CN209394657U - A kind of small-sized omnidirectional's robot moving platform towards subway tunnel inspection work - Google Patents
A kind of small-sized omnidirectional's robot moving platform towards subway tunnel inspection work Download PDFInfo
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- CN209394657U CN209394657U CN201920036204.9U CN201920036204U CN209394657U CN 209394657 U CN209394657 U CN 209394657U CN 201920036204 U CN201920036204 U CN 201920036204U CN 209394657 U CN209394657 U CN 209394657U
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Abstract
The utility model discloses a kind of small-sized omnidirectional's robot moving platforms towards subway tunnel inspection work, including tool mounting platform and mobile platform frame；Tool mounting platform is equipped with depth camera；Mobile platform frame includes platform top, plate, platform floor and platform coaming plate in platform, and laser radar is equipped at the top of platform top, is equipped with power module, control assembly, Power Transfer Unit and serial ports display component on plate in platform；Wireless charging component, dropproof component are connected and installed in platform floor；A millimeter radar is installed on platform coaming plate；Moving parts are equipped in platform floor bottom；The information of depth camera, laser radar and the acquisition of millimeter radar is sent to control assembly, and control assembly sends information to host computer, and the motion control information for then handling host computer is transferred to moving parts, and moving parts are according to received instruction campaign.
Description
Technical field
The utility model relates to a kind of small-sized omnidirectional's robot moving platforms towards subway tunnel inspection work.
Background technique
Subway inspection is that urban track traffic is able to be safely operated basis the most and important guarantee, any one small details
Variation, be likely to cause major accident.The work intelligence degree of metro operation tunnel safety inspection at present is low, routing inspection efficiency
It is more to occupy human resources for difference, while existing tunnel crusing robot mostly uses the trapped orbit method of operation, lacks flexibility ratio,
It is merely able to detection tunnel information, related repairing work cannot be immediately performed.
Utility model content
In order to solve the technical problems existing in the prior art, the invention discloses one kind to work towards subway tunnel inspection
Small-sized omnidirectional's robot moving platform.
The technical solution adopted in the utility model is as follows:
A kind of small-sized omnidirectional's robot moving platform towards subway tunnel inspection work, including tool mounting platform and shifting
Moving platform frame；The tool mounting platform be arranged in above the mobile platform frame and with mobile platform frame phase
Even；
The tool mounting platform is equipped with depth camera；
The mobile platform frame includes platform top, plate, platform floor and platform coaming plate in platform, described flat
Laser radar is installed at the top of platform top plate, power module, control assembly, power supply conversion group are installed on plate in the platform
Part and serial ports display component；Wireless charging component, dropproof component are connected and installed in the platform floor；It is put down in described
A millimeter radar is installed on platform coaming plate；Platform floor bottom is equipped with moving parts；
Depth camera, laser radar and the information of millimeter radar acquisition is sent to the control assembly, described
Control assembly send information to host computer, the motion control information for then handling host computer is transferred to exercise group
Part, moving parts are according to received instruction campaign.
Further, the serial ports display component includes power switch, signal lamp and serial ports transmission module, described
Power switch controls power module output state by bouncing state, and signal lamp passes through bottom master control system output signal
State transformation is carried out, bottom master control system output port is connected to outside by serial ports transmission module, convenient for research debugging and is opened
Hair.
Further, wireless charging component uses electromagnetic coil transmission mode, and outside is covered with electromagnetic coil protection board, the energy
Component uses lithium battery group, connects electromagnetic coil and lithium battery group by solenoid controlled plate, lithium battery group is turned by power supply
It changes component and is connected to each sensor module and control assembly.
Further, the control assembly includes bottom master controller and motor driver, bottom master controller by with
Host computer carries out information communication, each sensor module feedback information is transferred to host computer, the movement that host computer is handled
Control information is transferred to motor driver, and motor driver drives moving parts to move by command signal.
Further, the depth camera is fixed on the mobile platform frame by a fixed frame, described
Fixed frame include depth camera coaming plate and depth camera fixed plate, the depth camera coaming plate by L-type connecting plate with
Tool mounting platform is fixed, and the depth camera fixed plate is fixed by L-type connecting plate and depth camera coaming plate, passes through bolt
Constant depth camera.
Further, platform coaming plate connection passes through in L-type connecting plate and connection plate and platform top, platform
Plate, platform floor are mutually fixed.
Further, along fast-detachable modular autokinetic movement platform long axis direction, the moving parts are installed respectively
In the two sides of mobile platform frame, including motor, motor fixing plate, shaft coupling and train, the motor fixing plate is fixed on
In platform on plate, motor is fixed on motor fixing plate, and shaft coupling connects motor and a plurality of types of trains, realizes motion platform
The diversification of motion mode.
The beneficial effects of the utility model are as follows:
1, the design of the utility model structure is compact, miniaturization is realized, without occupying dedicated track, flexibility ratio
Height can feed back inspection situation according to scene, leave set inspection road under operator's control while saving tunnel space
Line goes to locality to execute related work；
2, the utility model is designed using interlayer, prevents electromagnetic interference in tunnel, improves the operation of tunnel crusing robot
Reliability, while different sensors are installed on different interlayers, improve the service efficiency of sensor；
3, this is practical new novel using modularized design, can install manipulator, maintenance unit additional according to live use demand
Equal auxiliary spare parts, improve the use value of tunnel crusing robot.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is the present invention
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1, Fig. 2 are the shaft side figure of the utility model；
Fig. 3 is the front side figure of the utility model；
Fig. 4 is the bottom view of the utility model；
Fig. 5 is the explosive view of the utility model；
In figure: 1 depth camera, 2 depth camera coaming plates, 3 depth camera fixed plates, 4 hexagon connecting nuts, 5 platform tops,
6 laser radars, 7 platform floors, 8 platform coaming plates, 9 millimetre-wave radars, 10 trains, 11L type connecting plate, 12 power switches, 13 letters
Number indicator light, 14 serial ports transmission modules, 15 motors, 16 motor fixing plates, 17 shaft couplings, 18 connection plates, 19 bottom main controls
Device, 20 motor drivers, 21 Power Transfer Units, 22 lithium battery groups, 23 electromagnetic coil protection boards, 24 electromagnetic coils, 25 electromagnetism
Coil control panel.
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
As background technique is introduced, there are the following problems in existing old T-type bridge reinforcement technology: subway inspection is city
City's rail traffic is able to be safely operated basis the most and important guarantee, the variation of any one small details are likely to cause
Major accident.Metro operation tunnel safety inspection at present works, and intelligence degree is low, and routing inspection efficiency is poor, and occupancy human resources are more,
Existing tunnel crusing robot mostly uses the trapped orbit method of operation simultaneously, lacks flexibility ratio, is merely able to detection tunnel information,
Related repairing work cannot be immediately performed.In order to solve technical problem as above, present applicant proposes one kind towards subway tunnel
Small-sized omnidirectional's robot moving platform of inspection work.
The utility model discloses a kind of small-sized omnidirectional's robot moving platforms towards subway tunnel inspection work, such as scheme
Shown in 1, this subway tunnel crusing robot is divided into two parts: tool mounting platform, mobile platform frame.
Specifically, passing through as shown in Fig. 2, tool mounting platform is equipped with depth camera 1 by depth camera fixed frame
The execution units such as threaded hole and the mountable mechanical arm of through-hole, maintenance unit, are equipped with mobile platform frame by hexagon connecting nut 4
Frame.Power mechanism, information collection mechanism and control mechanism are installed, power mechanism will by transmission component on mobile platform frame
Power is transferred to Motor execution component, and information collection mechanism will test information and be transferred to control mechanism, what control mechanism will test
Information is transferred to host computer, assigns instruction by host computer and control signal is transferred to power mechanism.
Depth camera fixed frame includes depth camera coaming plate 2 and depth camera fixed plate 3, and depth camera coaming plate passes through four
A L-type connecting plate 11 is fixed with tool mounting platform, and depth camera fixed plate 3 is enclosed also by L-type connecting plate 11 with depth camera
Plate is fixed, and is bolted depth camera in depth camera fixed plate 3.
As shown in Fig. 2, mobile platform frame includes platform top 5, plate 6, platform floor 7 and platform coaming plate 8 in platform,
Platform top 5 is equipped with laser radar 6, and further, laser radar is placed on the center at the top of platform top 5；It is flat
Platform top plate 5 is bolted L-type connecting plate and connect with platform coaming plate 8.
Plate 6, which is bolted, in platform is equipped with power module, control assembly, Motor execution component, power supply conversion group
Part and serial ports display component；
Platform floor 7, which is bolted, is equipped with wireless charging component, dropproof component；
9 millimetre-wave radars are bolted in platform coaming plate, pass through 11L type connecting plate and 18 connection plates and deck roof
Plate, platform floor are mutually fixed in plate, platform, by each component of outer bolt fast demountable mobile platform frame, realize fortune
The fast-detachable modular function of moving platform.
The utility model is designed using interlayer, prevents electromagnetic interference in tunnel, and improving the operation of tunnel crusing robot can
Different interlayers are installed on by property, while by different sensors, improve the service efficiency of sensor；
Specifically, as shown in figure 5, along fast-detachable modular autokinetic movement platform long axis direction, power mechanism is pacified respectively
Two sides loaded on mobile platform frame, including motor 15, motor fixing plate 16, shaft coupling 17 and train 10, motor fixing plate 16
It is fixed in platform on plate 6, motor 15 is fixed on motor fixing plate 16, and shaft coupling 17 connects motor 15 and a plurality of types of wheels
System realizes the diversification of motion platform motion mode.
Serial ports display component includes power switch 12, signal lamp 13 and serial ports transmission module 14, and power switch 12 is logical
It crosses and bounces state control power module output state, signal lamp 13 carries out state by bottom master control system output signal
Bottom master control system output port is connected to outside by transformation, serial ports transmission module 14, convenient for research debugging and exploitation.The energy
Component can use attached lithium battery group 23 described in figure.
Bottom master control system includes bottom master controller 19 and motor driver 20, bottom master controller 19 by with it is upper
Position machine carries out information communication, each sensor module feedback information is transferred to host computer, the movement control that host computer is handled
Information processed is transferred to motor driver 20, and motor driver 20 passes through command signal driving motor.
Wireless charging component uses 24 transmission mode of electromagnetic coil, and outside is covered with electromagnetic coil protection board 23, electromagnetic coil
24 connect lithium battery group 22 by solenoid controlled plate 25, and lithium battery group 22 is connected to by Power Transfer Unit 21 needs electricity
Each sensor module and bottom master control system of source power supply.
Dropproof component can use existing range sensor, be mounted on the rear and front end of mobile platform frame, be used for
Detect forward and backward range information.The forward and backward bottom of car body is detected far from lower section distance, prevents from falling situation appearance.
Laser radar, millimeter radar and depth camera in the utility model are mainly used for acquiring surrounding enviroment signal,
Navigation for whole device.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (7)
1. a kind of small-sized omnidirectional's robot moving platform towards subway tunnel inspection work, which is characterized in that pacify including tool
Assembling platform and mobile platform frame；The tool mounting platform is arranged in above the mobile platform frame and puts down with mobile
Table frame is connected；
The tool mounting platform is equipped with depth camera；
The mobile platform frame includes platform top, plate, platform floor and platform coaming plate in platform, in the deck roof
Laser radar is installed at the top of plate, be equipped on plate in the platform power module, control assembly, Power Transfer Unit and
Serial ports display component；Wireless charging component, dropproof component are connected and installed in the platform floor；It is enclosed in the platform
A millimeter radar is installed on plate；Moving parts are equipped in the platform floor bottom；
Depth camera, laser radar and the information of millimeter radar acquisition is sent to the control assembly, the control
Component processed sends information to host computer, and the motion control information for then handling host computer is transferred to moving parts, fortune
Component is moved according to received instruction campaign.
2. small-sized omnidirectional's robot moving platform as described in claim 1 towards subway tunnel inspection work, feature exist
In the serial ports display component includes power switch, signal lamp and serial ports transmission module, and the power switch passes through bullet
The state of rising controls power module output state, and signal lamp carries out state transformation by control assembly output signal, and serial ports passes
Control assembly output port is connected to outside by defeated module.
3. small-sized omnidirectional's robot moving platform as described in claim 1 towards subway tunnel inspection work, feature exist
In the wireless charging component uses electromagnetic coil transmission mode, and outside is covered with electromagnetic coil protection board, and power module uses
Lithium battery group connects electromagnetic coil and lithium battery group by solenoid controlled plate, and lithium battery group is connected by Power Transfer Unit
It is connected to each sensor module and control assembly.
4. small-sized omnidirectional's robot moving platform as described in claim 1 towards subway tunnel inspection work, feature exist
In the control assembly includes bottom master controller and motor driver, and bottom master controller is by carrying out information with host computer
It links up, each sensor module feedback information is transferred to host computer, the motion control information that host computer is handled is transferred to
Motor driver, motor driver drive moving parts to move by command signal.
5. small-sized omnidirectional's robot moving platform as described in claim 1 towards subway tunnel inspection work, feature exist
In the depth camera is fixed on the mobile platform frame by a fixed frame, and the fixed frame includes
Depth camera coaming plate and depth camera fixed plate, the depth camera coaming plate are solid by L-type connecting plate and tool mounting platform
Fixed, the depth camera fixed plate is fixed by L-type connecting plate and depth camera coaming plate, is bolted depth camera.
6. small-sized omnidirectional's robot moving platform as described in claim 1 towards subway tunnel inspection work, feature exist
In the platform coaming plate connection is mutually solid by L-type connecting plate and connection plate and plate, platform floor in platform top, platform
It is fixed.
7. small-sized omnidirectional's robot moving platform as described in claim 1 towards subway tunnel inspection work, feature exist
In the moving parts are respectively arranged in the two sides of mobile platform frame, including motor, motor fixing plate, shaft coupling and wheel
System, the motor fixing plate is fixed in platform on plate, and motor is fixed on motor fixing plate, and shaft coupling connects motor and more
The train of seed type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920036204.9U CN209394657U (en) | 2019-01-09 | 2019-01-09 | A kind of small-sized omnidirectional's robot moving platform towards subway tunnel inspection work |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920036204.9U CN209394657U (en) | 2019-01-09 | 2019-01-09 | A kind of small-sized omnidirectional's robot moving platform towards subway tunnel inspection work |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110849325A (en) * | 2019-11-12 | 2020-02-28 | 栗新然 | Movable tunnel section deformation detection device |
| CN111152182A (en) * | 2019-10-09 | 2020-05-15 | 山东大学 | Multi-arm robot for tunnel lining detection and disease diagnosis in operation period |
| CN113092494A (en) * | 2021-03-25 | 2021-07-09 | 中车青岛四方车辆研究所有限公司 | Inspection robot and intelligent detection method for train tunnel structure diseases |
| US11187527B2 (en) * | 2019-10-07 | 2021-11-30 | The Boeing Company | Multi-probe non-destructive inspection system |
-
2019
- 2019-01-09 CN CN201920036204.9U patent/CN209394657U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11187527B2 (en) * | 2019-10-07 | 2021-11-30 | The Boeing Company | Multi-probe non-destructive inspection system |
| US11781862B2 (en) | 2019-10-07 | 2023-10-10 | The Boeing Company | Multi-probe non-destructive inspection system |
| CN111152182A (en) * | 2019-10-09 | 2020-05-15 | 山东大学 | Multi-arm robot for tunnel lining detection and disease diagnosis in operation period |
| CN111152182B (en) * | 2019-10-09 | 2022-02-08 | 山东大学 | Multi-arm robot for tunnel lining detection and disease diagnosis in operation period |
| CN110849325A (en) * | 2019-11-12 | 2020-02-28 | 栗新然 | Movable tunnel section deformation detection device |
| CN113092494A (en) * | 2021-03-25 | 2021-07-09 | 中车青岛四方车辆研究所有限公司 | Inspection robot and intelligent detection method for train tunnel structure diseases |
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