CN220438784U - Control system of rail-hanging inspection robot - Google Patents
Control system of rail-hanging inspection robot Download PDFInfo
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- CN220438784U CN220438784U CN202322307824.0U CN202322307824U CN220438784U CN 220438784 U CN220438784 U CN 220438784U CN 202322307824 U CN202322307824 U CN 202322307824U CN 220438784 U CN220438784 U CN 220438784U
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- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 238000004891 communication Methods 0.000 claims abstract description 15
- 238000001931 thermography Methods 0.000 claims abstract description 15
- 238000005096 rolling process Methods 0.000 claims description 27
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Abstract
The utility model relates to the field of rail hanging inspection robots, in particular to a control system of a rail hanging inspection robot, which comprises a main control board, a power supply module, an automatic obstacle avoidance module, a rail hanging moving module, a video monitoring and environment monitoring module, a communication transmission module and an installation protection machine body module; the installation protection machine body module comprises an installation box body and a protection outer frame sleeved outside the installation box body; the main control board, the communication transmission module and the power supply module are arranged in the installation box body; the rail hanging moving module comprises a rail hanging driving mechanism and a moving control unit; the automatic obstacle avoidance module comprises sensing equipment and an anti-collision sensing component, and the sensing equipment and the anti-collision sensing component are connected with the main control board; the video monitoring and environment monitoring module is connected with the main control board and comprises a visible light camera, an infrared thermal imaging camera, a temperature sensor, a humidity sensor and a gas sensor. The control system with the structure has the advantages of multifunction, more intellectualization, and suitability for application in different environments in various fields.
Description
Technical Field
The utility model relates to the field of rail-hanging inspection robots 。
Background
Most of the current inspection modes of places such as exhibition halls, tunnels, coal bins and the like are based on manual security for inspection, the problems of false inspection and high false inspection probability exist in the manual inspection, and the inspected places cannot be monitored comprehensively and in real time; in addition, the manpower security needs to consume a large amount of manpower resources and is excessively complicated to manage, especially at night, the difficulty of the inspection task can be increased due to the limitation of lighting conditions, and even when special conditions occur, the personal safety of security personnel can be threatened.
At present, some inspection robots are used for replacing manpower, but most of inspection robots are systems which are required to be set for application, and most of inspection robots cannot be directly suitable for the inspection of the rail in different field environments, namely, the inspection robots are poor in universality and are not suitable for wide popularization in the market.
In view of the above, the inventor of the present application has improved the existing rail-mounted inspection robot system according to the characteristics required for the use in various fields.
Disclosure of Invention
The utility model aims to provide a control system of a rail-mounted inspection robot, which has the advantages of multifunction, more intelligentization, comprehensive inspection application and suitability for application in different environments in various fields 。
In order to achieve the above purpose, the technical scheme of the utility model is as follows: the control system of the rail-hanging inspection robot is characterized by comprising a main control board, a power supply module, an automatic obstacle avoidance module, a rail-hanging moving module, a video monitoring and environment monitoring module, a communication transmission module and an installation protection machine body module; the installation protection machine body module comprises an installation box body and a protection outer frame sleeved outside the installation box body; the main control board is arranged in the installation box body, and the power supply module is arranged in the installation box body and connected with the main control board to supply electric energy to each module; the communication transmission module is used for data transmission between each module and the handheld mobile equipment or the remote terminal equipment, is arranged in the installation box body, is connected with the main control board and is provided with a signal transmission end exposed out of the installation box body; the rail hanging moving module comprises a rail hanging driving mechanism which is installed and connected on the upper surface of the installation box body and a moving control unit which is installed and arranged in the installation box body and connected with a main control board to control the rail hanging driving mechanism; the automatic obstacle avoidance module comprises sensing equipment which is arranged on the mounting box body and provided with sensing working ends exposed out of the mounting box body corresponding to the front and rear directions of the robot, and an anti-collision sensing part which is arranged on the outer side wall of the mounting box body corresponding to the front and rear directions of the robot, wherein the sensing equipment and the anti-collision sensing part are connected with a main control board; the video monitoring and environment monitoring module is connected with the main control board and comprises a visible light camera, an infrared thermal imaging camera, a temperature sensor, a humidity sensor and a gas sensor which are connected and arranged on the lower surface or below the installation box body.
The rail hanging driving mechanism is a front group and a rear group of driving wheel groups which are independently rotated and are driven by independent motors and drivers, each driving wheel group comprises a driving wheel and a driven wheel which are respectively corresponding to two sides of a rail, the driving wheels of the two groups of driving wheel groups are arranged at different sides, and the driven wheels of the two groups of driving wheel groups are respectively connected with an incremental encoder.
The power module comprises a battery, an autonomous charging structure connected with the battery for charging and a coulombmeter connected with the battery and the main control board.
The protection outer frame corresponds sensing equipment, anticollision sensing part, communication transmission module's signal transmission end and visible light camera, infrared thermal imaging camera, temperature sensor, humidity transducer and gas sensor's position is hollow out construction, anticollision sensing part's outer end protrusion is in the outer lateral wall of protection outer frame homonymy, sensing equipment, communication transmission module's signal transmission end, temperature sensor, humidity transducer and gas sensor do not protrude in the outer lateral wall of protection outer frame homonymy respectively, visible light camera and infrared thermal imaging camera pass through the cloud platform mounting bracket and connect on the installation box and be connected with the main control board, visible light camera, infrared thermal imaging camera and the whole correspondence of cloud platform mounting bracket are in the outer outline region of protection outer frame's bottom surface orthographic projection.
The bottom surface of the protective outer frame is provided with a protective cover mechanism which can be automatically opened to correspondingly expose the temperature sensor, the humidity sensor and/or the gas sensor or cover the temperature sensor, the humidity sensor and/or the gas sensor.
The protection cover mechanism comprises a window frame corresponding to a temperature sensor, a humidity sensor and/or a gas sensor, sliding grooves correspondingly formed in two opposite side walls of the window frame, rolling rods respectively arranged at two ends of the sliding grooves corresponding to the inner sides of the window frame, a rolling curtain type cover plate with one side connected to one rolling rod and a miniature motor connected to two ends of the other rolling rod, wherein the miniature motor is controlled by a main control board.
By adopting the technical scheme, the utility model has the beneficial effects that: the control system of the rail-hanging inspection robot, which is arranged through the structure, has the functions of a high-strength structure body, stable and reliable driving, autonomous obstacle avoidance and collision prevention, remote transmission control, visual monitoring, environment detection, autonomous charging and the like, and the system structure is arranged to ensure that the system has high operation stability, intelligent performance, multi-mode selection operation and expansibility. The rail-hanging inspection robot adopting the control system with the structure has the advantages that compared with the traditional manual inspection robot, the degree of automation is greatly improved, the labor intensity of labor operators is also greatly reduced, meanwhile, the control system also improves the safety of robot production, and when an emergency is met, the system can warn efficiently and quickly, and personnel are prevented from danger.
Drawings
Fig. 1 and fig. 2 are schematic views of two different angle structures of a rail-mounted inspection robot according to the present utility model.
Fig. 3 is a block diagram of a control system of a rail-mounted inspection robot according to the present utility model.
Fig. 4 is a block diagram of a protective cover mechanism in a control system of a rail-mounted inspection robot according to the present utility model.
In the figure:
a main control board 1; a power supply module 2; a battery 21; an autonomous charging structure 22; a coulometer 23;
an automatic obstacle avoidance module 3; a sensing working end 311; a sensing device 31; a collision avoidance sensing component 32;
a rail-hanging moving module 4; a rail hanging driving mechanism 41; a motor 42; a driver 43;
a drive wheel 44; driven wheel 45; an incremental encoder 46;
the video monitoring and environment monitoring module 5; a visible light camera 51; an infrared thermal imaging camera 52;
a temperature sensor 53; a humidity sensor 54; a gas sensor 55; a cradle head mounting bracket 56;
a communication transmission module 6; a signal transmission terminal 61;
installing a protective body module 7; a mounting case 71; a protective outer frame 72; a window frame 721;
a chute 722; a scroll bar 723; a micro motor 724; a roller shutter cover 725; connecting rope 726 。
Detailed Description
In order to further explain the technical scheme of the utility model, the utility model is explained in detail by specific examples.
The control system of the rail-mounted inspection robot comprises a main control board 1, a power module 2, an automatic obstacle avoidance module 3, a rail-mounted moving module 4, a video monitoring and environment monitoring module 5, a communication transmission module 6 and an installation protection machine body module 7, wherein the structure of each module component and the connection relation of the module component of the control system are described in detail below with reference to the accompanying drawings.
The installation protection body module 7 comprises an installation box body 71 and a protection outer frame 72 sleeved outside the installation box body 71; the main control board 1 is disposed in the mounting box 71, the power module 2 is disposed in the mounting box 71 and is connected with the main control board 1 to supply electric energy to each module, and the main control board comprises a battery 21, an autonomous charging structure 22 connected with the battery 21 for charging, a coulombmeter 23 connected with the battery 21 and the main control board 1, and a power panel for distributing each power supply output voltage.
The communication transmission module 6 is used for data transmission between each module and the handheld mobile device or the remote terminal device, is arranged in the installation box 71, is connected with the main control board 1, is provided with a signal transmission end 61 exposed out of the installation box 71, can adopt a double-frequency wireless terminal AP, and can realize that real-time data of the robot is uploaded by a cradle head connected with the main control board 1 and a video monitoring and environment monitoring module 5 described below, and a command sent by a background can be executed to finish inspection to a specific point, change inspection tasks and the like, and can also remotely control the robot.
The rail hanging moving module 4 comprises a rail hanging driving mechanism 41 which is installed and connected on the upper surface of the installation box body 71 and a moving control unit 42 which is installed and arranged in the installation box body 71 and connected with the main control board 1 to control the rail hanging driving mechanism 41, the rail hanging driving mechanism 41 is a driving wheel set which is independently rotated by front and back groups and is provided with an independent motor 42 and a driver 43 for driving, the driving wheel set comprises a driving wheel 44 and a driven wheel 45 which are respectively corresponding to two sides of a rail, the driving wheels 44 of the two groups of driving wheel sets are arranged at different sides, and the driven wheels 45 of the two groups of driving wheel sets are respectively connected with an incremental encoder 46; the incremental encoder 46 can be an all-round shaft incremental encoder, the double independent driving design can enable the robot to have high maneuverability, the robot can realize bidirectional running and can obtain higher speed and climbing capacity, and the adoption of the incremental encoder 46 to reflect the condition of the motor 42 is beneficial to controlling the speed of the motor, so that the robot can run more stably and can reach the specified positions of a specified inspection point, a wireless charging point and the like of a track.
The automatic obstacle avoidance module 3 comprises a sensing device 31 which is arranged on the mounting box 71 and provided with a sensing working end 311 exposed out of the mounting box 71 corresponding to the front and the rear of the running of the robot and an anti-collision sensing component 32 which is arranged on the outer side wall of the mounting box 71 corresponding to the front and the rear of the running of the robot, wherein the sensing device 31 (such as an ultrasonic generator) and the anti-collision sensing component 32 (such as an anti-collision strip) are connected with the main control board 1; in the process of inspection, the robot may encounter an obstacle or an emergency, and when the robot runs forward or backward, if the ultrasonic module detects the obstacle, the robot can avoid the obstacle, and the anti-collision strip can effectively reduce damage caused by collision and sense collision signals.
The video monitoring and environment monitoring module 5 is connected with the main control board 1 and comprises a visible light camera 51, an infrared thermal imaging camera 52, a temperature sensor 53, a humidity sensor 54 and a gas sensor 55 which are connected and arranged on or below the lower surface of the mounting box 71; when the robot performs the inspection task, the data collected by the gas sensor 55, the temperature sensor 53 and the humidity sensor 54 and the monitoring video shot by the visible light camera 51 and the infrared thermal imaging camera 52 are uploaded to the monitoring platform in real time.
In order to achieve effective protection and avoid affecting the normal operation and application of each module, the positions of the protecting outer frame 72 corresponding to the sensing device 31, the anti-collision sensing component 32, the signal transmission end 61 of the communication transmission module 6, and the visible light camera 51, the infrared thermal imaging camera 52, the temperature sensor 53, the humidity sensor 54 and the gas sensor 55 are hollow structures, the outermost end of the anti-collision sensing component 32 protrudes out of the outermost side wall on the same side of the protecting outer frame 72, the signal transmission end 61 of the sensing device 31, the signal transmission end 61 of the communication transmission module 6, the temperature sensor 53, the humidity sensor 54 and the gas sensor 55 do not protrude out of the outer side wall on the same side of the protecting outer frame 72, the visible light camera 51 and the infrared thermal imaging camera 52 are connected to the mounting box 71 through the holder mounting bracket 56 and are connected to the main control board 1, and the visible light camera 51, the infrared thermal imaging camera 52 and the holder mounting bracket 56 are wholly corresponding to the front projection profile area on the bottom surface of the protecting outer frame 72.
In addition, the protective outer frame 72 of the present embodiment may further be provided with a structure for protecting the detecting device, because some devices need to be protected under different environments and different usage requirements, so that the devices can be used normally and the service life is prolonged, and maintenance operations are reduced, specifically, a protective cover mechanism capable of automatically opening the corresponding exposed temperature sensor 53, humidity sensor 54 and/or gas sensor 55 or covering the temperature sensor 53, humidity sensor 54 and/or gas sensor 55 is provided on the bottom surface of the protective outer frame 72, as shown in fig. 4. The protection cover mechanism comprises a window frame 721 corresponding to the temperature sensor 53, the humidity sensor 54 and/or the gas sensor 55, a sliding slot 722 correspondingly arranged on two opposite side walls of the window frame 721, rolling rods 723 respectively arranged on two ends of the sliding slot 722 corresponding to the inner side of the window frame 721, a rolling cover 725 respectively connected with a micro motor 724 and one side of the rolling cover 725 on one rolling rod 723, and two opposite side ends of the rolling cover 725 connected with one rolling rod 723 are respectively connected with two ends of the other rolling rod 723 through connecting ropes 726, wherein the micro motor 724 is controlled by the main control board 1, when the sensing devices are needed, the rolling cover 725 can be rolled by controlling the micro motor 724 connected with the rolling rod 723 connected with the side of the rolling cover 725, and because the opposite side edges of the rolling cover 725 are connected through the connecting ropes 726, the rolling cover 725 can only fully open the structure of the window frame 721, so that the corresponding sensing device is normally detected for use, and when the rolling cover is not needed, the motor connected with the other end of the rolling cover 725 is controlled to slowly pull the rolling cover the window frame 725 from the connecting ropes to the rolling cover the window frame 725, and the protection cover the window 725 can be fully detected.
Through the structural arrangement of the control system, the robot supports the routing inspection route, the routing inspection points, the routing inspection strategy and the routing inspection task to be customized; the robot supports functions of low-power autonomous return charge, comprehensive inspection in the inspection mode, personalized custom inspection, manual remote control detection and the like.
The above examples and drawings are not intended to limit the form or form of the present utility model, and any suitable variations or modifications thereof by those skilled in the art should be construed as not departing from the scope of the present utility model.
Claims (10)
1. The control system of the rail-hanging inspection robot is characterized by comprising a main control board, a power supply module, an automatic obstacle avoidance module, a rail-hanging moving module, a video monitoring and environment monitoring module, a communication transmission module and an installation protection machine body module; the installation protection machine body module comprises an installation box body and a protection outer frame sleeved outside the installation box body; the main control board is arranged in the installation box body, and the power supply module is arranged in the installation box body and connected with the main control board to supply electric energy to each module; the communication transmission module is used for data transmission between each module and the handheld mobile equipment or the remote terminal equipment, is arranged in the installation box body, is connected with the main control board and is provided with a signal transmission end exposed out of the installation box body; the rail hanging moving module comprises a rail hanging driving mechanism which is installed and connected on the upper surface of the installation box body and a moving control unit which is installed and arranged in the installation box body and connected with a main control board to control the rail hanging driving mechanism; the automatic obstacle avoidance module comprises sensing equipment which is arranged on the mounting box body and provided with sensing working ends exposed out of the mounting box body corresponding to the front and rear directions of the robot, and an anti-collision sensing part which is arranged on the outer side wall of the mounting box body corresponding to the front and rear directions of the robot, wherein the sensing equipment and the anti-collision sensing part are connected with a main control board; the video monitoring and environment monitoring module is connected with the main control board and comprises a visible light camera, an infrared thermal imaging camera, a temperature sensor, a humidity sensor and a gas sensor which are connected and arranged on the lower surface or below the installation box body.
2. The control system of the rail-mounted inspection robot according to claim 1, wherein the rail-mounted driving mechanism is a front driving wheel set and a rear driving wheel set which are independently rotated and are driven by independent motors and drivers, the driving wheel sets comprise driving wheels and driven wheels which are respectively corresponding to two sides of a rail, the driving wheels of the two driving wheel sets are arranged on different sides, and the driven wheels of the two driving wheel sets are respectively connected with an incremental encoder.
3. The control system of a rail-mounted inspection robot according to claim 1 or 2, wherein the positions of the protective outer frame corresponding to the sensing device, the anti-collision sensing component, the signal transmission end of the communication transmission module, and the visible light camera, the infrared thermal imaging camera, the temperature sensor, the humidity sensor and the gas sensor are hollow structures, the outermost end of the anti-collision sensing component protrudes out of the outermost side wall on the same side of the protective outer frame, the signal transmission end of the sensing device, the signal transmission end of the communication transmission module, the temperature sensor, the humidity sensor and the gas sensor do not protrude out of the outer side wall on the same side of the protective outer frame respectively, the visible light camera and the infrared thermal imaging camera are connected to the installation box through the holder installation frame and are connected with the main control board, and the visible light camera, the infrared thermal imaging camera and the holder installation frame are entirely corresponding to the bottom surface front projection outer contour area of the protective outer frame.
4. The control system of a track-mounted inspection robot of claim 1 or 2, wherein the power module comprises a battery, an autonomous charging structure connected to the battery for charging, and a coulombmeter connected to the battery and the main control board.
5. A control system for a track-mounted inspection robot as claimed in claim 3, wherein the power module comprises a battery, an autonomous charging structure connected to the battery for charging, and a coulombmeter connected to the battery and the main control board.
6. The control system of a rail-mounted inspection robot according to claim 1 or 2, wherein a protective cover mechanism capable of automatically opening or covering the exposed temperature sensor, the humidity sensor and/or the gas sensor is provided on the bottom surface of the protective outer frame.
7. The control system of a rail-mounted inspection robot according to claim 6, wherein the protective cover mechanism comprises a window frame corresponding to a temperature sensor, a humidity sensor and/or a gas sensor, sliding grooves correspondingly formed on two opposite side walls of the window frame, rolling rods respectively arranged at two ends of the sliding grooves corresponding to the inner sides of the window frame, rolling cover plates with a miniature motor and a side connected to one of the rolling rods respectively connected to the ends of the two rolling rods, and two ends of the opposite side of the rolling cover plate connected to one of the rolling rods are connected to two ends of the other rolling rod respectively through connecting ropes, wherein the miniature motor is controlled by the main control board.
8. A control system of a rail-mounted inspection robot according to claim 3, wherein a protective cover mechanism capable of automatically opening or covering the exposed temperature sensor, the humidity sensor and/or the gas sensor is provided on the bottom surface of the protective outer frame.
9. The system of claim 4, wherein the bottom surface of the protective outer frame is provided with a protective cover mechanism which can automatically open or cover the temperature sensor, the humidity sensor and/or the gas sensor correspondingly.
10. The control system of a rail-mounted inspection robot according to claim 5, wherein a protective cover mechanism capable of automatically opening or covering the exposed temperature sensor, the humidity sensor and/or the gas sensor is provided on the bottom surface of the protective outer frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322307824.0U CN220438784U (en) | 2023-08-25 | 2023-08-25 | Control system of rail-hanging inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322307824.0U CN220438784U (en) | 2023-08-25 | 2023-08-25 | Control system of rail-hanging inspection robot |
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| Publication Number | Publication Date |
|---|---|
| CN220438784U true CN220438784U (en) | 2024-02-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322307824.0U Active CN220438784U (en) | 2023-08-25 | 2023-08-25 | Control system of rail-hanging inspection robot |
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| Country | Link |
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| CN (1) | CN220438784U (en) |
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2023
- 2023-08-25 CN CN202322307824.0U patent/CN220438784U/en active Active
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