CN210551271U - Cable channel inspection robot - Google Patents
Cable channel inspection robot Download PDFInfo
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- CN210551271U CN210551271U CN201921557206.9U CN201921557206U CN210551271U CN 210551271 U CN210551271 U CN 210551271U CN 201921557206 U CN201921557206 U CN 201921557206U CN 210551271 U CN210551271 U CN 210551271U
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- mechanical arm
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Abstract
The utility model discloses a can realize that the cable channel detects through the robot, improve and patrol and examine efficiency, improve the cable channel of channel inspection security and accuracy and patrol and examine the robot. The cable channel inspection robot comprises a crawler-type trolley driven by a motor; the crawler-type trolley is provided with a wireless communication device, a storage battery, a camera holder, a CO sensor, a smoke sensor and a main control board; a lamp bead is arranged at the front end of the crawler-type trolley; the camera holder is provided with a camera; the front end of the crawler-type trolley is provided with a mechanical arm; and the mechanical arm is provided with an infrared temperature sensor. Adopt this cable channel to patrol and examine robot can improve and patrol and examine efficiency, improve the channel and patrol and examine security and accuracy, avoid the artifical potential safety hazard of patrolling and examining the existence simultaneously.
Description
Technical Field
The utility model relates to a cable channel patrols and examines technique, especially a cable channel patrols and examines robot.
Background
It is well known that: the current cable channel mode of patrolling and examining is for the manual work, and the manual work is patrolled and examined and is needed to carry a large amount of detection instrument, is full of some hazardous gas in the cable channel simultaneously, and the accident condition appears in the trade entering cable channel easily. And when the cable duct short circuit takes place, the maintainer can't escape from the channel the very first time.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that a can realize through the robot that the cable channel detects, improve and patrol and examine efficiency, improve the cable channel of channel inspection security and accuracy and patrol and examine the robot is provided.
The utility model provides a technical scheme that its technical problem adopted is: the cable channel inspection robot comprises a crawler-type trolley driven by a motor; the crawler-type trolley is provided with a wireless communication device, a storage battery, a camera holder, a CO sensor, a smoke sensor and a main control board;
a lamp bead is arranged at the front end of the crawler-type trolley; the camera holder is provided with a camera; the front end of the crawler-type trolley is provided with a mechanical arm; an infrared temperature sensor is arranged on the mechanical arm;
a driving motor of the crawler-type trolley, a driving steering engine of the mechanical arm, a lamp bead, a CO sensor, a smoke sensor and an infrared temperature sensor are respectively and electrically connected with the main control board; the wireless communication device is in communication connection with the main control board; the storage battery provides power for the equipment.
Preferably, the wireless communication device adopts a WIFI transmission module.
Preferably, the mechanical arm is a six-degree-of-freedom mechanical arm.
Preferably, the main control board comprises a MEGA2560 chip and an L298P chip; the L298P chip is electrically connected with the input end of the MEGA2560 chip;
the driving motor of the crawler-type trolley is electrically connected with the L298P chip; the WIFI transmission module is electrically connected with the MEGA2560 chip;
the CO sensor, the smoke sensor and the infrared temperature sensor are respectively and electrically connected with the MEGA2560 chip; the camera holder is electrically connected with the MEGA2560 chip; the driving steering engines of the mechanical arms are respectively and electrically connected with the MEGA2560 chip; the lamp bead is electrically connected with the MEGA2560 chip.
Preferably, the smoke sensor adopts MQ-2.
Preferably, the CO sensor employs MQ-7.
Preferably, the infrared temperature sensor adopts MLX 90614.
Furthermore, the front end of the mechanical arm is provided with a mechanical claw.
The utility model has the advantages that: cable channel patrol and examine the defect that the robot patrolled and examined to current cable channel, be applied to the robot among the cable channel, detect cable duct with infrared temperature sensor to transmit to the computer through Wi-Fi. The mechanical arm can be controlled to clamp and rotate by controlling the rotation of the mechanical arm and the camera holder, so that simple maintenance work can be completed; secondly, the rotation of the camera holder can enlarge the shooting range of the camera; thirdly, the tracked chassis can cope with any complex ground; finally, the robot can go deep into places where the manual work can not patrol.
Therefore, cable channel patrol and examine robot can realize through the robot that the cable channel detected, improve and patrol and examine efficiency, improve the channel and patrol and examine security and accuracy, avoid the manual work to patrol and examine the potential safety hazard of existence simultaneously.
Drawings
Fig. 1 is a front view of the cable channel inspection robot in the embodiment of the present invention;
fig. 2 is a top view of the cable channel inspection robot in the embodiment of the present invention;
fig. 3 is a block diagram of a control system in an embodiment of the invention;
fig. 4 is a circuit diagram of the main control board in the embodiment of the present invention;
the following are marked in the figure: the system comprises a crawler-type trolley 1, a wireless communication device 2, a storage battery 3, a camera holder 4, a camera 5, a main control board 6, a smoke sensor 7, a CO sensor 8, a mechanical arm 9, a lamp bead 10 and an infrared temperature sensor 11.
Detailed Description
The present invention will be further explained with reference to the drawings and examples.
As shown in fig. 1 to 4, the cable trench inspection robot of the present invention comprises a tracked vehicle 1 driven by a motor; the crawler-type trolley 1 is provided with a wireless communication device 2, a storage battery 3, a camera holder 4, a CO sensor 8, a smoke sensor 7 and a main control board 6;
a lamp bead 10 is arranged at the front end of the crawler-type trolley 1; the camera holder 4 is provided with a camera 5; the front end of the crawler-type trolley 1 is provided with a mechanical arm 9; an infrared temperature sensor 11 is arranged on the mechanical arm 9;
a driving motor of the crawler-type trolley 1, a driving steering engine of the mechanical arm 9, a lamp bead 10, a CO sensor 8, a smoke sensor 7 and an infrared temperature sensor 11 are respectively and electrically connected with the main control board 6; the wireless communication device 2 is in communication connection with the main control board 6; the storage battery 3 provides power for the equipment.
Specifically, the wireless communication device 2 employs a WIFI transmission module. The mechanical arm 9 adopts a six-degree-of-freedom mechanical arm. The main control board 6 comprises a MEGA2560 chip and an L298P chip; the L298P chip is electrically connected with the input end of the MEGA2560 chip;
the driving motor of the crawler-type trolley 1 is electrically connected with the L298P chip; the WIFI transmission module is electrically connected with the MEGA2560 chip;
the CO sensor 8, the smoke sensor 7 and the infrared temperature sensor 11 are respectively and electrically connected with the MEGA2560 chip; the camera holder 4 is electrically connected with the MEGA2560 chip; the driving steering engine of the mechanical arm 9 is respectively and electrically connected with the MEGA2560 chip; the lamp bead 10 is electrically connected with the MEGA2560 chip. The smoke sensor 7 adopts MQ-2. The CO sensor adopts MQ-7. The infrared temperature sensor 11 adopts MLX 90614. The front end of the mechanical arm 9 is provided with a mechanical claw.
In the application process: the cable channel inspection robot of the utility model mainly uses the cable channel inspection robot as a research object, and divides the robot into two parts, wherein the crawler-type trolley, the mechanical arm and the camera holder which need to be driven by a motor are one part, and the part is controlled by an upper computer; the other part of the device consists of detection devices such as a non-contact temperature sensor, a smoke sensor, a temperature and humidity sensor, a carbon monoxide sensor and a camera, and the detected data are transmitted to an upper computer through wireless transmission to be processed. Wherein the upper computer generally adopts the computer. The computer is in communication connection with the main control board 6 through the wireless communication module 2.
The control management of the two parts comprises the following units:
1. crawler-type dolly: the platform is provided for carrying various modules of the robot, and the driving module is also the most main driving module of the robot, and the advancing, retreating and steering of the robot are controlled by controlling the crawler-type chassis;
2. the mechanical arm 9: and a non-contact temperature sensor is carried on the mechanical arm. The position of the sensor is adjusted by controlling the movement of the mechanical arm, so that the temperature of the cable in the channel can be detected in a large range;
3. camera cloud platform 4: the rotation angle of the holder is adjusted to increase the shooting area, so that the environmental condition can be observed more clearly;
4. a detection module: the device comprises an infrared temperature sensor 11, a smoke sensor 7, a temperature and humidity sensor, a carbon monoxide sensor 8 and a camera, wherein whether the channel environment is suitable for maintenance personnel to go down for maintenance or not is judged according to environment data and real-time videos in a channel detected by the sensors;
5. an illumination module: the lamp beads 10 are included, and illumination is provided for overhauling the robot due to the fact that the environment in the channel is dark;
6. the wireless module 2: the detected data is transmitted to an upper computer (computer) through wireless transmission to be displayed;
7. and a power supply 3 module: and energy is provided for the operation of the robot.
Specifically, the infrared temperature sensor 11 adopts MLX 90614. MLX90614 is a non-contact infrared temperature sensor commonly used in the design, and the most important part is an infrared detection thermopile chip which receives infrared radiation energy of an object. The received data is processed on a chip dedicated to signal processing. Besides, a low noise amplifier, a seventeen-bit ADC and a DSP processing unit are arranged, and the measured data are very accurate and have small errors. MLX90614 adopts SMBus and PWM digital output mode, and the factory sets SMBus, and under the condition of no special setting, PWM has 10 bits, can measure the temperature range of-20-120 deg.C, and the resolution bit is 0.14 deg.C.
Specifically, the CO sensor 8 adopts MQ-7. MQ-7 this model of sensor uses high and low temperature cycle detection to detect the concentration of carbon monoxide in the air. The low temperature was heated with a voltage of 1.5V, and the high temperature was heated with a voltage of 5.0V. When the carbon monoxide concentration in the air is detected, only 1.5V voltage is needed, and during detection, the conductivity of the sensor is in direct proportion to the carbon monoxide concentration in the air, and the higher the concentration is, the larger the conductivity is. According to the change of the conductivity, the content of the carbon monoxide in the air can be known. During detection, the sensor adsorbs a lot of useless gases, the gases interfere normal detection, and therefore the sensor needs to be heated by using a voltage of 5.0V to clean the adsorbed gases, and the concentration of the gases is detected at the next low temperature after cleaning, so that the concentration information of the carbon monoxide can be accurately detected.
Specifically, the smoke sensor 7 adopts MQ-2; the main element of the MQ-2 type smoke sensor is an N-type semiconductor and is made of tin dioxide, because the tin dioxide has low conductivity in the conventional environment and does not have too large error in detecting the smoke concentration. When the MQ-2 is used for collecting the smoke concentration in the air, the smoke signals are converted into electric signals through the change of the electric conductivity, and the strength of the electric signals corresponds to the respective smoke concentration information according to the information set when the sensor leaves a factory. The conductivity of the semiconductor is in direct proportion to the smoke concentration, the conductivity of the semiconductor is increased along with the increase of the smoke concentration in the air, and the output analog signal is naturally increased [3 ]. MQ-2 type sensors are sensitive to many types of smoke, such as smoke of natural gas. Besides high sensitivity, the method also has the advantage of high anti-interference performance, and can reduce interference of other irritative substances without smoke components and improve the accuracy of measurement.
Claims (8)
1. Robot is patrolled and examined to cable channel, its characterized in that: comprises a motor-driven crawler-type trolley (1); the crawler-type trolley (1) is provided with a wireless communication device (2), a storage battery (3), a camera holder (4), a CO sensor (8), a smoke sensor (7) and a main control board (6);
a lamp bead (10) is arranged at the front end of the crawler-type trolley (1); the camera holder (4) is provided with a camera (5); the front end of the crawler-type trolley (1) is provided with a mechanical arm (9); an infrared temperature sensor (11) is arranged on the mechanical arm (9);
a driving motor of the crawler-type trolley (1), a driving steering engine of a mechanical arm (9), a lamp bead (10), a CO sensor (8), a smoke sensor (7) and an infrared temperature sensor (11) are respectively and electrically connected with the main control board (6); the wireless communication device (2) is in communication connection with the main control board (6); the storage battery (3) provides power for the equipment.
2. The cable channel inspection robot according to claim 1, wherein: the wireless communication device (2) adopts a WIFI transmission module.
3. The cable channel inspection robot according to claim 2, wherein: the mechanical arm (9) adopts a six-degree-of-freedom mechanical arm.
4. The cable channel inspection robot according to claim 3, wherein: the main control board (6) comprises a MEGA2560 chip and an L298P chip; the L298P chip is electrically connected with the input end of the MEGA2560 chip;
the driving motor of the crawler-type trolley (1) is electrically connected with the L298P chip; the WIFI transmission module is electrically connected with the MEGA2560 chip;
the CO sensor (8), the smoke sensor (7) and the infrared temperature sensor (11) are respectively and electrically connected with the MEGA2560 chip; the camera holder (4) is electrically connected with the MEGA2560 chip; the driving steering engine of the mechanical arm (9) is electrically connected with the MEGA2560 chip respectively; the lamp bead (10) is electrically connected with the MEGA2560 chip.
5. The cable channel inspection robot according to claim 4, wherein: the smoke sensor (7) adopts MQ-2.
6. The cable channel inspection robot according to claim 5, wherein: the CO sensor (8) adopts MQ-7.
7. The cable channel inspection robot according to claim 6, wherein: the infrared temperature sensor (11) adopts MLX 90614.
8. The cable channel inspection robot according to claim 7, wherein: and the front end of the mechanical arm (9) is provided with a mechanical claw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921557206.9U CN210551271U (en) | 2019-09-18 | 2019-09-18 | Cable channel inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921557206.9U CN210551271U (en) | 2019-09-18 | 2019-09-18 | Cable channel inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210551271U true CN210551271U (en) | 2020-05-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921557206.9U Expired - Fee Related CN210551271U (en) | 2019-09-18 | 2019-09-18 | Cable channel inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210551271U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111421559A (en) * | 2020-04-10 | 2020-07-17 | 中国民航大学 | Portable cable flaw detection robot system |
| CN111490488A (en) * | 2020-05-25 | 2020-08-04 | 安徽省飞龙新型材料有限公司 | Device and method for overhauling damaged cable in cable groove |
| CN111988565A (en) * | 2020-08-13 | 2020-11-24 | 杭州巨骐信息科技股份有限公司 | Backflow cable area early warning device based on 5G network |
| CN112571427A (en) * | 2020-12-01 | 2021-03-30 | 山东中烟工业有限责任公司 | Power cable trench inspection robot and operation method thereof |
| CN113319861A (en) * | 2021-04-23 | 2021-08-31 | 中铁第一勘察设计院集团有限公司 | Inspection method and inspection robot for metro vehicle section comprehensive pipe trench |
-
2019
- 2019-09-18 CN CN201921557206.9U patent/CN210551271U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111421559A (en) * | 2020-04-10 | 2020-07-17 | 中国民航大学 | Portable cable flaw detection robot system |
| CN111490488A (en) * | 2020-05-25 | 2020-08-04 | 安徽省飞龙新型材料有限公司 | Device and method for overhauling damaged cable in cable groove |
| CN111490488B (en) * | 2020-05-25 | 2021-05-11 | 安徽省飞龙新型材料有限公司 | Device and method for overhauling damaged cable in cable groove |
| CN111988565A (en) * | 2020-08-13 | 2020-11-24 | 杭州巨骐信息科技股份有限公司 | Backflow cable area early warning device based on 5G network |
| CN111988565B (en) * | 2020-08-13 | 2022-04-08 | 杭州巨骐信息科技股份有限公司 | Backflow cable area early warning device based on 5G network |
| CN112571427A (en) * | 2020-12-01 | 2021-03-30 | 山东中烟工业有限责任公司 | Power cable trench inspection robot and operation method thereof |
| CN113319861A (en) * | 2021-04-23 | 2021-08-31 | 中铁第一勘察设计院集团有限公司 | Inspection method and inspection robot for metro vehicle section comprehensive pipe trench |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200519 Termination date: 20200918 |
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| CF01 | Termination of patent right due to non-payment of annual fee |