CN213616681U - Cable trench inspection robot system - Google Patents
Cable trench inspection robot system Download PDFInfo
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- CN213616681U CN213616681U CN202022501152.3U CN202022501152U CN213616681U CN 213616681 U CN213616681 U CN 213616681U CN 202022501152 U CN202022501152 U CN 202022501152U CN 213616681 U CN213616681 U CN 213616681U
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Abstract
The utility model relates to a cable pit patrols and examines technical field, in particular to robot system is patrolled and examined to cable pit, robot and basic station host computer wireless communication connection, robot send real-time environment information and receive the instruction and the execution that basic station host computer sent in the cable pit to the basic station host computer, and the sensor unit is connected with the main control unit electricity, and image acquisition unit is connected with the main control unit electricity, and power integrated circuit board, AD collection card respectively through PC104 line electric connection in the CPU module the relay control panel pass through PC104 line electric connection in AD collection card. Compared with the prior art, the utility model discloses a cable pit patrols and examines robot system has realized carrying out periodic inspection and maintenance to the cable pit, has broken away from and has relied on the manual work to the investigation of cable pit potential safety hazard, has solved and has patrolled and examined interval length, shortcoming such as frequency hang down, has got rid of the problem that the human body potential safety hazard easily appears when artifical the inspection.
Description
[ technical field ] A method for producing a semiconductor device
The utility model relates to a cable pit patrols and examines technical field, in particular to robot system is patrolled and examined to cable pit.
[ background of the invention ]
At present, regular inspection and maintenance are carried out on a cable trench, potential safety hazards of the cable trench are mainly inspected manually, and due to the fact that the interval time of manual inspection is long, the frequency is low, and meanwhile, the problems that long-term temperature and humidity are abnormal, a cable insulating layer is aged and damaged, harmful gas accumulation and cable cores are overheated due to long-term sealing exist in the cable trench, and the safety of a human body is seriously threatened. At present, different types of robots for realizing cable trench inspection exist, but a robot control system can only complete simpler control instructions, and effective monitoring and environmental information understanding of the cable trench environment are lacked.
[ Utility model ] content
In order to overcome the above problems, the utility model provides a can effectively solve the cable pit of above-mentioned problem and patrol and examine robot system.
The utility model provides a technical scheme who above-mentioned technical problem provided is: the robot body is in wireless communication connection with a base station upper computer, sends real-time environment information in the cable trench to the base station upper computer, receives an instruction sent by the base station upper computer and executes the instruction; a main controller is arranged in the robot body, a sensor unit is arranged at the bottom of the robot body, and the sensor unit is electrically connected with the main controller; the front end of the robot body is provided with an image acquisition unit which is electrically connected with the main controller; the main controller comprises a CPU module, a power supply board card, an AD acquisition card and a relay control panel, wherein the power supply board card and the AD acquisition card are respectively electrically connected to the CPU module through a PC104 wire, and the relay control panel is electrically connected to the AD acquisition card through the PC104 wire.
Preferably, a wireless data transmission unit and a wireless image transmission unit are arranged in the robot body, and the wireless data transmission unit and the wireless image transmission unit are in wireless communication connection with the base station upper computer respectively.
Preferably, the wireless data transmission unit is electrically connected with the main controller, and the wireless image transmission unit is electrically connected with the image acquisition unit.
Preferably, the robot body is internally provided with a 24V power supply and a 12V power supply conversion module, the 24V power supply is respectively and electrically connected with the main controller and the 12V power supply conversion module, and the 12V power supply conversion module is respectively and electrically connected with the wireless data transmission unit, the wireless image transmission unit and the image acquisition unit.
Preferably, the image acquisition unit is electrically connected to the relay control board.
Preferably, the image acquisition unit comprises a miniature ultra-clear camera, an infrared thermal imager and an industrial switch, the miniature ultra-clear camera and the infrared thermal imager are electrically connected to the industrial switch respectively, and the industrial switch is connected to the wireless image transmission unit through an Ethernet.
Preferably, the robot body further comprises a power device, wherein the power device comprises a front section motor and a rear section motor, and the front section motor and the rear section motor are respectively and electrically connected to the CPU module; the robot is characterized in that a driving wheel and a driven wheel are arranged on the robot body, the driving wheel is connected to a power device, the power device drives the driving wheel to rotate, the outside of the driven wheel is meshed with the outside of the driving wheel, and the driving wheel and the outside of the driven wheel are meshed and connected with a crawler belt.
Preferably, the sensor unit comprises a first gas sensor, a second gas sensor, a third gas sensor, a fourth gas sensor and a temperature and humidity sensor, wherein the first gas sensor, the second gas sensor, the third gas sensor and the fourth gas sensor are electrically connected to the AD acquisition card respectively, and the temperature and humidity sensor is connected to the CPU module through an RS485 serial port.
Preferably, the first gas sensor is a carbon dioxide gas sensor, the second gas sensor is a hydrogen sulfide gas sensor, and the fourth gas sensor is a methane gas sensor.
Preferably, the model of the CPU module is LX 3160; the type of the power supply board card is RTSP 0609; the model of the AD acquisition card is ADT 800; the relay control board is of the type IR 104.
Compared with the prior art, the utility model discloses a cable pit patrols and examines robot system has realized carrying out periodic inspection and maintenance to the cable pit, has broken away from and has relied on the manual work to the investigation of cable pit potential safety hazard, has solved and has patrolled and examined interval length, shortcoming such as frequency hang down, has got rid of the problem that the human body potential safety hazard easily appears when artifical the inspection.
[ description of the drawings ]
Fig. 1 is a block diagram of the cable trench inspection robot system of the present invention;
fig. 2 is the utility model discloses robot body schematic structure diagram of robot system is patrolled and examined to the cable pit.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and the following embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.
It should be noted that all directional indications (such as up, down, left, right, front, and back … …) in the embodiments of the present invention are limited to relative positions on a given view, not absolute positions.
In addition, descriptions in the present application as to "first", "second", and the like are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Please refer to fig. 1 and fig. 2, the utility model discloses a cable pit patrols and examines robot system, including the robot, the robot is connected with basic station host computer wireless communication, and the robot sends real-time environment information in the cable pit and receives the instruction and the execution that the basic station host computer sent to the host computer of basic station. The robot comprises a robot body and is characterized in that a main controller is arranged in the robot body, a sensor unit is arranged at the bottom of the robot body and electrically connected with the main controller, and the sensor unit is used for monitoring gas concentration and temperature and humidity in a cable trench and sending the gas concentration and temperature and humidity information to a base station upper computer through the main controller. The robot comprises a robot body and is characterized in that an image acquisition unit is arranged at the front end of the robot body and electrically connected with a main controller, and is used for acquiring environmental image information in a cable trench and sending the environmental image information to an upper computer of a base station through the main controller. The robot body receives a dynamic instruction of the ground base station upper computer, performs instruction feedback on the ground base station upper computer after correctly receiving an instruction signal, and performs exclusive access on a shared serial port by requiring instruction feedback and state update due to the fact that the instruction feedback and the state update share one serial port, and analyzes the instruction after receiving a control instruction, and releases a mutually exclusive semaphore after the instruction analysis is completed.
The robot comprises a robot body and is characterized in that a wireless data transmission unit and a wireless image transmission unit are arranged in the robot body, and the wireless data transmission unit and the wireless image transmission unit are in wireless communication connection with a base station upper computer respectively and are used for data transmission. The wireless data transmission unit is electrically connected with the main controller, and the wireless image transmission unit is electrically connected with the image acquisition unit. The robot is characterized in that a 24V power supply and a 12V power supply conversion module are further arranged inside the robot body, the 24V power supply is respectively electrically connected with the main controller and the 12V power supply conversion module, and the 12V power supply conversion module is respectively electrically connected with the wireless data transmission unit, the wireless image transmission unit and the image acquisition unit and is respectively used for supplying power.
The main controller comprises a CPU module, a power supply board card, an AD acquisition card and a relay control panel, wherein the power supply board card and the AD acquisition card are respectively electrically connected to the CPU module through a PC104 wire, and the relay control panel is electrically connected to the AD acquisition card through the PC104 wire. The 24V power supply is electrically connected to the power board card and used for supplying power. The image acquisition unit is electrically connected with the relay control panel and is used for power-on control. The CPU module is of a model number LX3160 and is electrically connected with the wireless data transmission unit. The type of the power supply board card is RTSP0609, and the power supply board card is used for converting 24V voltage into 12V voltage. The model of the AD acquisition card is ADT 800. The relay control board is of the type IR 104. The power supply board card is electrically connected with the sensor unit and used for supplying power. The ADT800 acquisition card has the advantages that: the conditions of garbage, sundries and the like in the cable trench are observed by acquiring high-definition images in the cable trench environment; the temperature of the cable is detected to avoid the occurrence of fire and other problems; and the concentration detection of harmful gases (H2S, CH4, CO2 and CO) in the cable trench avoids the problem of threatening personal safety. Advantages of the CPU module LX 3160: the information instruction processing capability is strong, and the system functions of instruction processing, motion control, state updating and the like are reliably realized. Advantages of relay control board IR 104: the electric quantity is saved, and all the image acquisition related equipment is in a closed state at ordinary times and is powered on when in use.
The sensor unit comprises a first gas sensor, a second gas sensor, a third gas sensor, a fourth gas sensor and a temperature and humidity sensor, wherein the first gas sensor, the second gas sensor, the third gas sensor and the fourth gas sensor are electrically connected to the AD acquisition card respectively, and the temperature and humidity sensor is connected to the CPU module through an RS485 serial port. The first gas sensor is a carbon dioxide gas sensor, the second gas sensor is a hydrogen sulfide gas sensor, the third gas sensor is a carbon dioxide gas sensor, and the fourth gas sensor is a methane gas sensor. Monitoring the concentration, temperature and humidity of toxic and inflammable gases (CO, H2S, CO2 and CH4) in the cable trench needs to be realized by a program task, and finally, the CPU module LX3160 sends real-time results of the states to an upper computer of a ground base station through RS232 com1 and updates the results in real time.
The image acquisition unit comprises a miniature ultra-clear camera, an infrared thermal imager and an industrial switch, wherein the miniature ultra-clear camera and the infrared thermal imager are respectively and electrically connected to the industrial switch, and the industrial switch is connected to the wireless image transmission unit through an Ethernet. The images of the miniature ultra-clear camera and the infrared thermal imager are directly transmitted to the upper computer of the base station for display through the industrial switch and then the wireless image transmission unit.
The robot body further comprises a power device, and the 24V power supply is electrically connected to the power device. The power device comprises a front section motor and a rear section motor, and the front section motor and the rear section motor are respectively and electrically connected to the CPU module and provide power for the movement of the robot body. The robot is characterized in that a driving wheel 10 and a driven wheel 20 are arranged on the robot body, the driving wheel 10 is connected to a power device, the power device drives the driving wheel 10 to rotate, the driven wheel 20 is externally meshed with the driving wheel 10, the driving wheel 10 and the driven wheel 20 are externally meshed with a crawler 30, and the capacity of crossing obstacles is improved. After the ground base station upper computer learns the real-time environment of the cable trench through the image acquisition unit and the sensor unit, in order to realize walking and obstacle crossing of the cable trench inspection robot body, the ground base station upper computer sends a robot movement control command, after the command processing task is resolved and completed, the movement control task acquires control information, and then the movement joint, pitching and yawing of the robot body are subjected to movement control according to the command, so that walking and obstacle crossing of the robot body are realized.
Compared with the prior art, the cable trench inspection robot system can realize high-definition image acquisition under the cable trench environment to observe the conditions of garbage in the cable trench, aging and damage of a cable insulating layer and the like; the temperature of the cable is detected to avoid the occurrence of fire and other problems; the concentration detection of harmful gases (H2S, CH4, CO2 and CO) in the cable trench is realized, the effective monitoring of the environment of the cable trench and the recording of environmental information are realized, and the problem of threatening personal safety is avoided.
The above description is only for the preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications made within the spirit of the present invention, equivalent replacements and improvements should be included in the scope of the present invention.
Claims (10)
1. The cable trench inspection robot system is characterized by comprising a robot body, wherein the robot body is in wireless communication connection with a base station upper computer, and the robot body sends real-time environment information in a cable trench to the base station upper computer, receives an instruction sent by the base station upper computer and executes the instruction;
a main controller is arranged in the robot body, a sensor unit is arranged at the bottom of the robot body, and the sensor unit is electrically connected with the main controller; the front end of the robot body is provided with an image acquisition unit which is electrically connected with the main controller;
the main controller comprises a CPU module, a power supply board card, an AD acquisition card and a relay control panel, wherein the power supply board card and the AD acquisition card are respectively electrically connected to the CPU module through a PC104 wire, and the relay control panel is electrically connected to the AD acquisition card through the PC104 wire.
2. The cable trench inspection robot system according to claim 1, wherein a wireless data transmission unit and a wireless image transmission unit are arranged inside the robot body, and the wireless data transmission unit and the wireless image transmission unit are in wireless communication connection with a base station upper computer respectively.
3. The cable trench inspection robot system according to claim 2, wherein the wireless data transmission unit is electrically connected to the main controller, and the wireless image transmission unit is electrically connected to the image acquisition unit.
4. The cable trench inspection robot system according to claim 2, wherein a 24V power supply and a 12V power supply conversion module are further arranged inside the robot body, the 24V power supply is electrically connected with the main controller and the 12V power supply conversion module respectively, and the 12V power supply conversion module is electrically connected with the wireless data transmission unit, the wireless image transmission unit and the image acquisition unit respectively.
5. The cable trench inspection robot system according to claim 1, wherein the image capture unit is electrically connected to a relay control board.
6. The cable trench inspection robot system according to claim 2, wherein the image acquisition unit comprises a micro ultra-clear camera, an infrared thermal imager and an industrial switch, the micro ultra-clear camera and the infrared thermal imager are electrically connected to the industrial switch respectively, and the industrial switch is connected to the wireless image transmission unit through an Ethernet.
7. The cable trench inspection robot system according to claim 1, wherein the robot body further comprises a power device, the power device comprises a front section motor and a rear section motor, and the front section motor and the rear section motor are respectively electrically connected to the CPU module; the robot is characterized in that a driving wheel and a driven wheel are arranged on the robot body, the driving wheel is connected to a power device, the power device drives the driving wheel to rotate, the outside of the driven wheel is meshed with the outside of the driving wheel, and the driving wheel and the outside of the driven wheel are meshed and connected with a crawler belt.
8. The cable trench inspection robot system according to claim 1, wherein the sensor unit comprises a first gas sensor, a second gas sensor, a third gas sensor, a fourth gas sensor and a temperature and humidity sensor, the first gas sensor, the second gas sensor, the third gas sensor and the fourth gas sensor are electrically connected to the AD acquisition card respectively, and the temperature and humidity sensor is connected to the CPU module through an RS485 serial port.
9. The cable trench inspection robot system according to claim 8, wherein the first gas sensor is a carbon dioxide gas sensor, the second gas sensor is a carbon dioxide gas sensor, the third gas sensor is a hydrogen sulfide gas sensor, and the fourth gas sensor is a methane gas sensor.
10. The cable trench inspection robot system according to claim 1, wherein the CPU module has a model number LX 3160; the type of the power supply board card is RTSP 0609; the model of the AD acquisition card is ADT 800; the relay control board is of the type IR 104.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022501152.3U CN213616681U (en) | 2020-11-02 | 2020-11-02 | Cable trench inspection robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022501152.3U CN213616681U (en) | 2020-11-02 | 2020-11-02 | Cable trench inspection robot system |
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| Publication Number | Publication Date |
|---|---|
| CN213616681U true CN213616681U (en) | 2021-07-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202022501152.3U Active CN213616681U (en) | 2020-11-02 | 2020-11-02 | Cable trench inspection robot system |
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| CN (1) | CN213616681U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114918952A (en) * | 2022-06-29 | 2022-08-19 | 苏州浪潮智能科技有限公司 | Machine room inspection robot |
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2020
- 2020-11-02 CN CN202022501152.3U patent/CN213616681U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114918952A (en) * | 2022-06-29 | 2022-08-19 | 苏州浪潮智能科技有限公司 | Machine room inspection robot |
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Address after: 518000 14 / F, building 13, qinchengda paradise, District 22, lingzhiyuan community, Xin'an street, Bao'an District, Shenzhen City, Guangdong Province Patentee after: Shenzhen grid Smart Energy Co.,Ltd. Address before: 518000 14 / F, building 13, qinchengda paradise, District 22, lingzhiyuan community, Xin'an street, Bao'an District, Shenzhen City, Guangdong Province Patentee before: Shenzhen lattice Electric Power Design Institute Co.,Ltd. |