CN209755231U - Robot system for tunnel inspection - Google Patents
Robot system for tunnel inspection Download PDFInfo
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- CN209755231U CN209755231U CN201920677725.2U CN201920677725U CN209755231U CN 209755231 U CN209755231 U CN 209755231U CN 201920677725 U CN201920677725 U CN 201920677725U CN 209755231 U CN209755231 U CN 209755231U
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Abstract
the utility model relates to a robot system for tunnel is patrolled and examined belongs to the robot field, including robot system, robot system's inside includes location navigation subsystem respectively, power supply system, mobile control subsystem, communication subsystem and data acquisition subsystem, and location navigation subsystem gathers robot system's navigation information to want mobile control subsystem to send mobile data information, the location navigation information that location navigation subsystem sent is received to the mobile control subsystem, and removes the order according to the corresponding walking of navigation information execution. This a robotic system for tunnel is patrolled and examined has changed the detection mode that traditional artifical tunnel detected, adopts this robotic system can reach the automated inspection effect, has promoted the detection technology quality in tunnel simultaneously, prevents to take place to omit the phenomenon, effectively reduces the potential safety hazard problem, and more accurate on data adoption, in data and operation control, more simple and convenient, data are accurate detailed.
Description
Technical Field
The utility model belongs to the machine system field relates to a robot system for tunnel is patrolled and examined.
Background
A robot is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The detection device detects the motion and working condition of the robot in real time, feeds the motion and working condition back to a control system as required, compares the motion and working condition with set information, and adjusts an execution mechanism to ensure that the motion of the robot meets preset requirements. Sensors as detection means can be broadly classified into two types: one is an internal information sensor for detecting internal conditions of each part of the robot, such as the position, velocity, acceleration, etc. of each joint, and sending the detected information as a feedback signal to the controller to form closed-loop control. One is an external information sensor, which is used to obtain information about the working object and external environment of the robot, so that the action of the robot can adapt to the change of the external situation, and the robot can achieve higher level automation, even the robot has a certain sense, and the external sensors such as vision and sound sense can give information about the working object and the working environment, and form a large feedback loop by using the information, thereby greatly improving the working precision of the robot.
In the conventional equipment for routing inspection of the road tunnel, at present, a robot receives a control command of remote control equipment by establishing a bidirectional communication connection, the control equipment of the remote control robot is usually controlled by tools such as a rocker, a controller and a tablet personal computer, and an operator cannot sense information such as space, touch and the like required by operation on the control equipment, so that complete and detailed data reception is difficult to complete, and the data acquisition requirement of a modern robot is difficult to meet.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at providing a robot system for tunnel is patrolled and examined.
In order to achieve the above purpose, the utility model provides a following technical scheme:
The utility model provides a robot system for tunnel inspection, including robot system, robot system's inside includes location navigation subsystem, power supply system, mobility control subsystem, communication subsystem and data acquisition subsystem respectively, location navigation subsystem gathers robot system's navigation information to want mobility control subsystem to send mobile data information, the mobility control subsystem receives the location navigation information that location navigation subsystem sent, and carries out corresponding walking movement command according to navigation information; the power supply system comprises a corresponding power supply device, the power supply device provides power for the robot system for use, the robot system comprises a mobile inspection platform, the communication subsystem is installed on the mobile inspection platform and used for data transmission of the robot system, and the data acquisition subsystem is internally provided with a machine vision sensor, an infrared heat sensor and a tunnel loss monitoring device respectively.
As an optimal technical scheme of the utility model, machine vision sensor's inside includes miniature air pump and walking direct current servo motor, miniature air pump is used for blowing the soot air cock on the soot blower valve and carries out jet-propelled use, machine vision sensor is provided with 220V and changes 48V, 48V changes 24V and 48V and changes 5V power converter and supply power and use.
as a preferred technical scheme of the utility model, communication subsystem's inside includes bottom controller, wireless pass through module and local control platform respectively, and its bottom controller is connected with the industrial computer for the camera carries out data transmission, the local control platform carries out wireless connection through wireless pass through module and local server, carries out remote server control through local server.
As an optimal technical scheme of the utility model, tunnel loss monitoring devices's inside includes wireless crack sensor, wireless strain sensor and wireless infiltration sensor respectively, data transmission that wireless crack sensor, wireless strain sensor and wireless infiltration sensor gathered arrives in the data acquisition subsystem.
The beneficial effects of the utility model reside in that: this a robotic system for tunnel is patrolled and examined has changed the detection mode that traditional artificial tunnel detected, adopt this robotic system can reach the automated inspection effect, not only heighten on during operation time and work efficiency greatly, practice thrift a large amount of manpower and materials costs, the detection technology quality in tunnel has been promoted simultaneously, prevent to take place to omit the phenomenon, effectively reduce the potential safety hazard problem, and more accurate on data acquisition, on data and operation control, more simple and convenient, the data is accurate detailed.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and/or combinations particularly pointed out in the appended claims.
Drawings
for the purposes of promoting a better understanding of the objects, features and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:
Fig. 1 is a schematic diagram of the system structure of the present invention;
Fig. 2 is a schematic structural diagram of a machine vision sensor according to the present invention;
Fig. 3 is a schematic diagram of a communication subsystem structure according to the present invention;
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. The present invention can also be implemented or applied through other different specific embodiments, and various details in the present specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the features in the following embodiments and examples may be combined with each other without conflict.
Wherein the showings are for the purpose of illustrating the invention only and not for the purpose of limiting the same, and in which there is shown by way of illustration only and not in any way limiting the scope of the invention; for a better understanding of the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "front", "back", etc., indicating directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for convenience of description and simplification of description, but it is not intended to indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore, the terms describing the positional relationships in the drawings are only used for illustrative purposes and are not to be construed as limiting the present invention, and those skilled in the art can understand the specific meanings of the terms according to specific situations.
Referring to fig. 1-2, the utility model relates to a robot system for tunnel inspection, including robot system, robot system's inside includes location navigation subsystem, power supply system, mobility control subsystem, communication subsystem and data acquisition subsystem respectively, and the navigation information of robot system is gathered to the location navigation subsystem to want mobility control subsystem to send mobile data information, and the location navigation information that the mobility control subsystem received the location navigation subsystem to send, and carry out corresponding walking movement command according to the navigation information; the power supply system comprises a corresponding power supply device, the power supply device provides power for the robot system for use, the robot system comprises a mobile inspection platform, the communication subsystem is installed on the mobile inspection platform and used for data transmission of the robot system, and the data acquisition subsystem comprises a machine vision sensor, an infrared heat sensor and a tunnel loss monitoring device inside respectively.
The machine vision sensor comprises a micro air pump and a walking direct current servo motor, the micro air pump is used for blowing air through a blowing air nozzle on a blowing air valve, and the machine vision sensor is provided with a power converter for converting 220V into 48V, converting 48V into 24V and converting 48V into 5V for power supply.
the communication subsystem comprises a bottom controller, a wireless transparent transmission module and a local control platform, wherein the bottom controller is connected with an industrial personal computer and used for data transmission of a camera, the local control platform is in wireless connection with a local server through the wireless transparent transmission module and is controlled by the local server.
The tunnel loss monitoring device comprises a wireless crack sensor, a wireless strain sensor and a wireless water seepage sensor, wherein data collected by the wireless crack sensor, the wireless strain sensor and the wireless water seepage sensor are transmitted to a data collection subsystem.
When the robot is used, the robot system comprises a positioning navigation subsystem, a power supply system, a mobile control subsystem, a communication subsystem and a data acquisition subsystem, wherein the positioning navigation subsystem acquires navigation information of the robot system and sends mobile data information to the mobile control subsystem, the mobile control subsystem receives the positioning navigation information sent by the positioning navigation subsystem and executes a corresponding walking movement command according to the navigation information, the robot runs on a track and is controlled by a servo driving device, firstly, the detection running speed of the robot is set according to a detection requirement, the control system controls the rotating speed of a servo motor according to the patrol speed set by a detector, the actual rotating speed of the servo motor measured by a motor speed measuring encoder is obtained by the acquisition subsystem and is further fed back to the control system, and the control system feeds back a deviation value of the actual speed according to the set speed and the feedback actual speed, calculating and outputting a control signal to the servo motor through a PID algorithm to form closed-loop control of the speed of the robot, wherein the stability of the robot in the detection process can be improved through the closed-loop control; the power supply system comprises a corresponding power supply device, the power supply device provides power for the robot system for use, the robot system comprises a mobile inspection platform, a communication subsystem is installed on the mobile inspection platform and used for data transmission of the robot system, the data acquisition subsystem comprises a machine vision sensor, an infrared heat sensor and a tunnel loss monitoring device inside respectively, the machine vision sensor comprises a micro air pump and a walking direct current servo motor inside, the micro air pump is used for blowing air by a blowing air nozzle on a blowing air valve, the machine vision sensor is provided with a 220V-to-48V, 48V-to-24V and 48V-to-5V power converter for power supply use, the communication subsystem comprises a bottom controller, a wireless transparent transmission module and a local control platform inside respectively, wherein the bottom controller is connected with an industrial personal computer and used for data transmission of a camera, the tunnel loss monitoring device comprises a local control platform, a wireless crack sensor, a wireless strain sensor and a wireless water seepage sensor, wherein the local control platform is in wireless connection with a local server through a wireless transparent transmission module, remote server control is carried out through the local server, the tunnel loss monitoring device comprises the wireless crack sensor, the wireless strain sensor and the wireless water seepage sensor respectively, and data collected by the wireless crack sensor, the wireless strain sensor and the wireless water seepage sensor are transmitted to a data collection subsystem.
Finally, the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the scope of the claims of the present invention.
Claims (4)
1. The utility model provides a robot system for tunnel is patrolled and examined, includes robot system, its characterized in that: the robot system comprises a positioning navigation subsystem, a power supply system, a mobile control subsystem, a communication subsystem and a data acquisition subsystem, wherein the positioning navigation subsystem acquires navigation information of the robot system and sends mobile data information to the mobile control subsystem; the power supply system comprises a corresponding power supply device, the power supply device provides power for the robot system for use, the robot system comprises a mobile inspection platform, the communication subsystem is installed on the mobile inspection platform and used for data transmission of the robot system, and the data acquisition subsystem is internally provided with a machine vision sensor, an infrared heat sensor and a tunnel loss monitoring device respectively.
2. The robot system for tunnel inspection according to claim 1, wherein: the machine vision sensor's inside includes miniature air pump and walking direct current servo motor, miniature air pump is used for the soot blowing air cock on the soot blowing valve to carry out jet-propelled use, machine vision sensor is provided with 220V and changes 48V, 48V and change 24V and 48V and change 5V power converter and supply power and use.
3. The robot system for tunnel inspection according to claim 1, wherein: the communication subsystem comprises a bottom controller, a wireless transparent transmission module and a local control platform, wherein the bottom controller is connected with an industrial personal computer and used for data transmission of a camera, the local control platform is in wireless connection with a local server through the wireless transparent transmission module and performs remote server control through the local server.
4. The robot system for tunnel inspection according to claim 1, wherein: the tunnel loss monitoring device is characterized in that the tunnel loss monitoring device comprises a wireless crack sensor, a wireless strain sensor and a wireless water seepage sensor respectively, and data collected by the wireless crack sensor, the wireless strain sensor and the wireless water seepage sensor are transmitted to a data collection subsystem.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920677725.2U CN209755231U (en) | 2019-05-13 | 2019-05-13 | Robot system for tunnel inspection |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920677725.2U CN209755231U (en) | 2019-05-13 | 2019-05-13 | Robot system for tunnel inspection |
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| Publication Number | Publication Date |
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| CN209755231U true CN209755231U (en) | 2019-12-10 |
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| CN201920677725.2U Active CN209755231U (en) | 2019-05-13 | 2019-05-13 | Robot system for tunnel inspection |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109986584A (en) * | 2019-05-13 | 2019-07-09 | 招商局重庆交通科研设计院有限公司 | A kind of robot system for tunnel inspection |
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2019
- 2019-05-13 CN CN201920677725.2U patent/CN209755231U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109986584A (en) * | 2019-05-13 | 2019-07-09 | 招商局重庆交通科研设计院有限公司 | A kind of robot system for tunnel inspection |
| CN109986584B (en) * | 2019-05-13 | 2024-01-30 | 招商局重庆交通科研设计院有限公司 | Robot system for tunnel inspection |
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