CN209297161U - Crusing robot enters chamber system - Google Patents
Crusing robot enters chamber system Download PDFInfo
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- CN209297161U CN209297161U CN201821772822.1U CN201821772822U CN209297161U CN 209297161 U CN209297161 U CN 209297161U CN 201821772822 U CN201821772822 U CN 201821772822U CN 209297161 U CN209297161 U CN 209297161U
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Abstract
This application involves a kind of crusing robots to enter chamber system.It includes combination motor door, mobile controller, the first wireless communication apparatus and automatic control device that the crusing robot, which enters chamber system,.The mobile controller is installed on crusing robot, for sending control instruction.First wireless communication apparatus is connect with the mobile controller signal, the instruction sent for receiving the mobile controller.The automatic control device is connect with the first wireless communication apparatus signal, for controlling the opening and closing of the combination motor door.After reaching setting position on the crusing robot, the mobile controller sends control instruction to the automatic control device, and the automatic control device controls the opening and closing of the combination motor door.Solve the problems, such as that traditional crusing robot can not free in and out substation equipment room in inspection process and be maked an inspection tour.
Description
Technical field
This application involves technical field of electric power, enter chamber system more particularly to a kind of crusing robot.
Background technique
Substation is the important component in electric system.Equipment in substation is concentrated, quantity is more, broad categories.
Substation relies primarily on manual patrol to guarantee the reliability service of substation at present, and the routine work of patrol officer is largely to patrol
Depending on work, therefore substation equipment patrol needs to consume a large amount of manpower.
The technologies such as mobile Internet and artificial intelligence were fast-developing in recent years, to achieve the purpose that personnel reduction and enlargement, substation
Crusing robot gradually rises.At present the move mode of crusing robot predominantly and crawler type, the ability of across obstacle compared with
It is weak, while requiring landform flat.And substation section or armamentarium are located at canyon, the opening and closing of canyon door usually requires hand
Dynamic operation.In addition, canyon is the requirement for meeting anti-toy, anti-toy baffle is installed on doorway.Therefore, canyon door
And anti-toy baffle strongly limits the job area of crusing robot.Therefore current crusing robot is mainly used for open air and sets
Standby place is maked an inspection tour, and limitation is very big.
Utility model content
Based on this, it is necessary to aiming at the problem that crusing robot can not be maked an inspection tour in substation room, provide a kind of inspection machine
People enters chamber system.
A kind of crusing robot enters chamber system, comprising:
Combination motor door；
Mobile controller is installed on crusing robot, for sending control instruction；
First wireless communication apparatus is connect, for receiving the mobile controller with the mobile controller signal
The instruction of transmission；And
Automatic control device is connect with the first wireless communication apparatus signal, for controlling the combination motor door
It opens and closes.
Above-mentioned crusing robot enters chamber system, after reaching setting position on the crusing robot, is installed on described patrol
The mobile controller for examining robot sends control instruction.The control instruction is transferred to after the reception of the first wireless communication apparatus
Automatic control device, the automatic control device control the opening and closing of the combination motor door.By it is above-mentioned enter chamber system,
During solving traditional crusing robot inspection, shape is remained turned-off to prevent toy from entering due to canyon room door for a long time
State causes crusing robot to cannot be introduced into the problem of substation equipment chamber interior is maked an inspection tour.
In one of the embodiments, further include ultrasonic rat repellent, connect, be used for the automatic control device signal
Mouse is driven when the combination motor door is opened.
The combination motor door includes: in one of the embodiments,
Electrically operated gate is connect with the automatic control device signal, and the control signal according to the automatic control device is opened
Or it closes；And
Electric guard board is connect with the automatic control device signal, and the control signal according to the automatic control device is beaten
On or off is closed, for preventing the toy when the electrically operated gate is opened from entering the room.
The electrically operated gate includes: in one of the embodiments,
Door-plate；And
Door-plate motor is mechanically connected with the door-plate, and connect with the automatic control device signal, according to described in certainly
The control signal of dynamic control device drives the door-plate to open or close.
The electric guard board includes: in one of the embodiments,
Anti- toy baffle；And
Flap motor is mechanically connected with the anti-toy baffle, connect with the automatic control device signal, foundation
The control signal of the automatic control device drives the anti-toy baffle to open or close；
Wherein, the ultrasonic rat repellent drives mouse when the anti-toy baffle is opened.
The electric guard board further includes baffle guide rail in one of the embodiments, is set to ground；
Wherein, the flap motor draws the anti-toy baffle and moves along the baffle guide rail.
It in one of the embodiments, further include connecting, being used for the automatic control device signal to level detecting apparatus
Detect the position of the combination motor door.
It is described in one of the embodiments, to include: to level detecting apparatus
Electrically operated gate is connect, for detecting the position of the door-plate to level detecting apparatus with the automatic control device signal；
And
Baffle is connect to level detecting apparatus with the automatic control device signal, for detecting the anti-toy baffle
Position.
The mobile controller includes: in one of the embodiments,
Industrial personal computer is connect, for generating control instruction with the crusing robot signal；And
Second wireless communication apparatus is connect, for sending the industry control with the first wireless communication apparatus wireless signal
The control instruction that machine generates.
The mobile controller further includes position sensor in one of the embodiments, with the industrial personal computer signal
Connection, for detecting the position of the crusing robot.
Crusing robot provided by the embodiments of the present application, which enters chamber system and can be used for Intelligent Mobile Robot, enters equipment
Room.The crusing robot, which enters chamber system, can have and automatically open while guaranteeing can prevent toy from entering canyon
Or close the function of the combination motor door.Instruction that the combination motor door opens or closes is controlled by the crusing robot
The mobile controller of upper installation issues.The automatic control device refers to according to the control that the mobile controller issues
It enables, can control the opening and closing of the electrically operated gate and the electric guard board for anti-toy.The crusing robot
Enter chamber system without manually being operated, is conducive to electric system personnel reduction and enlargement.
Detailed description of the invention
Fig. 1 is that a kind of crusing robot provided by the embodiments of the present application is entered the room system structure diagram；
Fig. 2 is that a kind of crusing robot provided by the embodiments of the present application enters chamber system connection relationship diagram；
Fig. 3 is that a kind of crusing robot provided by the embodiments of the present application is entered the room system control method flow chart；
Fig. 4 is that another crusing robot provided by the embodiments of the present application is entered the room system control method flow chart.Attached drawing mark
Number explanation:
100 crusing robots enter chamber system
110 combination motor doors
111 electrically operated gates
1111 door-plates
1112 door-plate motor
112 electric guard boards
1121 anti-toy baffles
1122 flap motors
1123 baffle guide rails
120 mobile controllers
121 industrial personal computers
122 second wireless communication apparatus
123 position sensors
130 first wireless communication apparatus
140 automatic control devices
150 ultrasonic rat repellents
160 arrive level detecting apparatus
161 electrically operated gates are to level detecting apparatus
162 baffles are to level detecting apparatus
Specific embodiment
In order to make the above objects, features, and advantages of the present application more apparent, with reference to the accompanying drawing to the application
Specific embodiment be described in detail.Many details are explained in the following description in order to fully understand this Shen
Please.But the application can be implemented with being much different from other way described herein, those skilled in the art can be not
Similar improvement is done in the case where violating the application intension, therefore the application is not limited by following public specific implementation.
Unless otherwise defined, all technical and scientific terms used herein and the technical field for belonging to the application
The normally understood meaning of technical staff is identical.The term used in the description of the present application is intended merely to description tool herein
The purpose of the embodiment of body, it is not intended that limitation the application.Term " and or " used herein includes one or more related
Listed item any and all combinations.
- Fig. 2 referring to Figure 1 provides a kind of crusing robot in the application one embodiment and enters chamber system 100.It is described to patrol
Inspection robot enter chamber system 100 include combination motor door 110, mobile controller 120, the first wireless communication apparatus 130 and from
Dynamic control device 140.The mobile controller 120 is installed on crusing robot, for sending control instruction.First nothing
Line communication device 130 is connect with 120 signal of mobile controller, for receiving the transmission of mobile controller 120
Instruction.The automatic control device 140 is connect with 130 signal of the first wireless communication apparatus, for controlling the combination electricity
The opening and closing of dynamic door 110.
The combination motor door 110 can be applied to the canyon that substation needs to carry out inspection.The canyon can be with
Hyperbaric chamber including substation.Since conventional high-tension room door is manually operated door, when carrying out manual inspection, can be beaten by manual operation
It opens hyperbaric chamber door and enters the room carry out inspection.When carrying out inspection using crusing robot, traditional-handwork door can not automatic door opening
Enter the room the crusing robot.The combination motor door 110 can need to enter hyperbaric chamber in the crusing robot
It automatically opens when equal places, and is automatically closed after the crusing robot inspection.The application of the combination motor door 110
The application range for greatly extending the crusing robot, has saved manpower, reduces routing inspection cost.
The mobile controller 120 can be installed on the crusing robot.The mobile controller 120 with it is described
The connection of crusing robot signal.The mobile controller 120 can be according to the location information hair that the crusing robot obtains
Send control instruction corresponding with the location information.The control instruction be used for control the combination motor door 110 opening and
It closes.By the mobile controller 120, can be arrived in the crusing robot for installing the mobile controller 120
When up to setting position, control instruction corresponding with the setting position is sent.The setting position can pass through the survey monitor
The navigation system of device people sets and detects.
First wireless communication apparatus 130 is used to remotely receive the control instruction that the mobile controller 120 is sent.
And the control instruction is sent to the automatic control device 140.According to the control instruction, the automatic control device
140, which can control the electric assembling door 110, is opened or closed.First wireless communication apparatus 130 and described automatic
The setting of control device 140 in the case where without human intervention, may be implemented the crusing robot enter the room and room out.Cause
This, the combination motor door 110, the mobile controller 120, first wireless communication apparatus 130 and the automatic control
Device 140 processed can guarantee that the crusing robot in the case where no manually participation, can freely make an inspection tour substation equipment
Chamber interior has saved manpower and has reduced substation inspection cost.
In one embodiment, it further includes ultrasonic rat repellent 150 that crusing robot, which enters chamber system 100, and described automatic
140 signal of control device connection, for driving mouse when the combination motor door 110 is opened.Since substation equipment room needs
Prevent toy from entering.When the electric assembling door 110 is opened, it is understood that there may be mouse takes advantage of the occasion to enter setting for the substation
Standby room, the equipment destroyed inside canyon is to cause unnecessary economic loss.So being controlled in automatic control device 140
Before the electric assembling door 110 is opened, the ultrasonic rat repellent 150 is controlled by automatic control device 140 first and is opened,
Prevent mouse from entering canyon.After the electric assembling door 110 closing, the automatic control device 140 controls described super
Sound wave mouse-driving device 150 is closed.The opening and closing of the ultrasonic rat repellent 150 are controlled by the automatic control device 140
Time, can whole anti-mouse enter, guarantee the safety of the canyon equipment.
In one embodiment, the combination motor door 110 includes electrically operated gate 111 and electric guard board 112.The electrically operated gate
111 connect with 140 signal of automatic control device.The electrically operated gate 111 is believed according to the control of the automatic control device 140
It number opens or closes.The electric guard board 112 is connect with 140 signal of automatic control device.112 foundation of electric guard board
The control signal of the automatic control device 140 opens or closes, for prevent the electrically operated gate 111 open when toy into
Enter canyon.
In the present embodiment, the width of the electric guard board 112 can be greater than the width of applied canyon door.Due to
The ultrasonic rat repellent 150 can not drive all toys, and the setting of the electric guard board 112 can be in the inspection machine
People passes in and out Temporarily Closed behind the substation equipment room.During inspection of the crusing robot in canyon, the electricity
Dynamic door 111 can stay open.The setting of the electric guard board 112 can reduce the opening and closing process of the electrically operated gate 111, save
The energy.When staff enters substation equipment room, electrically operated gate 111 can be only opened, staff is across the electric gear
Plate 112.Therefore, the setting of the electric guard board 112 can be energy saving, while can be further improved and prevent toy
Into the ability of canyon.
In one embodiment, the electrically operated gate 111 includes door-plate 1111 and door-plate motor 1112.The door-plate is electronic
Machine 1112 and the door-plate 1111 are mechanically connected.The door-plate motor 1112 is connect with 140 signal of automatic control device,
Control signal according to the automatic control device 140 drives the door-plate 1111 to open or close.
In one embodiment, the electric guard board 112 includes anti-toy baffle 1121 and flap motor 1122.Institute
It states flap motor 1122 and the anti-toy baffle 1121 is mechanically connected.The flap motor 1122 and the automatic control
140 signal of device connection processed, the control signal according to the automatic control device 140 drive the anti-toy baffle 1121 to beat
On or off is closed.Wherein, the ultrasonic rat repellent 150 drives mouse when the anti-toy baffle 1121 is opened.
In one embodiment, the electric guard board 112 further includes baffle guide rail 1123.The baffle guide rail 1123 is arranged
In ground.Wherein, the flap motor 1122 draws the anti-toy baffle 1121 and moves along the baffle guide rail 1123.
The length of the baffle guide rail 1123 can be greater than or equal to twice of 112 width of electric guard board, it can be ensured that the electricity
It blocks on the dynamic canyon doorway after being moved along the baffle guide rail 1123 of baffle 112.The electric guard board 112 can edge
The baffle guide rail 1123 be moved to the left or move right.Further, the electric guard board 112 can also be divided into two
Point, two parts respectively moved to the left and right by two sides.The moving direction of the electric guard board 112 can according to surrounding space or
Field engineering actual conditions are determined.In one embodiment, the electrically operated gate 111 can be moved along up and down direction
Rolling screen door.
In one embodiment, it further includes to level detecting apparatus 160 that crusing robot, which enters chamber system 100,.It is described to examine in place
It surveys device 160 to connect with 140 signal of automatic control device, for detecting the position of the combination motor door 110.It is described to arrive
The sensor, circuit of detection function and equipment etc. in place can be achieved to be all kinds of in level detecting apparatus 160.The position detection dress
Setting 160 may insure that the electric assembling door 110 turns on or off.It avoids not enough leading to inspection machine because being not turned on degree
People cannot be introduced into the generation of the case where canyon.Therefore, the position detecting device 160 can reduce the crusing robot and enter the room
The rate of breakdown of system 100 guarantees the efficient operation of the crusing robot system 100.
In one embodiment, it is described to level detecting apparatus 160 include electrically operated gate to level detecting apparatus 161 and baffle in place
Detection device 162.The electrically operated gate is connect to level detecting apparatus 161 with 140 signal of automatic control device, for detecting
State the position of door-plate 1111.The baffle is connect to level detecting apparatus 162 with 140 signal of automatic control device, for examining
Survey the position of the anti-toy baffle 1121.Since the electrically operated gate 111 and the moving distance of the electric guard board 112 can be with
It is identical to can also be different, therefore the electrically operated gate can be respectively adopted to level detecting apparatus 161 and the baffle to level detecting apparatus
162, which carry out detection, may further ensure that the crusing robot enters the efficient operation of chamber system 100.
In one embodiment, the mobile controller 120 includes industrial personal computer 121 and the second wireless communication apparatus 122.
The industrial personal computer 121 is connect with the crusing robot signal, for generating control instruction.Second wireless communication apparatus
122 connect with 130 wireless signal of the first wireless communication apparatus.Second wireless communication apparatus 122 is described for sending
The control instruction that industrial personal computer 121 generates.
The industrial personal computer 121 can be connect with the crusing robot signal.Pass through the navigation system of the crusing robot
System, the industrial personal computer 121 may determine that whether the crusing robot reaches setting position, to issue corresponding control instruction.
The control instruction is sent by second wireless communication apparatus 122.First wireless communication apparatus 130 and described
The crusing robot may be implemented to the wireless control of the combination motor door 110 in second wireless communication apparatus 122, simplifies
The crusing robot enters the complexity of chamber system 100, while improving the crusing robot and entering being applicable in for chamber system 100
Range.
In one embodiment, the mobile controller 120 further includes position sensor 123.The position sensor
123 connect with 121 signal of industrial personal computer, for detecting the position of the crusing robot.
The position sensor 123 can be travel switch.In one embodiment, the travel switch may be mounted at
On the crusing robot.When the crusing robot is close to the electric assembling door 110, the travel switch can be perceived
Displacement between the two.After the crusing robot reaches setting position, the connecting rod of the travel switch drives contact, to draw
Play the junction closure of contact disjunction or the disconnection of closure.It, can be to the automatic control device 140 by the travel switch
Send signal.The travel switch is one kind of contact position sensor, it will be understood that the position sensor 123 can also
To use proximity position sensor, such as Hall sensor.Therefore, the position sensor 123 can have position to be all
Set the sensor of detection function.The setting of the position sensor 123 can patrol to avoid the mobile controller 120 with described
It examines robot and carries out signal connection, simplify operation, and expand the application range that the crusing robot enters chamber system 100.?
In one embodiment, the position sensor 123 can be replaced using rfid device or infrared shooting device.
Fig. 3 is referred to, a kind of crusing robot is provided in the application one embodiment and is entered the room system control method.It is described to patrol
Inspection robot system control method of entering the room includes:
S10, the crusing robot that the mobile controller 120 is installed in the judgement of mobile controller 120 are
No arrival setting position.
In step S10, the setting position can be redefined for a position near the electric assembling door 110
Point.When the crusing robot for installing the mobile controller 120 reaches the location point, pass through comparison location point letter
Breath can determine that and reach setting position.It is appreciated that the setting position can also be redefined for the electric assembling door
A setting range near 110.When the crusing robot for installing the mobile controller 120 enters the setting model
When enclosing interior, by determining whether the location information belongs to the setting range, the mobile controller 120 can be completed and sentence
Whether the crusing robot of the disconnected installation mobile controller 120 reaches the process of setting position.The setting position
It may include enabling setting position and shutdown setting position.
S20, reached when the crusing robot described in postpone, the mobile controller 120 sends control instruction.
In step S20, when the mobile controller 120 determine the crusing robot reach setting position point or into
When entering the setting range, the mobile controller 120 handles the location information.The mobile controller
The 120 processing result transmission control instruction according to the location information.The control instruction can be the control combination motor
The door open command of door 110 or instruction of closing the door.The control instruction can also include executing the sequence of movement of order main body and moving
Make degree.
S30, first wireless communication apparatus 130 receive the control instruction that the mobile controller 120 is sent
And it sends.
In step S30, the control instruction that the mobile controller 120 is sent can pass through radio wave, WI-FI
Or mobile network signals etc. are carried.It can be according to surrounding ring in the transmission range and transmission process of the control instruction
Border is selected in conjunction with factors such as costs.It is appreciated that the selection for carrying medium and first wireless communication apparatus
130 are matched.
S40, the automatic control device 140 receive the control instruction that first wireless communication apparatus 130 is sent.
S50, the automatic control device 140 control 110 open or close of combination motor door.
In step S50, the automatic control device 140 can control the combination motor door 110 according to preset
It is moved in direction.The Practical Project situation of chamber system 100 can be entered according to the crusing robot, the automatic control is worked as in setting
Device 140 processed controls the direction of action and movement degree of the combination motor door 110.
Please also refer to Fig. 4, in one embodiment, in the mobile controller 120 judgement installation mobile control
Before whether the crusing robot of device 120 processed reaches setting position, S101, the position sensor 123 obtains installation
The location information of the crusing robot of the mobile controller 120, and the location information is sent to the industry control
Machine 121.
In step s101, the position sensor 123, which can be set to obtain in real time, installs the mobile controller
The location information of 120 crusing robot may be set to be separated in time acquisition.The industrial personal computer 121
The location information is handled in real time.The interval time can be according to the speed of service and application of the crusing robot
The engineer applications actual conditions such as environment are configured.In the present embodiment, the interval time be can be set to 1 second.
In one embodiment, it is installed described in the mobile controller 120 in the mobile controller 120 judgement
Before whether crusing robot reaches setting position, the built-in navigation system of S102, the crusing robot are obtained described in installation
The location information of the crusing robot of mobile controller 120, and the location information is passed into the industrial personal computer
121。
In step s 102, by presetting the location point or the range, the crusing robot it is built-in
Navigation system can in real time or interval setting time obtains the location information.The industrial personal computer 121 is in real time to the position
Information is handled.The interval time can be according to the speed of service of the crusing robot, navigation system and using ring
The engineer applications actual conditions such as border are configured.In the present embodiment, the interval time be can be set to 1 second.
In one embodiment, after the crusing robot reaches the setting position, the mobile controller 120
It sends in control instruction, S021, after the crusing robot reaches setting position, the industrial personal computer 121 is through second nothing
Line communication device 122 sends control instruction.
In step S021, in order to further increase the speed of service that the crusing robot enters chamber system 100, determining
When whether the crusing robot reaches the setting position, the error range of the location point can be set.When the inspection
When the distance between the position of robot and preset location point are located in the error range, the industry control can be passed through
Machine 121 determines that the crusing robot has arrived at the position of setting.The industrial personal computer 121 can be improved in above-mentioned control process
Working efficiency increases the flexibility of the crusing robot platform to a certain extent.
In one embodiment, the automatic control device 140 control 110 open or close of combination motor door it
Before include: S501, the automatic control device 140 judges the classes of instructions of the control instruction received.S502, when described
When control instruction is door open command, the automatic control device 140 controls the ultrasonic rat repellent 150 and opens.S503 works as institute
Stating control instruction is when closing the door instruction, and the automatic control device 140 controls the ultrasonic rat repellent 150 and is maintained at opening state
State.Due to needing to prevent mouse from entering the substation equipment room, the ultrasonic wave during the combination motor door 110 is opened
Mouse driving device 150 needs to start between the combination motor door 110 opening, while closing after shutdown.
In one embodiment, 110 open or close of combination motor door is controlled in the automatic control device 140
In, S51, the automatic control device 140 starts the door-plate motor 1112 and draws 1111 open or close of door-plate.
S52, the automatic control device 140 start the flap motor 1122 and draw the anti-toy baffle 1121 along the gear
1123 open or close of panel guide.
In step S51 and step S52, the door-plate 1111 is opened up through the door-plate motor 1112 traction, to
Lower closing.The anti-toy baffle 1121 can according to the baffle guide rail 1123 length to the left or right side is mobile.
The setting on the left side or right side needs to be set according to ambient enviroment in Practical Project.Further, the baffle is led
Rail 1123 can also be divided into two parts, mobile to two sides respectively from the flap motor 1122 traction.1111 He of door-plate
The moving distance needs of the anti-toy baffle 1121 are preset as needed.
In one embodiment, the automatic control device 140 control 110 open or close of combination motor door it
After include: S53, electrically operated gate to level detecting apparatus 161 detects whether the door-plate 1111 reaches door-plate setting position.When arrival institute
After stating door-plate setting position, the automatic control device 140 closes the door-plate motor 1112.S54, baffle detect dress in place
Set whether the 162 detections anti-toy baffle 1121 reaches baffle setting position.After reaching the baffle setting position, institute
It states automatic control device 140 and closes the flap motor 1122.The door-plate setting position may include that door-plate opens setting
Position and door-plate close setting position.The baffle setting position may include that baffle opens setting position and flapper closure setting
Position.
In one embodiment, the automatic control device 140 control 110 open or close of combination motor door it
Afterwards, S55 stops when the control instruction is to close the door instruction in the door-plate motor 1112 and the flap motor 1122
After only, the automatic control device 140 controls the ultrasonic rat repellent 150 and closes.The automatic control device 140 controls institute
It states ultrasonic rat repellent 150 to close after the door-plate motor 1112 and the flap motor 1122 stop, being conducive to prolong
The working time of the long ultrasonic rat repellent 150, utmostly prevent the door-plate 1111 and the anti-toy baffle
1121 enter the canyon in open process mouse.Improve the anti-petty action physical property that the crusing robot enters chamber system 100
Energy.
In one embodiment, the inspection machine of the mobile controller 120 is installed by the industrial personal computer 121 judgement
Whether people reaches enabling setting position.After reaching the enabling setting position, the industrial personal computer 121 can trigger enabling and refer to
It enables.The door open command can be issued by second wireless communication apparatus 122.First wireless communication apparatus 130 connects
After receiving the door open command.The state of the composite door 110 can be detected to level detecting apparatus 160, described in determination
Composite door 110 is located at closed state.The automatic control device 140 can start ultrasonic rat repellent according to the door open command
150.The subsequent automatic control device 140 can star the flap motor 1122, open the anti-toy baffle
1121.The baffle can be with the position of anti-toy baffle 1121 described in real-time detection to level detecting apparatus 162.When it is described prevent it is small
After animal baffle 1121 reaches baffle opening setting position, the automatic control device 140 can close the baffle electricity
Motivation 1122.It is electronic that the automatic control device 140 starts door-plate while starting flap motor 1122 or later
Machine 1112 opens the door-plate 1111.The electrically operated gate is to the position of 161 real-time detection door-plate 1111 of level detecting apparatus.When described
After door-plate 1111 reaches door-plate opening setting position.The automatic control device 140 can close the door-plate motor
1112。
After the crusing robot enters the canyon, pass through the industrial personal computer 121 judgement installation mobile control
Whether the crusing robot of device 120 reaches shutdown setting position.After reaching the shutdown setting position, the industrial personal computer
121 can trigger shutdown instruction.The shutdown instruction can be issued by second wireless communication apparatus 122.Described first
After wireless communication apparatus 130 receives the shutdown instruction.It can be to the state of the composite door 110 to level detecting apparatus 160
It is detected, determines that the composite door 110 is located at opening state.The subsequent automatic control device 140 can star the gear
Plate motor 1122 closes the anti-toy baffle 1121.The baffle can be described in real-time detection to level detecting apparatus 162
The position of anti-toy baffle 1121.It is described after the anti-toy baffle 1121 reaches the flapper closure setting position
Automatic control device 140 can close the flap motor 1122.The automatic control device 140 is starting the baffle electricity
While motivation 1122 or start door-plate motor 1112 before and closes the door-plate 1111.The electrically operated gate is to level detecting apparatus
The position of 161 real-time detection door-plates 1111.After the door-plate 1111, which reaches the door-plate, closes setting position.The automatic control
Device 140 processed can close the door-plate motor 1112.Finally, the automatic control device 140 can close ultrasonic wave drive
Mouse device 150.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
The limitation to claim therefore cannot be interpreted as.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the concept of this application, various modifications and improvements can be made, these belong to the protection of the application
Range.Therefore, the scope of protection shall be subject to the appended claims for the application patent.
Claims (10)
1. a kind of crusing robot enters chamber system (100) characterized by comprising
Combination motor door (110)；
Mobile controller (120), is installed on crusing robot, for sending control instruction；
First wireless communication apparatus (130) is connect with the mobile controller (120) signal, for receiving the mobile control
The instruction that device (120) processed sends；And
Automatic control device (140) is connect with the first wireless communication apparatus (130) signal, for controlling the combination electricity
The opening and closing of dynamic door (110).
2. crusing robot according to claim 1 enters chamber system (100), which is characterized in that further include ultrasonic wave rat destruction
Device (150) is connect with the automatic control device (140) signal, old for driving when the combination motor door (110) is opened
Mouse.
3. crusing robot according to claim 2 enters chamber system (100), which is characterized in that the combination motor door
(110) include:
Electrically operated gate (111) is connect, the control according to the automatic control device (140) with the automatic control device (140) signal
Signal processed opens or closes；And
Electric guard board (112) is connect, according to the automatic control device (140) with the automatic control device (140) signal
Control signal opens or closes, for preventing the toy when the electrically operated gate (111) are opened from entering the room.
4. crusing robot according to claim 3 enters chamber system (100), which is characterized in that electrically operated gate (111) packet
It includes:
Door-plate (1111)；And
Door-plate motor (1112) is mechanically connected with the door-plate (1111), and is connected with the automatic control device (140) signal
It connects, the control signal according to the automatic control device (140) drives the door-plate (1111) to open or close.
5. crusing robot according to claim 4 enters chamber system (100), which is characterized in that the electric guard board (112)
Include:
Anti- toy baffle (1121)；And
Flap motor (1122) is mechanically connected, with the automatic control device (140) with the anti-toy baffle (1121)
Signal connection, the control signal driving anti-toy baffle (1121) according to the automatic control device (140) open or
It closes；
Wherein, the ultrasonic rat repellent (150) drives mouse when the anti-toy baffle (1121) is opened.
6. crusing robot according to claim 5 enters chamber system (100), which is characterized in that the electric guard board (112)
Further include baffle guide rail (1123), is set to ground；
Wherein, the flap motor (1122) is drawn the anti-toy baffle (1121) and is moved along the baffle guide rail (1123)
It is dynamic.
7. crusing robot according to claim 5 enters chamber system (100), which is characterized in that further include that detection in place fills
(160) are set, are connect with the automatic control device (140) signal, for detecting the position of the combination motor door (110).
8. crusing robot according to claim 7 enters chamber system (100), which is characterized in that described to arrive level detecting apparatus
(160) include:
Electrically operated gate is connect, for detecting the door-plate to level detecting apparatus (161) with the automatic control device (140) signal
(1111) position；And
Baffle is connect, for detecting the anti-petty action to level detecting apparatus (162) with the automatic control device (140) signal
The position of object baffle (1121).
9. crusing robot according to claim 1 enters chamber system (100), which is characterized in that the mobile controller
(120) include:
Industrial personal computer (121) is connect, for generating control instruction with the crusing robot signal；And
Second wireless communication apparatus (122) is connect, for sending with the first wireless communication apparatus (130) wireless signal
State the control instruction of industrial personal computer (121) generation.
10. crusing robot according to claim 9 enters chamber system (100), which is characterized in that the mobile controller
(120) further include position sensor (123), connect with the industrial personal computer (121) signal, for detecting the crusing robot
Position.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821772822.1U CN209297161U (en) | 2018-10-30 | 2018-10-30 | Crusing robot enters chamber system |
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| Application Number | Priority Date | Filing Date | Title |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109445431A (en) * | 2018-10-30 | 2019-03-08 | 深圳供电局有限公司 | Crusing robot enters chamber system |
| CN111140145A (en) * | 2019-11-18 | 2020-05-12 | 许继集团有限公司 | Fire door is prevented to piping lane |
| CN112442958A (en) * | 2020-12-08 | 2021-03-05 | 苏州优智达机器人有限公司 | Method for enabling unmanned equipment to pass through channel blocking device, unmanned equipment and system |
-
2018
- 2018-10-30 CN CN201821772822.1U patent/CN209297161U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109445431A (en) * | 2018-10-30 | 2019-03-08 | 深圳供电局有限公司 | Crusing robot enters chamber system |
| CN111140145A (en) * | 2019-11-18 | 2020-05-12 | 许继集团有限公司 | Fire door is prevented to piping lane |
| CN111140145B (en) * | 2019-11-18 | 2022-01-07 | 许继集团有限公司 | Fire door is prevented to piping lane |
| CN112442958A (en) * | 2020-12-08 | 2021-03-05 | 苏州优智达机器人有限公司 | Method for enabling unmanned equipment to pass through channel blocking device, unmanned equipment and system |
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