CN207867340U - A kind of underground piping crusing robot control system - Google Patents
A kind of underground piping crusing robot control system Download PDFInfo
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- CN207867340U CN207867340U CN201820228999.9U CN201820228999U CN207867340U CN 207867340 U CN207867340 U CN 207867340U CN 201820228999 U CN201820228999 U CN 201820228999U CN 207867340 U CN207867340 U CN 207867340U
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Abstract
The utility model provides a kind of underground piping crusing robot control system, including robot body, hoistable platform, microprocessor, environment monitoring module, pose monitoring modular, animal monitoring module, communication module, motor drive module and information-processing circuit；The environment monitoring module and the animal monitoring module are electrically connected with information-processing circuit respectively, and the information-processing circuit, the communication module, the pose monitoring modular and the motor drive module are electrically connected with microprocessor respectively.Fuel gas and pernicious gas are detected by sensor, video camera is imaged and is taken pictures to pipeline in all directions, it is realized by animal monitoring module and the avoidance of robot and drives the function of toy, self correction when having ensured robot motion by encoder and attitude transducer and speed governing.Underground piping comprehensive inspection in 24 hours is realized, understands situation about grasping in pipeline in time.
Description
Technical field
The utility model is related to a kind of robot application field more particularly to a kind of controls of the crusing robot of underground piping
The application of technology processed.
Background technology
With the rapid development of economy, the propulsion of urbanization, urban Underground pipeline in increase drastically, a large amount of pipeline and
Line arrangement brings huge challenge to safety patrol inspection work.Underground piping has the power grid of laying, the water pipe of arrangement, placement
The types such as gas pipeline it is various, new and old level protrudes, and the operation that is reliable, stablizing of these pipelines is to ensure citizen's normal life
Basis.
It is very big to the difficulty of the work such as the exploration of pipeline, inspection, positioning and repair, and the bothersome laborious consumption of manual inspection
When, it is also dangerous.Therefore, a underground piping crusing robot is researched and developed to substitute manual work, between capable of being carried out not to pipeline
Disconnected inspection, the environmental parameters such as humiture, fuel gas, the oxygen concentration at acquisition underground piping scene, improves the efficiency of inspection,
The labor intensity of staff is reduced, in time dredging and real-time servicing underground piping, it is ensured that pipeline is smoothly unimpeded, the inside laying
The safe and stable work of pipeline.
Invention content
Purpose of the utility model is to overcome the above-mentioned shortcomings and provide a kind of underground piping crusing robot control system,
By the data for the sensor-based system collection site installed on robot body, the monitor terminal on ground is passed to, it is real-time
The case where solving inside pipeline, it is ensured that the safe and stable operation of pipeline being laid in pipeline.
To achieve the above object, the utility model is achieved through the following technical solutions.
A kind of underground piping crusing robot control system, including：Robot body, microprocessor, environment monitoring module,
Communication module, motor drive module and video camera, it is characterised in that：Further include pose monitoring modular, animal monitoring module, lifting
Platform, transmission mechanism and information-processing circuit；The environment monitoring module and animal monitoring module is electric with information processing respectively
Road be electrically connected, the information-processing circuit, communication module, pose monitoring modular and motor drive module respectively with microprocessor
Electrical connection, the hoistable platform are arranged in the centre of robot body, be free to free in the upper surface of robot body
Lifting.
What the hoistable platform was arranged above has the holder for placing video camera, the holder that can be taken the photograph with 360 degree rotation
Situation in shooting pipeline that can be comprehensive on camera fixing bracket.
The motor drive module is connected with the transmission mechanism, and transmission mechanism is connected to the motor, and motor drives mould
The energy of block output carrys out drive transmission device, and energy is reasonably distributed to motor by transmission mechanism.
The environment monitoring module includes Temperature Humidity Sensor, flammable gas sensor, carbon monoxide transducer, methane biography
Sensor and oxygen sensor；Temperature Humidity Sensor detects the humiture inside pipeline, and flammable gas sensor is inflammable easy for detecting
The case where gas explosion body leaks, carbon monoxide transducer are used to detect the concentration of carbon monoxide transducer, and methane transducer is for examining
The concentration of methane is surveyed, oxygen sensor is used to detect the concentration of oxygen.
The animal monitoring module includes adopting pyroelectric infrared sensor and ultrasonic sensor, rpyroelectric infrared sensing
For device for detecting whether there is animal, ultrasonic sensor detects the distance of animal and the distance of barrier.
Affiliated pose monitoring modular includes encoder and attitude transducer, and encoder is used to detect the speed of motor, appearance
State sensor is used to detect three athletic postures of robot.
The utility model has the beneficial effects that：The utility model provides a kind of underground piping crusing robot control system
System, control system detect fuel gas and pernicious gas by sensor, grasp the ambient conditions in pipeline in real time；It is free to rise
Drop platform and 360 degree of rotatable holders ensure that video camera is imaged and taken pictures to pipeline in all directions, on the ground can be non-
Often clearly see the situation in pipeline；The avoidance of robot is realized by animal monitoring module and drives the work(of toy
Energy；Self correction when having ensured robot motion by encoder and attitude transducer and speed governing.The system structure is scientific and reasonable,
It is more efficient to control plan, realizes underground piping comprehensive inspection in 24 hours, it is ensured that the operation that safety of underground pipeline is stablized.
Description of the drawings
Fig. 1 is the system structure control block diagram of the utility model；
Fig. 2 is the motion planning and robot control structure diagram of the utility model.
Specific implementation mode
As shown in Figure 1 and Figure 2, a kind of underground piping crusing robot control system, including：Robot body, microprocessor
Device, environment monitoring module, communication module, motor drive module and video camera further include pose monitoring modular, animal monitoring mould
Block, hoistable platform, transmission mechanism and information-processing circuit；The environment monitoring module and animal monitoring module respectively with information
Processing circuit be electrically connected, the information-processing circuit, communication module, pose monitoring modular and motor drive module respectively with it is micro-
Processor is electrically connected, and the hoistable platform is arranged in the centre of robot body, be free in the upper of robot body
Face freely lifts.
Setting can be with the holder of 360 degree rotation above hoistable platform, and fixedly secured video camera above the holder, video camera can
With the situation of comprehensive your inside of shooting pipeline, screen image information is passed to by communication module by the end of the monitoring on ground
End；The information of environment monitoring module, animal monitoring module and pose monitoring modular three acquisition is carried out by information-processing circuit
Conditioning, storage in the memory unit, then carry out operation by microprocessor, analyze, judge, if there is the data information to be more than
Normal range of operation value will send out alarm in monitor terminal, while the information is sent to work people in the form of short message or wechat
On member's mobile phone, reminding has exception timely to exclude security risk inside staff's pipeline.
Environment monitoring module include Temperature Humidity Sensor, flammable gas sensor, carbon monoxide transducer, methane transducer and
Oxygen sensor；Temperature Humidity Sensor is used to detect the humiture inside pipeline, understands the temperature and humidity inside pipeline in time；
Carbon monoxide transducer is used to detect the concentration of carbon monoxide, and oxygen sensor is used to detect the concentration of oxygen, oxygen it is very dilute
It is breakneck to staff's inspection in the case of thin or anoxic.Methane transducer is used to detect the concentration of methane, methane
Reach a certain concentration chance open fire with oxygen mix and be easy to happen explosion, flammable gas sensor is for detecting flammable explosive gas leakage
The case where and pipeline in flammable explosive gas, prevent fuel gas from forming explosive mixed gas and directly threatening pipeline
Inherently safe.
Animal monitoring module includes adopting pyroelectric infrared sensor and ultrasonic sensor, and pyroelectric infrared sensor is used for
Animal is detected whether, ultrasonic sensor detects the distance of animal and the distance of barrier, when detecting in underground piping
When having toy (such as mouse, snake, night cat, toad toy) on the pipeline of laying, robot body acousto-optic report installed above
Alarm device sends out alarm, they are expelled and is driven away, and according to the barrier that ultrasonic sensor detects, robot being capable of cut-through
Object continues to move ahead or retreat.
Pose monitoring modular includes encoder and attitude transducer, and encoder is used to detect the speed of motor, posture sensing
Device is the attitude transducer mould by integrating high-precision three-axis gyroscope, three axis accelerometer, three axis geomagnetic field sensors
Block, three athletic postures for detecting robot, which is resolved using advanced dynamics and Kalman's dynamic filter is calculated
Method comprehensive function obtains system real-time attitude, convenient for efficiently, rapidly rectifying a deviation to the track of robot motion, control machine
The movement of device people.Motor drive module is connected with transmission mechanism, and transmission mechanism is connected to the motor, the energy of motor drive module output
Amount carrys out drive transmission device, and energy is reasonably distributed to motor, controls main story, reversion and the main story tune of motor by transmission mechanism
Speed and reversion speed governing.
Claims (6)
1. a kind of underground piping crusing robot control system, including：Robot body, environment monitoring module, leads to microprocessor
Believe module, motor drive module and video camera, it is characterised in that：Further include pose monitoring modular, animal monitoring module, lift and put down
Platform, transmission mechanism and information-processing circuit；The environment monitoring module and animal monitoring module respectively with information-processing circuit
Electrical connection, the information-processing circuit, communication module, pose monitoring modular and motor drive module are electric with microprocessor respectively
Connection, the hoistable platform are arranged in the centre of robot body, be free to free in the upper surface of robot body
Lifting.
2. crusing robot control system according to claim 1, it is characterised in that：It is arranged above the hoistable platform
Have place video camera holder, holder can be with 360 degree rotation, in the shooting pipeline that video camera can be comprehensive on holder
Situation.
3. crusing robot control system according to claim 1, it is characterised in that：The motor drive module and institute
The transmission mechanism stated is connected, and transmission mechanism is connected to the motor, and the energy of motor drive module output carrys out drive transmission device, is driven
Energy is reasonably distributed to motor by mechanism.
4. crusing robot control system according to claim 1, it is characterised in that：The environment monitoring module includes
Temperature Humidity Sensor, flammable gas sensor, carbon monoxide transducer, methane transducer and oxygen sensor；Temperature Humidity Sensor
The humiture inside pipeline is detected, flammable gas sensor is for detecting the case where flammable explosive gas leaks, carbon monoxide sensing
Device is used to detect the concentration of carbon monoxide transducer, and methane transducer is used to detect the concentration of methane, and oxygen sensor is for examining
The concentration of oxygen determination.
5. crusing robot control system according to claim 1, it is characterised in that：The animal monitoring module includes
Pyroelectric infrared sensor and ultrasonic sensor are adopted, for detecting whether there is animal, ultrasonic wave passes pyroelectric infrared sensor
Sensor detects the distance of animal and the distance of barrier.
6. crusing robot control system according to claim 1, it is characterised in that：Affiliated pose monitoring modular includes
Encoder and attitude transducer, encoder are used to detect the speed of motor, and attitude transducer is used to detect three fortune of robot
Dynamic posture.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820228999.9U CN207867340U (en) | 2018-02-08 | 2018-02-08 | A kind of underground piping crusing robot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820228999.9U CN207867340U (en) | 2018-02-08 | 2018-02-08 | A kind of underground piping crusing robot control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207867340U true CN207867340U (en) | 2018-09-14 |
Family
ID=63456697
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820228999.9U Expired - Fee Related CN207867340U (en) | 2018-02-08 | 2018-02-08 | A kind of underground piping crusing robot control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207867340U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108196551A (en) * | 2018-02-08 | 2018-06-22 | 安徽机电职业技术学院 | A kind of underground piping crusing robot control system |
| CN113568399A (en) * | 2020-04-10 | 2021-10-29 | 昆明桑达科技有限公司 | Control system of industrial inspection robot |
| CN114544668A (en) * | 2022-02-22 | 2022-05-27 | 盐城笃诚建设有限公司 | CCTV pipeline on-line measuring system |
-
2018
- 2018-02-08 CN CN201820228999.9U patent/CN207867340U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108196551A (en) * | 2018-02-08 | 2018-06-22 | 安徽机电职业技术学院 | A kind of underground piping crusing robot control system |
| CN113568399A (en) * | 2020-04-10 | 2021-10-29 | 昆明桑达科技有限公司 | Control system of industrial inspection robot |
| CN114544668A (en) * | 2022-02-22 | 2022-05-27 | 盐城笃诚建设有限公司 | CCTV pipeline on-line measuring system |
| WO2023160188A1 (en) * | 2022-02-22 | 2023-08-31 | 盐城笃诚建设有限公司 | Cctv pipeline online detection system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180914 Termination date: 20190208 |
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| CF01 | Termination of patent right due to non-payment of annual fee |