CN211137171U - Tunnel inspection robot - Google Patents
Tunnel inspection robot Download PDFInfo
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- CN211137171U CN211137171U CN201922093002.0U CN201922093002U CN211137171U CN 211137171 U CN211137171 U CN 211137171U CN 201922093002 U CN201922093002 U CN 201922093002U CN 211137171 U CN211137171 U CN 211137171U
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Abstract
The utility model discloses a robot is patrolled and examined in tunnel, be in including walking track and the setting that sets up on the tunnel inner wall the robot automobile body of walking track bottom, the walking track includes the guide rail, sets up lead screw, a plurality of suit in the guide rail on the lead screw and install the driving motor in lead screw one end, robot automobile body and slider fixed connection, the robot automobile body includes automobile body shell and the electronic circuit board of setting in automobile body shell to and integrated microcontroller, tunnel deformation detection module, traffic flow detection module on electronic circuit board and the wireless transmission module who is connected with microcontroller, automobile body shell bottom is provided with the telescopic link, the camera is installed to the bottom of telescopic link. The utility model discloses simple structure, reasonable in design's tunnel patrols and examines robot, and is small, labour saving and time saving, detection cost low can realize the collection to the dust concentration data of temperature, humidity, smog concentration in the tunnel to and the detection of the tunnel deformation condition.
Description
Technical Field
The utility model belongs to the technical field of special type robot, concretely relates to tunnel inspection robot.
Background
In recent years, with rapid economic development, the construction strength of tunnels is gradually increasing. The safety of passing vehicles is seriously influenced by factors such as road traffic flow, tunnel deformation, water seepage, temperature, humidity and dust in the tunnel and the like.
At present, relevant departments generally adopt a manual regular detection method to manually detect factors such as deformation, water seepage, temperature and humidity, dust and the like in a tunnel, and the method is time-consuming and labor-consuming; the traditional tunnel detection equipment is complex in structure, large in size, and high in detection cost and operation difficulty.
Therefore, now lack a simple structure, reasonable in design's tunnel patrols and examines robot, small, labour saving and time saving, detection cost are low, can realize the collection to temperature, humidity, smog concentration and dust concentration data in the tunnel to and the detection of the tunnel deformation condition, solve current tunnel and detect the problem that wastes time and energy, the check out test set structure is complicated, bulky, the detection cost is high, the operation degree of difficulty is big.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that not enough among the above-mentioned prior art is directed against, provide a tunnel inspection robot, its simple structure, reasonable in design's tunnel inspection robot, small, labour saving and time saving, detection cost are low, can realize the collection to the dust concentration data of temperature, humidity, smog concentration in the tunnel to and the detection of the tunnel deformation condition.
In order to solve the technical problem, the utility model discloses a technical scheme is: the utility model provides a robot is patrolled and examined in tunnel which characterized in that: the robot vehicle comprises a walking track arranged on the inner wall of a tunnel and a robot vehicle body arranged at the bottom of the walking track; the robot comprises a walking track, a robot body and a motor assembly, wherein the walking track comprises a guide rail, a screw rod assembly arranged in the guide rail and a motor assembly arranged at one end of the screw rod assembly, the screw rod assembly comprises a screw rod arranged in the guide rail and distributed along the length direction of the guide rail and a plurality of sliding blocks sleeved on the screw rod, the motor assembly comprises a motor base and a driving motor arranged on the motor base, an output shaft of the driving motor is in transmission connection with the screw rod, and the robot body is fixedly connected with the sliding blocks; the robot vehicle body comprises a vehicle body shell, an electronic circuit board arranged in the vehicle body shell, a microcontroller, a tunnel deformation detection module, a traffic flow detection module and a wireless transmission module connected with the microcontroller, wherein the microcontroller, the tunnel deformation detection module, the traffic flow detection module and the wireless transmission module are integrated on the electronic circuit board; the sensor group comprises an environment temperature and humidity sensor, a smoke sensor and a dust sensor, and the output ends of the environment temperature and humidity sensor, the smoke sensor and the dust sensor are connected with the input end of the microcontroller.
Foretell robot is patrolled and examined in tunnel, its characterized in that: the microcontroller is STM32F103VET6 microcontroller, ambient temperature humidity transducer is AM2301 temperature humidity transducer probe, AM2301 temperature humidity transducer's VDD pin is connected with +5V power output end, AM2301 temperature humidity transducer's DATA pin divide into two the tunnel, is connected with +5V power output end through resistance R1 all the way, and another tunnel is connected with STM32F103VET6 microcontroller's PC13 pin, AM2301 temperature humidity transducer's GND pin ground connection, AM2301 temperature humidity transducer's NC pin is unsettled.
Foretell robot is patrolled and examined in tunnel, its characterized in that: the smoke sensor is an MQ-2 smoke sensor, a VCC pin of the MQ-2 smoke sensor is connected with a +5V power supply output end, a DOUT pin of the MQ-2 smoke sensor is divided into two paths, one path is connected with the +5V power supply output end through a resistor R2, and the other path is connected with a drain electrode of a MOS field effect transistor Q1; the source electrode of the MOS field effect transistor Q1 is divided into two paths, one path is connected with one end of a resistor R4, the other path is connected with a PD0 pin of an STM32F103VET6 microcontroller, the grid electrode of the MOS field effect transistor Q1 is connected with one end of a resistor R3, and the connecting end of the other end of the resistor R3 and the other end of the resistor R4 is connected with a 3.3V power supply output end; the AOUT pin of the MQ-2 smoke sensor is connected with the PB0 pin of the STM32F103VET6 microcontroller; and the GND pin of the MQ-2 smoke sensor is grounded.
The tunnel inspection robot is characterized in that the dust sensor is a GP2Y1010AU0F dust sensor, a Vled pin of the GP2Y1010AU0F dust sensor is divided into two paths, one path is connected with a +5V power supply output end through a resistor R5, the other path is grounded through a capacitor C1, a L ED-GND pin and an S-GND pin of the GP2Y1010AU0F dust sensor are both grounded, an L ED pin of the GP2Y1010AU0F dust sensor is connected with a collector of a triode Q2, a base of the triode Q2 is divided into two paths, one path is connected with a PE14 pin of an STM32F103VET6 microcontroller through a resistor R7, the other path is grounded through a resistor R6, an emitter of the triode Q2 is grounded, a VO pin of the GP2Y1010AU0F dust sensor is connected with a PA7 pin of the STM32F103VET6 microcontroller, and a VCC power supply output end of the AU0F V dust sensor is connected with a +5V power supply output end.
Foretell robot is patrolled and examined in tunnel, its characterized in that: tunnel deformation detection module includes first laser rangefinder module and second laser rangefinder module, first laser rangefinder module includes first laser rangefinder sensor and the first communication circuit who is connected with first laser rangefinder sensor, second laser rangefinder module includes second laser rangefinder sensor and the second communication circuit who is connected with second laser rangefinder sensor, traffic flow detection module includes third laser rangefinder sensor and the third communication circuit who meets with third laser rangefinder sensor output, first communication circuit, second communication circuit and third communication circuit's output all is connected with microcontroller.
Foretell robot is patrolled and examined in tunnel, its characterized in that: the wireless transmission module comprises a GPRS wireless data transmission module and a fourth communication circuit connected with the GPRS wireless data transmission module.
Compared with the prior art, the utility model has the following advantage:
1. the utility model discloses the guide rail is erect at the top in the tunnel, installs the lead screw in the guide rail, installs the robot automobile body bottom the lead screw, the robot automobile body is small and can follow guide rail extending direction and slide, does not disturb other equipment in the tunnel, be provided with detection device in the robot automobile body, can realize the detection to temperature, humidity, smog concentration, dust concentration and traffic flow in the tunnel, its simple structure detects with low costsly, labour saving and time saving.
2. The robot vehicle body is internally provided with an ambient temperature and humidity sensor, a smoke sensor and a dust sensor, and can detect whether water seepage occurs in the tunnel or not by acquiring temperature and humidity data in the tunnel through the ambient temperature and humidity sensor; combustible gases such as liquefied gas, propane, hydrogen and the like are detected through the smoke sensor, and whether a fire disaster occurs in the tunnel can be detected; the dust concentration in the tunnel is detected in real time through the dust sensor, and normal running of the vehicle is prevented from being influenced by excessive dust concentration.
3. The utility model discloses be provided with tunnel deformation detection module, can measure the distance between the tunnel lateral wall to transmit the measured value for microcontroller, microcontroller compares measured value and setting value, through the comparison of measured value and setting value, detects whether the tunnel warp, when the measured value accords with the setting value, the tunnel does not warp; when the measured value is not in accordance with the set value, the tunnel is deformed, and traffic accidents caused by tunnel deformation are avoided.
To sum up, the utility model discloses simple structure, reasonable in design's tunnel patrols and examines the robot, and is small, labour saving and time saving, detection cost low, can realize the collection to the dust concentration data of temperature, humidity, smog concentration in the tunnel to and the detection of the tunnel deformation condition.
The technical solution of the present invention is further described in detail by the accompanying drawings and examples.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic block diagram of the circuit of the present invention.
Fig. 3 is a schematic circuit diagram of the ambient temperature and humidity sensor of the present invention.
Fig. 4 is a schematic circuit diagram of the smoke sensor of the present invention.
Fig. 5 is a schematic circuit diagram of the dust sensor of the present invention.
Fig. 6 is a schematic circuit diagram of a first communication circuit according to the present invention.
Fig. 7 is a schematic circuit diagram of a second communication circuit according to the present invention.
Fig. 8 is a schematic circuit diagram of a third communication circuit according to the present invention.
Fig. 9 is a schematic circuit diagram of a fourth communication circuit according to the present invention.
Fig. 10 is a schematic view of the connection structure of the guide rail, the lead screw, the driving motor and the motor base according to the present invention.
Description of reference numerals:
1-a guide rail; 2, a screw rod; 3, a sliding block;
4, a motor base; 5, a vehicle body shell;
6-a third laser ranging sensor; 7-electronic circuit board;
8, a telescopic rod; 9-a camera; 10-a microcontroller;
11-ambient temperature and humidity sensor; 12-a smoke sensor;
13-a dust sensor; 14-a first laser ranging sensor;
15-a second laser ranging sensor; 16 — a first communication circuit;
17 — a second communication circuit; 18-a third communication circuit;
19-GPRS wireless data transmission module; 20-a fourth communication circuit;
and 21, driving the motor.
Detailed Description
As shown in fig. 1, 2 and 10, the tunnel inspection robot comprises a walking track arranged on the inner wall of a tunnel and a robot body arranged at the bottom of the walking track; the walking track comprises a guide rail 1, a screw rod assembly arranged in the guide rail 1 and a motor assembly arranged at one end of the screw rod assembly, the screw rod assembly comprises a screw rod 2 arranged in the guide rail 1 and distributed along the length direction of the guide rail 1 and a plurality of sliding blocks 3 sleeved on the screw rod 2, the motor assembly comprises a motor base 4 and a driving motor 21 arranged in the motor base 4, an output shaft of the driving motor 21 is in transmission connection with the screw rod 2, and a robot body is fixedly connected with the sliding blocks 3; the robot vehicle body comprises a vehicle body shell 5, an electronic circuit board 7 arranged in the vehicle body shell 5, a microcontroller 10 integrated on the electronic circuit board 7, a tunnel deformation detection module, a traffic flow detection module and a wireless transmission module connected with the microcontroller 10, wherein the tunnel deformation detection module comprises a first laser ranging sensor 14 arranged on the left side of the vehicle body shell 5 and a second laser ranging sensor 15 arranged on the right side of the vehicle body shell 5, the traffic flow detection module comprises a third laser ranging sensor 6 arranged at the bottom of the vehicle body shell 5, a telescopic rod 8 is arranged at the bottom of the vehicle body shell 2, and a camera 9 is arranged at the bottom of the telescopic rod 8; the sensor group comprises an ambient temperature and humidity sensor 11, a smoke sensor 12 and a dust sensor 13, and the output ends of the ambient temperature and humidity sensor 11, the smoke sensor 12 and the dust sensor 13 are connected with the input end of the microcontroller 10.
In this embodiment, the number of the sliders 3 is 2.
In this embodiment, the model of the driving motor 21 is 42BYGHT8 stepping motor.
In the embodiment, during actual connection, the guide rail 1 is erected at the top in the tunnel and extends along the length direction of the tunnel, one end of the guide rail 1 is arranged at the inlet of the tunnel, the other end of the guide rail is arranged at the outlet of the tunnel, a screw rod 2 is installed in the guide rail 1, a slide block 3 is sleeved on the screw rod 2, and the bottom of the slide block 3 is connected with the robot vehicle body; the purpose is as follows: the guide rail 1 is arranged on the top of the tunnel, so that the running of the train and the normal use of other equipment in the tunnel cannot be influenced when the robot vehicle body slides along the guide rail 1.
In this embodiment, it should be noted that, the structure of the telescopic rod 8 may refer to the telescopic rod structure disclosed in the chinese utility model patent "a telescopic rod" with patent number 201821768856.3.
In this embodiment, the purpose of providing the sensor group on the electronic circuit board 7 is: the temperature and humidity data in the tunnel are collected through the environment temperature and humidity sensor 11, and whether water seepage occurs in the tunnel can be detected; combustible gases such as liquefied gas, propane, hydrogen and the like are detected through the smoke sensor 12, and whether a fire disaster occurs in the tunnel can be detected; the dust concentration in the tunnel is detected in real time through the dust sensor 13, and normal running of the vehicle is prevented from being influenced by excessive dust concentration.
In this embodiment, the tunnel deformation detection module is mounted on the vehicle body cover 5 for the purpose of: measuring the distance between the side walls of the tunnel, transmitting the measured value to the microcontroller 10, comparing the measured value with a set value by the microcontroller 10, detecting whether the tunnel is deformed or not by comparing the measured value with the set value, and when the measured value meets the set value, not deforming the tunnel; when the measured value is not in accordance with the set value, the tunnel is deformed, and traffic accidents caused by tunnel deformation are avoided.
In this embodiment, the purpose of installing the traffic flow detection module at the bottom of the vehicle body shell 5 is: the traffic flow in the tunnel is detected, the detected traffic flow data are transmitted to the microcontroller, and when the traffic flow in the tunnel is large, the traffic flow in the tunnel is reduced, and the driving safety is improved.
In this embodiment, the camera 9 is an OV7670 camera, which is convenient for taking images of the environment and vehicles in the tunnel, and remotely transmitting the taken images to a mobile phone carried by a worker, so as to facilitate detection.
It should be noted that, the connection between the camera 9 and the microcontroller 10 can refer to the schematic connection between the STM32F103ZET6 microcontroller and the OV7670 camera module disclosed in the chinese utility model patent with application number CN201620012886.6, "an ARM-based embedded portable multifunctional image capturing system".
As shown in fig. 3, in this embodiment, the microcontroller 10 is an STM32F103VET6 microcontroller, the ambient temperature and humidity sensor 11 is an AM2301 temperature and humidity sensor probe, a VDD pin of the AM2301 temperature and humidity sensor is connected to a +5V power output terminal, a DATA pin of the AM2301 temperature and humidity sensor is divided into two paths, one path is connected to the +5V power output terminal through a resistor R1, the other path is connected to a PC13 pin of the STM32F103VET6 microcontroller, a GND pin of the AM2301 temperature and humidity sensor is grounded, and an NC pin of the AM2301 temperature and humidity sensor is suspended.
In this embodiment, STM32F103VET6 microcontroller's IO mouth is more, and the tunnel of being convenient for warp detection module, traffic flow detection module, wireless transmission module and sensor group and connect, and includes the AD module in the STM32F103VET6 microcontroller, can reduce peripheral circuit design.
In this embodiment, AM2301 temperature and humidity sensor is small, light in weight, and the installation of being convenient for, and the interference killing feature is strong, can detect ambient temperature, humidity and the infiltration condition in the tunnel.
As shown in fig. 4, in this embodiment, the smoke sensor 12 is an MQ-2 smoke sensor, a VCC pin of the MQ-2 smoke sensor is connected to a +5V power supply output terminal, a DOUT pin of the MQ-2 smoke sensor is divided into two paths, one path is connected to the +5V power supply output terminal through a resistor R2, and the other path is connected to a drain of a MOS field effect transistor Q1; the source electrode of the MOS field effect transistor Q1 is divided into two paths, one path is connected with one end of a resistor R4, the other path is connected with a PD0 pin of an STM32F103VET6 microcontroller, the grid electrode of the MOS field effect transistor Q1 is connected with one end of a resistor R3, and the connecting end of the other end of the resistor R3 and the other end of the resistor R4 is connected with a 3.3V power supply output end; the AOUT pin of the MQ-2 smoke sensor is connected with the PB0 pin of the STM32F103VET6 microcontroller; and the GND pin of the MQ-2 smoke sensor is grounded.
In the embodiment, the MQ-2 smoke sensor has high sensitivity, quick response, good stability, long service life, simple driving circuit, high sensitivity to smoke of natural gas, liquefied petroleum gas and the like, particularly sensitivity to liquefied gas, propane and hydrogen, good anti-interference performance and capability of accurately eliminating interference information of irritant nonflammable smoke, and when the MQ-2 smoke sensor detects that flammable smoke exists in the environment, the conductivity of the sensor is increased along with the increase of the concentration of the flammable smoke in the air, and the change of the conductivity is converted into an output signal corresponding to the concentration of the smoke, so that the detection of the flammable gas in the air is realized, and whether a fire disaster occurs in a tunnel is detected.
As shown in fig. 5, in this embodiment, the dust sensor 13 is a GP2Y1010AU0F dust sensor, a Vled pin of the GP2Y1010AU0F dust sensor is divided into two paths, one path is connected to a +5V power output terminal through a resistor R5, the other path is grounded through a capacitor C1, a L ED-GND pin of the GP2Y1010AU0F dust sensor and an S-GND pin are both grounded, a L ED pin of the GP2Y1010AU0F dust sensor is connected to a collector of a triode Q2, a base of the triode Q2 is divided into two paths, one path is connected to a PE14 pin of an STM32F103VET6 microcontroller through a resistor R7, the other path is grounded through a resistor R6, an emitter of the triode Q2 is grounded, a VO pin of the GP2Y1010AU0F dust sensor is connected to a PA7 pin of the STM32F103VET6 microcontroller, and a VCC pin of the GP2Y1010AU0F dust sensor is connected to a +5V power output terminal.
In the embodiment, the GP2Y1010AU0F dust sensor can detect very fine particles, an infrared light-emitting diode and a photoelectric transistor are arranged inside the GP2Y1010AU0F dust sensor, the opposite angles are arranged to allow the dust sensor to detect dust reflected light in the air, a hole is formed in the center of the GP2Y1010AU0F dust sensor to allow the air to freely flow through, L ED light is emitted in a directional mode, the content of dust in the air is judged by detecting the light refracted by the dust in the air, and the influence on the normal running of a vehicle due to overlarge dust concentration is avoided.
In this embodiment, tunnel deformation detection module includes first laser rangefinder module and second laser rangefinder module, first laser rangefinder module includes first laser rangefinder sensor 14 and the first communication circuit 16 of being connected with first laser rangefinder sensor 14, second laser rangefinder module includes second laser rangefinder sensor 15 and the second communication circuit 17 of being connected with second laser rangefinder sensor 15, traffic flow detection module includes third laser rangefinder sensor 6 and the third communication circuit 18 that meets with third laser rangefinder sensor 6 output, the output of first communication circuit 16, second communication circuit 17 and third communication circuit 18 all is connected with microcontroller 10.
As shown in fig. 6, in this embodiment, the first communication circuit 16 includes a chip U1 with a model MAX485, and the 1 st pin of the chip U1 is connected to a PA3 pin of an STM32F103VET6 microcontroller; the connection end of the No. 2 pin and the No. 3 pin of the chip U1 is connected with the PA1 pin of the STM32F103VET6 microcontroller; the 4 th pin of the chip U1 is connected with the PA2 pin of the STM32F103VET6 microcontroller; the 5 th pin of the chip U1 is grounded; the 6 th pin of the chip U1 is divided into two paths, one path is connected with one end of a resistor R8, and the other path is connected with the A signal output end of the first laser ranging sensor 14; the 7 th pin of the chip U1 is divided into two paths, one path is connected with the other end of the resistor R8, and the other path is connected with the B signal output end of the first laser ranging sensor 14; the 8 th pin of the chip U1 is divided into two paths, one path is connected with the +5V power output end, and the other path is grounded through a capacitor C2.
As shown in fig. 7, in this embodiment, the second communication circuit 17 includes a chip U2 with a model MAX485, and the 1 st pin of the chip U2 is connected to a PA10 pin of an STM32F103VET6 microcontroller; the connection end of the No. 2 pin and the No. 3 pin of the chip U2 is connected with the PA8 pin of the STM32F103VET6 microcontroller; the 4 th pin of the chip U2 is connected with the PA9 pin of the STM32F103VET6 microcontroller; the 5 th pin of the chip U2 is grounded; the 6 th pin of the chip U2 is divided into two paths, one path is connected with one end of a resistor R9, and the other path is connected with the A signal output end of the second laser ranging sensor 15; the 7 th pin of the chip U2 is divided into two paths, one path is connected with the other end of the resistor R9, and the other path is connected with the B signal output end of the second laser ranging sensor 15; the 8 th pin of the chip U2 is divided into two paths, one path is connected with the +5V power output end, and the other path is grounded through a capacitor C3.
As shown in fig. 8, in this embodiment, the third communication circuit 18 includes a chip U3 with a model MAX485, and the 1 st pin of the chip U3 is connected to a PB11 pin of an STM32F103VET6 microcontroller; the connecting end of the 2 nd pin and the 3 rd pin of the chip U3 is connected with a PB12 pin of an STM32F103VET6 microcontroller; the 4 th pin of the chip U3 is connected with a PB10 pin of an STM32F103VET6 microcontroller; the 5 th pin of the chip U3 is grounded; the 6 th pin of the chip U3 is divided into two paths, one path is connected with one end of a resistor R10, and the other path is connected with the A signal output end of the third laser ranging sensor 6; the 7 th pin of the chip U3 is divided into two paths, one path is connected with the other end of the resistor R10, and the other path is connected with the B signal output end of the third laser ranging sensor 6; the 8 th pin of the chip U3 is divided into two paths, one path is connected with the +5V power output end, and the other path is grounded through a capacitor C4.
In this embodiment, during actual use, the first laser ranging sensor 14, the second laser ranging sensor 15 and the third laser ranging sensor 6 are all R L M-S30 laser ranging sensors, and the R L M-S30 laser ranging sensors have high ranging accuracy and are convenient to install.
In the embodiment, the first laser ranging sensor 14 and the second laser ranging sensor 15 are respectively arranged on the left side and the right side of the vehicle body shell 5, the first laser ranging sensor 14 is used for measuring the distance between the left side wall of the tunnel and the first laser ranging sensor 14, the second laser ranging sensor 15 is used for measuring the distance between the right side wall of the tunnel and the second laser ranging sensor 15, the measured value is transmitted to the microcontroller 10, the microcontroller 10 compares the measured value with the set value, whether the tunnel is deformed or not is detected through the comparison between the measured value and the set value, and when the measured value meets the set value, the tunnel is not deformed; when the measured values do not correspond to the set values, the tunnel is deformed.
In the embodiment, the third laser ranging sensor 6 is arranged at the bottom of the vehicle body shell 5, the distance from the third laser ranging sensor 6 to the ground in the tunnel is measured, the measured value is transmitted to the microcontroller 10, and when the difference between the set value and the measured value is 1.3-4.7 meters, the situation that a vehicle passes through the ground is indicated; when the difference between the set value and the measured value is only 0-0.2 m, no vehicle passes through the ground, and the detection of the vehicle flow in the tunnel is realized.
In this embodiment, the wireless transmission module includes a GPRS wireless data transmission module 19 and a fourth communication circuit 20 connected to the GPRS wireless data transmission module 19.
As shown in fig. 9, in this embodiment, the fourth communication circuit 20 includes a chip U4 with a model MAX485, and the 1 st pin of the chip U4 is connected to a PC11 pin of an STM32F103VET6 microcontroller; the connecting end of the 2 nd pin and the 3 rd pin of the chip U4 is connected with the PC12 pin of the STM32F103VET6 microcontroller; the 4 th pin of the chip U4 is connected with the PC10 pin of the STM32F103VET6 microcontroller; the 5 th pin of the chip U4 is grounded; the 6 th pin of the chip U4 is divided into two paths, one path is connected with one end of a resistor R11, and the other path is connected with the A signal output end of the GPRS wireless data transmission module 19; the 7 th pin of the chip U4 is divided into two paths, one path is connected with the other end of the resistor R11, and the other path is connected with the B signal output end of the GPRS wireless data transmission module 19; the 8 th pin of the chip U4 is divided into two paths, one path is connected with the +5V power output end, and the other path is grounded through a capacitor C5.
In this embodiment, the GPRS wireless data transmission module 19 is an inter-communication intelligent HX2002GPRS wireless data transmission module 19, and the purpose of installing the GPRS wireless data transmission module 19 on the electronic circuit board 7 is as follows: carry out radio communication through GPRS wireless data transmission module 19, transmit the humiture, dust concentration and the smog concentration that the robot gathered in the tunnel to the cell-phone that the staff hand-carried through the GPRS network, the measurement personnel can realize remote monitoring in the control room.
In this embodiment, it should be noted that the parameter selection of each circuit may refer to the parameter on the graph.
When the utility model is used in particular, a guide rail 1 is erected on the top wall in the tunnel along the extending direction of the tunnel, a lead screw 2 is arranged in the guide rail 1, a driving motor 21 is arranged at one end of the lead screw 2, a slider 3 is sleeved on the lead screw 2, the slider 3 is connected with the robot body, the driving motor 21 rotates to drive the lead screw 2 to rotate, the lead screw 2 rotates to drive the slider 3 to slide along the length direction of the lead screw 2, and the robot body can slide along the length direction of the lead screw 2 in the process that the slider 3 slides along the length direction of the lead screw 2; when the robot body slides in the tunnel, the camera 9 arranged at the bottom of the body shell 5 of the robot shoots the environment and the vehicle in the tunnel, and transmits the shot picture to the mobile phone carried by the staff through the GRRS wireless data transmission module microcontroller 19 microcontroller; measuring the distance between the side walls of the tunnel by a first laser ranging sensor 14 arranged on the left side of a vehicle body shell 5 of the robot and a second laser ranging sensor 15 arranged on the right side of the vehicle body shell 5, and detecting whether the tunnel is deformed; the distance from the vehicle body shell 5 to the ground is measured through a third laser ranging sensor 6 arranged at the bottom of the vehicle body shell 5 of the robot, so that the traffic flow in the tunnel is detected; collecting temperature and humidity data in the tunnel through an environmental temperature and humidity sensor 11 integrated on an electronic circuit board 7, and detecting whether water seepage occurs in the tunnel; combustible gases such as liquefied gas, propane, hydrogen and the like are detected through a smoke sensor 12 integrated on the electronic circuit board 7, and whether a fire disaster occurs in the tunnel is detected; the dust sensor 13 integrated on the electronic circuit board 7 is used for detecting the dust concentration in the tunnel in real time, and when the dust concentration is too high, the influence on the normal running of the vehicle caused by the too high dust concentration is avoided; the data transmission that gathers first laser rangefinder sensor 14, second laser rangefinder sensor 15, third laser rangefinder sensor 6, ambient temperature humidity transducer 11, smoke sensor 12 and dust sensor 13 gives microcontroller 10, and microcontroller 10 transmits the data that the robot gathered in the tunnel to the cell-phone that the staff hand-carried through GRRS wireless data transmission module 19, and the measurement personnel can realize remote monitoring in the monitor.
The above, only be the utility model discloses a preferred embodiment, it is not right the utility model discloses do any restriction, all according to the utility model discloses the technical entity all still belongs to any simple modification, change and the equivalent structure change of doing above embodiment the utility model discloses technical scheme's within the scope of protection.
Claims (6)
1. The utility model provides a robot is patrolled and examined in tunnel which characterized in that: the robot vehicle comprises a walking track arranged on the inner wall of a tunnel and a robot vehicle body arranged at the bottom of the walking track;
the robot comprises a walking track, a motor assembly, a motor base and a robot body, wherein the walking track comprises a guide rail (1), a screw rod assembly arranged in the guide rail (1) and a motor assembly arranged at one end of the screw rod assembly, the screw rod assembly comprises a screw rod (2) arranged in the guide rail (1) along the length direction of the guide rail (1) and a plurality of sliding blocks (3) sleeved on the screw rod (2), the motor assembly comprises a motor base (4) and a driving motor (21) arranged on the motor base (4), an output shaft of the driving motor (21) is in transmission connection with the screw rod (2), and the robot body is fixedly connected with the sliding blocks (3);
the robot car body comprises a car body shell (5), an electronic circuit board (7) arranged in the car body shell (5), a microcontroller (10) integrated on the electronic circuit board (7), a tunnel deformation detection module, a traffic flow detection module and a wireless transmission module connected with the microcontroller (10), wherein the tunnel deformation detection module comprises a first laser ranging sensor (14) installed on the left side of the car body shell (5) and a second laser ranging sensor (15) installed on the right side of the car body shell (5), the traffic flow detection module comprises a third laser ranging sensor (6) installed at the bottom of the car body shell (5), a telescopic rod (8) is arranged at the bottom of the car body shell (5), and a camera (9) is installed at the bottom of the telescopic rod (8);
the sensor group comprises an ambient temperature and humidity sensor (11), a smoke sensor (12) and a dust sensor (13), and the output ends of the ambient temperature and humidity sensor (11), the smoke sensor (12) and the dust sensor (13) are connected with the input end of the microcontroller (10).
2. The tunnel inspection robot according to claim 1, wherein: microcontroller (10) is STM32F103VET6 microcontroller, ambient temperature humidity transducer (11) are AM2301 temperature humidity transducer probe, AM2301 temperature humidity transducer's VDD pin and +5V power output end are connected, AM2301 temperature humidity transducer's DATA pin divide into two the tunnel, connect with +5V power output end through resistance R1 all the way, another way is connected with STM32F103VET6 microcontroller's PC13 pin, AM2301 temperature humidity transducer's GND pin ground connection, AM2301 temperature humidity transducer's NC pin is unsettled.
3. The tunnel inspection robot according to claim 2, wherein: the smoke sensor (12) is an MQ-2 smoke sensor, a VCC pin of the MQ-2 smoke sensor is connected with a +5V power supply output end, a DOUT pin of the MQ-2 smoke sensor is divided into two paths, one path is connected with the +5V power supply output end through a resistor R2, and the other path is connected with a drain electrode of a MOS field effect transistor Q1; the source electrode of the MOS field effect transistor Q1 is divided into two paths, one path is connected with one end of a resistor R4, the other path is connected with a PD0 pin of an STM32F103VET6 microcontroller, the grid electrode of the MOS field effect transistor Q1 is connected with one end of a resistor R3, and the connecting end of the other end of the resistor R3 and the other end of the resistor R4 is connected with a 3.3V power supply output end; the AOUT pin of the MQ-2 smoke sensor is connected with the PB0 pin of the STM32F103VET6 microcontroller; and the GND pin of the MQ-2 smoke sensor is grounded.
4. The tunnel inspection robot according to claim 2, wherein the dust sensor (13) is a GP2Y1010AU0F dust sensor, a Vled pin of the GP2Y1010AU0F dust sensor is divided into two paths, one path is connected with a +5V power supply output end through a resistor R5, the other path is grounded through a capacitor C1, an L ED-GND pin and an S-GND pin of the GP2Y1010AU0F dust sensor are both grounded, a L ED pin of the GP2Y1010AU0F dust sensor is connected with a collector of a triode Q2, a base of the triode Q2 is divided into two paths, one path is connected with a PE14 pin of an STM32F103VET6 microcontroller through a resistor R7, the other path is grounded through a resistor R6, an emitter of the triode Q2 is grounded, a VO pin of the GP2Y1010AU0 dust sensor is connected with a PA7 pin of the STM32F103VET6 microcontroller, and the GP2Y1010 VCC 0 +5 dust sensor is connected with a GP 5V power supply output end.
5. The tunnel inspection robot according to claim 1, wherein: tunnel deformation detection module includes first laser rangefinder module and second laser rangefinder module, first laser rangefinder module includes first laser rangefinder sensor (14) and first communication circuit (16) of being connected with first laser rangefinder sensor (14), second laser rangefinder module includes second laser rangefinder sensor (15) and second communication circuit (17) of being connected with second laser rangefinder sensor (15), traffic flow detection module includes third laser rangefinder sensor (6) and third communication circuit (18) that meet with third laser rangefinder sensor (6) output, the output of first communication circuit (16), second communication circuit (17) and third communication circuit (18) all is connected with microcontroller (10).
6. The tunnel inspection robot according to claim 1, wherein: the wireless transmission module comprises a GPRS wireless data transmission module (19) and a fourth communication circuit (20) connected with the GPRS wireless data transmission module (19).
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111982810A (en) * | 2020-08-27 | 2020-11-24 | 四川九通智路科技有限公司 | Method for monitoring harmful gas in highway tunnel |
| CN116147522A (en) * | 2023-04-24 | 2023-05-23 | 四川省公路规划勘察设计研究院有限公司 | Automatic monitoring system for tunnel substrate deformation |
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2019
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111982810A (en) * | 2020-08-27 | 2020-11-24 | 四川九通智路科技有限公司 | Method for monitoring harmful gas in highway tunnel |
| CN116147522A (en) * | 2023-04-24 | 2023-05-23 | 四川省公路规划勘察设计研究院有限公司 | Automatic monitoring system for tunnel substrate deformation |
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