw upper end is arranged on by bearing on the fixture on supporting seat top, guide post upper end is fixed on the fixture on supporting seat top, and guide post lower end is fixed on the fixture of supporting seat bottom; Slide block is a rectangle box, 6 kinds of toxic gas sensors are inlaid on the side panel of slide block, on slide block, there are three through holes, the range of movement of slide block is apart from 50cm～150cm, wherein, middle through hole is kneaded together by screw thread and leading screw, and two through holes of both sides pass respectively two guide posts, and the smooth and diameter of two through holes of both sides is greater than guide post diameter;
Monitoring poisonous gas parts comprise concentration of toxic gases collecting circuit board 401,6 kind of toxic gas sensor 402, GPS locating module 403, for the monitoring of scene of the accident concentration of toxic gases and GPS information, wherein 6 kinds of toxic gas sensors 402 are inlaid on the side panel of lead screw transmission parts slide block 305, and follow slide block 305 and move in vertical direction; GPS locating module is screwed in the gripper shoe of the middle level of supporting construction, and concentration of toxic gases collecting circuit board is fixed in image acquisition and processing module with copper post and screw;
Image acquisition component, for the collection of scene of the accident video image, comprises image acquisition and processing module 501 and infrared high-definition camera 502, luffing angle control steering wheel 503, horizontally rotates and control steering wheel 504; Image acquisition and processing module is fixed on motion-control module with copper post and screw, horizontally rotating control steering wheel is fixed on by a support member in the top layer gripper shoe of supporting construction, the swing arm that horizontally rotates control steering wheel is connected with the support member that luffing angle control steering wheel is installed, drive the support member that luffing angle control steering wheel is installed to horizontally rotate, adjustable range is 0 °～180 °; The swing arm of pitch rotation control steering wheel is connected with the support member of installation infrared high-definition camera, drive the support member of installation infrared high-definition camera to rotate up and down, slewing area is-40 °～90 ° (with the angles of horizontal direction, upwards for just, downwards for negative);
Wireless sending module 6 is screwed in the gripper shoe of middle level, and its antenna is through the through hole in top layer gripper shoe; For concentration of toxic gases, GPS information and video image are wirelessly transmitted to remote monitoring subsystem;
Control command receiver module 7 is screwed in the gripper shoe of the middle level of supporting construction, its antenna is through the through hole in the top layer gripper shoe of supporting construction, for receiving the control instructions such as moveable robot movement, toxic gas height of sampling, video camera level and luffing angle;
Power module comprises lithium battery 801, power transfer module 802, and lithium battery is placed in the middle of the base layer support plate of supporting construction, and power transfer module is screwed on supporting construction base layer support plate, and lithium battery is connected by power line with power transfer module; For powering to mobile robot's each several part;
Motion-control module 9, its bottom is screwed in the gripper shoe of the middle level of supporting construction, and top is connected with the image acquisition and processing module of image acquisition component with double-screw bolt by screw; For controlling the height of moveable robot movement direction and speed, video camera level angle and luffing angle, screw slider;
Can comprise data handling machine, wireless receiving module and control command sending module with the remote monitoring subsystem of this mobile robot cooperating, data handling machine is connected with wireless receiving module and control command sending module by Serial Port Line, realizes mobile robot's motion control, control and concentration of toxic gases and video image information reception, demonstration and the Treatment Analysis of gas sampling height with mobile robot's remote radio communication.
Circuit connecting relation between device in above-described embodiment is as shown in Figure 2:
Concentration of toxic gases collecting circuit board is connected with the holding wire of toxic gas sensor, is connected, is connected with wireless sending module by RS232 mouth by RS485 mouth with GPS sensor by AD interface;
Image acquisition and processing module is connected with infrared high-definition camera by BNC mouth, is connected with wireless sending module by RJ45 Ethernet interface;
The pwm signal line that motion control circuit plate is 12V by amplitude is connected with the control line of revolver drive motors, right wheel drive motor, the pwm signal line that is 5V by amplitude is connected with the control line of luffing angle control steering wheel, level angle control steering wheel, pulse signal-line by 12V is connected with leading screw control motor, is connected with control command receiver module by RS232 mouth;
The output of lithium battery is connected by power line with the input of voltage transformation module, the 5V output of voltage transformation module is connected with the power input of toxic gas sensor, GPS sensor, concentration of toxic gases collecting circuit board, luffing angle control steering wheel, level angle control steering wheel by power line, and the 12V output of voltage transformation module is connected with the power input of infrared high-definition camera, image acquisition and processing module, wireless sending module, control command receiver module by power line; The 24V output of voltage transformation module is connected with the power input of leading screw control motor, revolver drive motors, right wheel drive motor, motion control circuit plate by power line;
Data handling machine is connected with wireless receiving module and control command sending module by RS232 mouth.
Mobile robot of the present utility model can be under the wireless instructions control of remote monitoring subsystem, replace rescue personnel to enter the Lou scene of the accident, by concentration of toxic gases, video image is wireless etc., and information wireless sends remote monitoring subsystem to, remote monitoring subsystem is according to information such as concentration of toxic gases, wind direction, wind speed, carry out leakage accident and leak source strength inverse, thereby determine evacuating personnel scope, for emergency management and rescue, commander provides aid decision foundation.
The course of work of the present utility model is:
While using the utility model, first, give mobile robot's electrifying startup, after mobile robot initializes, the height of sampling of toxic gas sensor is defaulted as 0.5m; Then, to mobile robot's sending controling instruction, make it move quickly into the on-the-spot downwind area of chemical accident by remote monitoring subsystem; Then, on-the-spot concentration of toxic gases and video information are wirelessly transmitted to remote monitoring subsystem by mobile robot, and according to the toxic gas information detecting, carry out the dynamic adjustment of height of sampling; Then, remote monitoring subsystem is according to toxic gas leak type, determine gas diffusion model, and leak source strength calculating according to on-the-spot concentration of toxic gases, weather information and definite gas diffusion model, and then determine accident impact scope according to leaking source strength, thereby delimit evacuating personnel scope.
Function and the embodiment of this mobile robot each several part are respectively described below:
(1) 6 of the present embodiment kinds of poisonous gas sensor (NH3、CL2、HCN、H2S、NO、SO2), the membrapor electrochemical gas sensor of the employing Fu Anda of Shenzhen intelligence Science and Technology Ltd., important technological parameters is as follows:
NH3Sensor: measurement category, 0～1000ppm; Resolution ratio: 4ppm; Output signal, 4～20mA; Working life, in air 2 years.
CL2Sensor: measurement category: 0～200ppm; Resolution ratio, 1ppm; Output signal, 4～20mA; Working life, in air 2 years.
HCN sensor: measurement category, 0～100ppm; Resolution ratio, 0.2ppm; Output signal, 4～20mA; Working life, in air 2 years.
H2S sensor: measurement category, 0-2000ppm; Resolution ratio, 2ppm; Output signal, 4～20mA; Working life, in air 2 years.
NO sensor: measurement category, 0～2000ppm; Resolution ratio: 1ppm; Output signal, 4～20mA; Working life, in air 2 years.
SO2Sensor: measurement category, 0～2000ppm; Resolution ratio: 1ppm; Output signal, 4～20mA; Working life, in air 2 years.
(2) the GPS sensor of the present embodiment, adopts the Xiamen CM410GPS of Cai Mao company module, important technological parameters: tracking sensitivity ,-162dBm; Velocity accuracy, < 0.01 meter per second (at a high speed) < 0.01 ° (heading); Positioning precision, 2.5mCPE (Position), 2.0mCPE (SBAS); Output interface, RS485. GPS sensor is connected with concentration of toxic gases collecting circuit board by RS485 mouth, sends the GPS information of acquisition to concentration of toxic gases collecting circuit board.
(3) the concentration of toxic gases collecting circuit board of the present embodiment: adopt 8 circuit-switched data collection plates of National Institute of Safety Science and Technology's research and development, important technological parameters is as follows: AD port number, 8 12, tunnel ADC; RS232 interface, 2; RS485 interface, 1. Concentration of toxic gases collecting circuit board is connected with 6 road toxic gas sensor output lines by AD interface, be connected with GPS sensor by RS485 mouth, be connected with wireless sending module by RS232 interface, realize collection and the transmission of 6 tunnel concentration of toxic gases, GPS information.
(4) the infrared high-definition camera of the present embodiment, the infrared waterproof cartridge type of the TM-S950R-2 video camera of employing Beijing Jin Shitianhang Science and Technology Ltd., important technological parameters: sensor type, 1080TVL1/3 " Sensor; Lens focus, 3.6mm; Signal to noise ratio, is greater than 62dB; Minimal illumination, 0.01Lux (F1.2, AGCON), 0LuxwithIR; Power supply, 12V.
(5) the image acquisition and processing module of the present embodiment, adopts CS-6001HDS video server, and important technological parameters is as follows: video input, 1 tunnel (NTSC, pal mode is identified automatically); Video frame rate, 25 frame/seconds (PAL), 30 frame/seconds (NTSC); Communication interface, 1 RJ4510M/100M self adaptation Ethernet interface, 1 BNC mouth, 1 RS485 mouth; Power supply, DC12V. CS-6001HDS video server is connected with infrared high-definition camera by BNC mouth, is connected with wireless sending module by RJ45 Ethernet interface, and the video analog signal of infrared high-definition camera collection is changed into network digital signal.
(6) the leading screw control motor of the present embodiment, the stepper motor GM43-42BY of employing HKTTMOTOR company, important technological parameters: stepping angle, 7.5 degree; Speed reducing ratio, 1/25; Holding torque, 10000gcm; Operating voltage, DC24V.
(7) the revolver drive motors of the present embodiment and right wheel drive motor, the DC brushless motor GMP42-TEC4260 of employing HKTTMOTOR company, important technological parameters: rated speed, 4300r/min; Power output, 19W; Operating voltage, DC24V.
(8) the luffing angle control steering wheel of the present embodiment and level angle control steering wheel, adopts brightness to contain MG946R Servo-controller, important technological parameters: moment of torsion, 10.5kg/cm; Speed, 0.20sec/60degree; Operating voltage, 5V.
(9) motion-control module of the present embodiment, the 8 road circuit for controlling motor plates that adopt National Institute of Safety Science and Technology to research and develop, important technological parameters is as follows: main control chip, Atmega48; Dominant frequency, 11.0592MHz; Control signal output, the pwm signal that 3 tunnel amplitudes are 12V, the pwm signal that 3 tunnel amplitudes are 5V, 2 road 12V pulse signals; RS232 interface, 2. The pwm signal line that circuit for controlling motor plate is 12V by 2 tunnel amplitudes is connected with driving revolver, right DC MOTOR CONTROL line of taking turns, the pwm signal line that is 5V by 2 tunnel amplitudes is connected with the control line of luffing angle control steering wheel, level angle control steering wheel respectively, pulse signal-line by 12V is connected with leading screw control motor, be connected with control command receiver module by RS232 mouth, according to the control instruction receiving, realize the control of moveable robot movement direction and speed, screw slider height, video camera level angle and luffing angle.
(10) wireless sending module of the present embodiment, the GS800ET-D5 communication module of employing Lv Pu garden, Beijing Science and Technology Ltd., important technological parameters: modulation system, TDD-OFDM; Type of coding, H.264; Transmitting power, 5w; Interface, RS232 and RJ45; Power supply, 12V. Information such as concentration of toxic gases, GPS position, videos is sent to remote monitoring subsystem by wireless sending module.
(11) wireless receiving module of the present embodiment, the GS800ER-D5 communication module of employing Lv Pu garden, Beijing Science and Technology Ltd., important technological parameters: modulation system, TDD-OFDM; Type of coding, H.264; Interface, RS232 and RJ45; Power supply, 12V. Wireless receiving module receives the information such as the concentration of toxic gases, GPS position, video of self-movement robot, and passes to data handling machine.
(12) lithium battery of the present embodiment, adopts lithium battery group XC-24V-20Ah-PVC225-80-60, important technological parameters: output voltage, 21V～29.4V; Maximum operating currenbt, 20A; Battery capacity, 20000mAh. The output of lithium battery group is connected with the voltage input end of voltage transformation module.
(13) voltage transformation module of the present embodiment, the sampling MDH120-24T051224 of Hangzhou Mei Zan Electronics Co., Ltd. tri-road out-put supply modules, important technological parameters: input voltage range, 18-386V; Output voltage, 5V, 12V, 24V; Voltage accuracy, ± 1%; Power output, 300W. The voltage input end of three road out-put supply modules is connected with the output of lithium battery group.
Claims (7)
1. the on-the-spot monitoring poisonous gas mobile robot of chemical accident, it is characterized in that, this mobile robot comprises wheeled driving mechanism, supporting construction, lead screw transmission parts, monitoring poisonous gas parts, image acquisition component, wireless sending module, control command receiver module, power module, motion-control module; Monitoring poisonous gas parts comprise 6 kinds of toxic gas sensors, concentration of toxic gases collecting circuit board and GPS locating module; Image acquisition component comprises image acquisition and processing module and infrared high-definition camera, luffing angle control steering wheel, horizontally rotates control steering wheel; The mechanical connection of described mobile robot's each several part closes: wheeled driving mechanism is connected with supporting construction; Lead screw transmission parts are connected with supporting construction; 6 kinds of toxic gas sensors of monitoring poisonous gas parts are inlaid on lead screw transmission parts, and GPS locating module is fixed in supporting construction, and concentration of toxic gases collecting circuit board is connected with the image acquisition and processing module of image acquisition component; The image acquisition and processing module of image acquisition component is fixed on motion-control module, horizontally rotates control steering wheel and is fixed in supporting construction, horizontally rotates control steering wheel and is connected with luffing angle control steering wheel; Pitch rotation control steering wheel is connected with infrared high-definition camera; Wireless sending module is connected with supporting construction; Power module is connected with supporting construction; Motion-control module is connected with image acquisition component, supporting construction; The circuit connecting relation of described mobile robot's each several part is: concentration of toxic gases collecting circuit board is connected with the holding wire of toxic gas sensor, is connected, is connected with wireless sending module by RS232 mouth by RS485 mouth with GPS sensor by AD interface; Image acquisition and processing module is connected with infrared high-definition camera by BNC mouth, is connected with wireless sending module by RJ45 Ethernet interface; Motion control circuit plate is connected with the control line of revolver drive motors, right wheel drive motor by holding wire, be connected with the control line of luffing angle control steering wheel, level angle control steering wheel by holding wire, be connected with leading screw control motor by holding wire, be connected with control command receiver module by RS232 mouth; The output of power module is connected with the power input of each parts of mobile robot respectively by power line.
2. mobile robot as claimed in claim 1, it is characterized in that, described supporting construction comprises top layer gripper shoe, middle level gripper shoe, base layer support plate and 8 support posts, wherein between top layer gripper shoe and middle level gripper shoe, connected by 4 support posts respectively between middle level gripper shoe and base layer support plate; 4 support post upper ends between top layer gripper shoe and middle level gripper shoe tighten together with top layer gripper shoe, and lower end is connected with middle level gripper shoe; 4 support post upper ends between middle level gripper shoe and base layer support plate are connected with middle level gripper shoe, and lower end tightens together with base layer support plate.
3. mobile robot as claimed in claim 2, is characterized in that, described wheeled driving mechanism is mobile robot's walking mechanism, comprises revolver, universal wheel, rightly takes turns, revolver drive motors, right wheel drive motor; Revolver is connected with the driving shaft of revolver drive motors, right wheel drive motor respectively with right wheel shaft of taking turns, the wheel shaft of universal wheel is connected on the base layer support plate in supporting construction by fixture, and revolver drive motors, right wheel drive motor are fixed by screws on the base layer support plate in supporting construction.
4. mobile robot as claimed in claim 2, is characterized in that, described lead screw transmission parts comprise leading screw control motor, guide post, leading screw, supporting seat, slide block; Leading screw control motor is fixed in the middle level gripper shoe of supporting construction, supporting seat is fixed in the top layer gripper shoe of supporting construction, leading screw lower end is connected on the driving shaft of leading screw control motor, leading screw upper end is arranged on supporting seat top, guide post upper end is fixed on supporting seat top, and guide post lower end is fixed on supporting seat bottom.
5. mobile robot as claimed in claim 4, is characterized in that, in described monitoring poisonous gas parts, 6 kinds of toxic gas sensors are inlaid on the side panel of lead screw transmission parts slide block; GPS locating module is fixed in the middle level gripper shoe of supporting construction, and concentration of toxic gases collecting circuit board is fixed in image acquisition and processing module.
6. mobile robot as claimed in claim 1, is characterized in that, described 6 kinds of poisonous gas sensors are NH3Sensor, CL2Sensor, HCN sensor, H2S sensor, NO sensor and SO2Sensor.
7. mobile robot as claimed in claim 2, it is characterized in that, the image acquisition and processing module of described image acquisition component is fixed on motion-control module, horizontally rotate control steering wheel and be fixed in the top layer gripper shoe of supporting construction, the swing arm that horizontally rotates control steering wheel is connected with the support member that luffing angle control steering wheel is installed; The swing arm of pitch rotation control steering wheel is connected with the support member of installation infrared high-definition camera.
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| CN201520797815.7U CN205263046U (en) | 2015-10-15 | 2015-10-15 | Chemicals scene of accident toxic gas monitoring mobile robot |
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| CN201520797815.7U CN205263046U (en) | 2015-10-15 | 2015-10-15 | Chemicals scene of accident toxic gas monitoring mobile robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106125737A (en) * | 2016-08-25 | 2016-11-16 | 北京创想智控科技有限公司 | A kind of mobile robot toxic gas searches the device in source, system and method |
| CN106873489A (en) * | 2017-03-23 | 2017-06-20 | 深圳汇创联合自动化控制有限公司 | A kind of robot security's monitoring system |
| CN107891413A (en) * | 2017-05-16 | 2018-04-10 | 烟台市迈高机器人科技有限公司 | Laminated, compact type Two-wheeled intelligent carriage |
| CN111289702A (en) * | 2020-04-13 | 2020-06-16 | 四川智动木牛智能科技有限公司 | Gas detection system based on mobile robot |
| US11623349B2 (en) | 2020-10-28 | 2023-04-11 | Ford Global Technologies, Llc | Systems and methods for gas detection within vehicles |
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2015
- 2015-10-15 CN CN201520797815.7U patent/CN205263046U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106125737A (en) * | 2016-08-25 | 2016-11-16 | 北京创想智控科技有限公司 | A kind of mobile robot toxic gas searches the device in source, system and method |
| CN106125737B (en) * | 2016-08-25 | 2018-11-13 | 北京创想智控科技有限公司 | A kind of mobile robot toxic gas searches the device in source, system and method |
| CN106873489A (en) * | 2017-03-23 | 2017-06-20 | 深圳汇创联合自动化控制有限公司 | A kind of robot security's monitoring system |
| CN106873489B (en) * | 2017-03-23 | 2018-12-21 | 创泽智能机器人股份有限公司 | A kind of robot security's monitoring system |
| CN107891413A (en) * | 2017-05-16 | 2018-04-10 | 烟台市迈高机器人科技有限公司 | Laminated, compact type Two-wheeled intelligent carriage |
| CN107891413B (en) * | 2017-05-16 | 2024-05-24 | 烟台市迈高机器人科技有限公司 | Laminated compact type double-wheel driving intelligent trolley |
| CN111289702A (en) * | 2020-04-13 | 2020-06-16 | 四川智动木牛智能科技有限公司 | Gas detection system based on mobile robot |
| US11623349B2 (en) | 2020-10-28 | 2023-04-11 | Ford Global Technologies, Llc | Systems and methods for gas detection within vehicles |
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