KR101452333B1 - Apparatus for coating cable using movable robot - Google Patents

Abstract

Disclosed is an apparatus for coating paint on a surface of a cable using a mobile robot equipped with a dispensing unit. The apparatus comprises: a mobile robot movably installed on the cable so that the cable passes through the inside in the longitudinal direction; And a portable terminal for controlling the mobile robot through wireless communication and receiving data from the mobile robot, wherein the mobile robot includes a dispensing unit for coating the surface of the cable with a paint.

Description

Technical Field [0001] The present invention relates to a cable coating apparatus using a mobile robot,

TECHNICAL FIELD The present invention relates to a cable coating apparatus, and more particularly to a technique for coating a surface of a cable using a mobile robot equipped with a dispensing unit.

Long-span bridges generally refer to long-span cable bridges that are constructed to connect land, islands, islands and islands with high-strength cables, such as cable-stayed bridges and suspension bridges. Bridges that require breakthrough technology or separate design criteria beyond the limit are generally defined as bridges with a suspension bridge of 2,000 m and a cable-stayed bridge of 1,000 m or more.

The economic and industrial ripple effects of the construction of the ultra-long bridges show that transportation costs are reduced due to reduction of travel time and driving expenses, which leads to a change in logistics and flow structure, It is accompanied by a socio-economic change and becomes a landmark symbolizing a country or a region.

However, as the economic and industrial ripple effects of bridges as social infrastructures, the collapse of bridges can lead to socio-economic astronomical damage, and restoring them also requires resources and time.

Especially, cable, which is the main member of super long bridges, cracks on the cable surface due to external factors such as climate and environment, which is a major factor in shortening the lifetime of bridges.

Therefore, it is important to properly coat the surface of the cable before or after the cracks on the surface of the cable occur, so that cracks do not occur or cracks no longer develop.

However, due to the problem of positional accessibility and safety of suspension bridges and cable-stayed bridges that are in common use, there is a problem that the coating of the cable surface by the operator is very dangerous, have.

Therefore, it is urgently required to develop an intelligent cable coating device that can solve the accessibility of suspension bridges and cable-stayed bridge cable coatings, reduce the reliability of coatings, reduce time and financial costs, and automate the maintenance and management of bridges. .

Accordingly, it is an object of the present invention to provide a cable coating apparatus that is easy to positionally access a cable of a common cable bridge and is safe.

Another object of the present invention is to provide a cable coating apparatus capable of objective and reliable coating and shortening the working time.

The above object is achieved by a mobile robot provided so as to be movable on the cable so that the cable penetrates the inside in the longitudinal direction; And a mobile terminal for controlling the mobile robot through wireless communication and receiving data from the mobile robot, wherein the mobile robot includes a dispenser unit for coating the surface of the cable with paint. This is achieved by a cable coating apparatus using a robot.

Preferably, the mobile robot includes: a body having a through hole through which the cable is inserted, the body being formed in the longitudinal direction; A photographing unit for photographing a coating state of the surface of the cable; A body drive unit coupled to the body to contact the surface of the cable to move the body relative to the cable; And a control unit detachably coupled to a lower portion of the main body.

Preferably, the photographing unit comprises a support bracket coupled to the main body, and a camera attached to an end of the support bracket.

Preferably, the dispensing unit includes: a ring-shaped dispenser that surrounds and surrounds the surface of the cable at a predetermined interval; A spacing member provided at least one end of the dispenser; And a connection rod connecting the dispenser to the main body.

Preferably, the body drive unit includes: a housing in which a motor and an electromagnetic brake are housed; A bracket coupled to a front surface of the housing; A pair of pulleys connected to the motor shaft of the motor on both sides by a timing belt to receive power; And a traveling wheel rotatably supported on the bracket and axially coupled with the pulley.

Preferably, the cable supporting unit further comprises a cable supporting unit coupled to the main body so as to correspond to the main body driving unit to support the cable in contact with the surface of the cable, the cable supporting unit comprising: a body; A bracket projecting on both sides of the upper surface of the body; A wheel rotatably supported on the bracket; A slider protruding from a lower surface of the body at a position corresponding to the wheel; And a support post having one end fixed to the main body and the other end coupled to a lower surface of the body through a spring, between the slider.

Preferably, the mobile robot further includes a movement distance measuring unit for measuring a distance traveled by the mobile robot relative to the cable, wherein the movement distance measuring unit includes: a 'U' shaped bracket fixed to a rear end plate of the main body; A pair of support bars installed inside the bracket; A body slidably fitted on the support bar via a spring; A wheel rotatably mounted on the body; And an encoder axially coupled to the wheel.

Preferably, the control unit includes: a main control unit for controlling the main body driving unit in accordance with an instruction from the portable terminal and incorporating a control program algorithm; A LAN switch which is connected to the photographing unit and the dispensing unit and receives image data from the photographing unit under the control of the main control unit so that the dispensing unit is controlled; A motor driver for applying or cutting off power to the motor of the main body drive unit under the control of the main control unit and controlling the operation of the electromagnetic brake; A power supply unit that receives power and supplies the power to the mobile robot; And a battery charging and controlling unit charging the battery with the input power source and replacing the power charged in the battery with the input power under the control of the main control unit.

Preferably, the electrostatic charge detecting sensor senses whether the power supplied to the mobile robot is static electricity. And a horizontal detection sensor for detecting a horizontal angle of the main body.

Preferably, the mobile terminal is provided with a mobile robot control program for controlling driving of the mobile robot, and the mobile robot control program comprises a connection unit, a display unit, an operation unit, and a network status display unit.

Preferably, the connection unit selectively performs re-connection with the mobile robot or termination of connection, and the display unit displays the traveling speed, the moving distance, and the tilt information of the mobile robot, and the control unit controls the mobile robot A numerical value for the operator is inputted from the operator.

Preferably, the operation unit includes: a section repetition setting unit that sets a repetition period of the travel of the mobile robot; A designated position setting unit for setting a distance to move based on a current position of the mobile robot; A speed setting unit for setting a speed at which the mobile robot moves; A repetition number setting unit that specifies a number of times the mobile robot repeats the traveling in the set interval; An operation button unit for operating the operation of the mobile robot with a button; And a movement distance initialization unit for initializing the measured and accumulated movement distance.

According to the above configuration, there is an advantage that the positional approach for coating the surface of the cable of the cable bridge in common is easy and safe.

In addition, the coating can be made objectively and reliably and the working time can be shortened.

1 is a configuration diagram showing a cable coating apparatus according to an embodiment of the present invention.
2 is a rendering model illustrating a mobile robot according to the present invention.
3 is a perspective view showing an embodiment of a body applied to the present invention.
4 is a perspective view showing a main body driving unit applied to an embodiment of the present invention.
5 shows an example of a cable supporting unit applied to an embodiment of the present invention.
6 shows an example of a moving distance measuring unit applied to the present invention.
Fig. 7 shows a dispensing unit according to the present invention.
8 is a block diagram showing a functional configuration of a control interface applied to the present invention.
9 is a screen interface showing functions of a mobile robot control program installed in the portable terminal.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a configuration diagram showing a cable coating apparatus according to an embodiment of the present invention.

The cable coating apparatus includes a mobile robot 1000 installed to be movable on a cable 10 so that a cable 10 penetrates the inside of the cable 10, a mobile robot 1000 through wireless communication and receives data from the mobile robot 1000 And a network interface 3000 for bidirectional wireless communication between the mobile robot 1000 and the portable terminal 2000, for example, a wireless access point.

The mobile robot 1000 includes a photographing unit 200 for photographing the application state of the surface of the cable 10 and a dispensing unit 300 for coating the surface of the cable 10.

According to this structure, since the mobile robot 1000 moves in combination with a cable of a common cable bridge, it can be easily and safely positioned for coating, can be coated objectively and reliably, and can shorten the working time have.

Hereinafter, each component constituting the cable coating apparatus of the present invention will be described in detail.

FIG. 2 is a rendering model showing a mobile robot according to the present invention, and FIG. 3 is a perspective view showing an embodiment of a main body applied to the present invention.

2, a photographing unit 200 is installed on an end face (hereinafter, referred to as a rear face) of the main body 100 in a direction opposite to the direction in which the main body 100 moves, a movement distance measuring unit 150 is installed on the front face, And the dispensing unit 300 is connected to the front side through the connecting rod 350.

When the dispensing unit 300 is connected to the dispensing unit 300 through the connection rod 350, the dispensing unit 300 can be easily separated from the mobile robot 1000 when the frequently used dispensing unit 300 is repaired or replaced.

A control unit 400 is provided below the main body 100 and an antenna 450 is attached to a lower portion of the control unit 400 through a connection bar 452. The main body 100, So that the rotation of the main body 100 fitted to the cable 10 is minimized.

In the main body 100,

The main body 100 includes a pair of side plates 102 which are folded at regular intervals along the longitudinal direction so as to form a polygonal shape and a pair of end plates 103, 104).

A hinge 106 is provided on one side of the side plates 102 that are in contact with each other, and the side plates 102 are pivotally coupled and the other is engaged and fixed.

The side plate 102 is provided with a plurality of holes of various sizes for installing an instrument and for inserting and receiving wires and control lines.

Each of the end plates 103 and 104 has a shape corresponding to the polygon formed by the side plate 102 and is engaged or disengaged from each other by the locking device 108 at one end. Through the engagement of the end plates 103 and 104, a through hole 105 is formed at the center thereof, and the cable 10 is inserted along the through hole 105 as described above.

A storage space 101 is formed in the main body 100 so that the main body drive unit 110 and the cable support unit 120 are accommodated.

2, a photographing unit 200, a control unit 400, and a moving distance measuring unit 150 are directly attached, and the dispensing unit 300 is attached to the main body 100, .

The photographing unit 200,

The photographing unit 200 includes a support bracket 220 coupled to the front surface of the main body 100 and a camera 210 attached to an end of the support bracket 220.

In this embodiment, three support brackets 220 are provided on the front surface of the main body 100. The support brackets 220 are installed on the front surface of the main body 100, 120 degrees apart.

As described above, each camera 210 captures an image of an assigned portion of the surface of the cable 10 and transmits it to the control unit 400.

The camera 210 is basically based on capturing a moving image, and can be photographed, for example, at a resolution of 640 x 480 and a frame rate of 30 fps. On the other hand, if the size of the transmitted image and the moving speed of the main body 100 are taken into consideration, the continuous high resolution still image can be sufficiently performed.

Body drive unit 110,

The main body driving unit 110 is a unit that literally drives the main body 100 with respect to the cable 10. In the embodiment of the present invention, particularly, the main body 100 is driven by motor control, but the present invention is not limited thereto.

4 is a perspective view showing a main body driving unit 110 applied to an embodiment of the present invention.

The main body driving unit 110 includes a housing 112 housed in a motor (not shown), a bracket 117 coupled to the front surface of the housing 112, and a pair of timing belts 115 and 115a A pair of pulleys 114 and 114a coupled to both sides of the bracket 117 to receive power and a traveling wheel 116 and 116a rotatably supported on the bracket 117 and axially coupled to the pulleys 114 and 114a .

Although not shown, an electromagnetic brake is provided in the housing 112 so that the brake is operated when the power is off and the brake is released when the power is on.

4, the body drive unit 110 is installed at symmetrical positions on both sides of the main body 100 such that the wheels 116 and 116a press the cable 10 on both sides of the upper portion of the cable 10 And the center of gravity is downwardly directed downward, thereby minimizing the rotation of the main body 100.

The wheels 116 and 116a of the main body driving unit 110 come into contact with the surface of the cable 10 inside the main body 100 and are made of a urethane elastic rubber Can be applied. It is also possible to make the curvatures of the wheels 116 and 116a correspond to the curvature of the cable 10 in order to maximize the adhesion between the wheels 116 and 116a and the surface of the cable 10. [

The driving force of the motor can be accurately transmitted by connecting the motor shaft 113 and the pair of pulleys 114 and 114a with the timing belts 115 and 115a. The timing belts 115 and 115a are, for example, It can be made of urethane material.

The cable support unit (120)

The body drive unit 110 is installed at symmetrical positions on both sides of the main body 100 such that the wheels 116 and 116a press the cable 10 on both sides of the upper portion of the cable 10. [

The cable supporting unit 120 for supporting the cable 10 is provided at a position corresponding to the wheels 116 and 116a of the main body driving unit 110, that is, at both lower portions of the cable 10. [

5 shows an example of a cable supporting unit 120 applied to an embodiment of the present invention.

The cable supporting unit 120 includes a body 121, brackets 123 and 123a protruding from both sides of the upper surface of the body 121, wheels 124 and 124a rotatably supported by the brackets 123 and 123a, And sliders 122 and 122a protruding from the lower surface of the housing 121 at positions corresponding to the wheels 124 and 124a, respectively.

The cable supporting unit 120 is installed on the side plate 102 of the main body 100. The sliders 122 and 122a are slidably engaged with the side plate 102 and the supporting posts 125 are fixed at one end and the other end is fitted in a groove (not shown) formed in the lower surface of the body 121 in a state where the spring 126 is fitted.

Therefore, when an obstacle protruding from the surface of the cable 10 is encountered, when the wheels 124 and 124a are pressed by the obstacle, the sliders 122 and 122a are slid and the body 121 presses the spring 126 As the spring 126 absorbs the pressing force due to the obstacle, the wheels 124 and 124a return to their original positions due to the elastic restoring force of the spring 126 while gently overcoming the obstacle.

The moving distance measuring unit 150

6 shows an example of the movement distance measurement unit 150 applied to the present invention.

The moving distance measuring unit 150 is a unit for measuring the distance traveled by the mobile robot 1000 with respect to the cable 10.

6, the movement distance measuring unit 150 includes a bracket 151 having a "C" shape fixed to the rear end plate of the main body 100, a pair of support bars A body 154 slidably fitted to the support bars 152 and 152a via springs 153 and 153a; wheels 155 rotatably installed on the upper surface of the body 154; And an encoder 156 which is axially coupled to the wheel 155.

According to this configuration, the wheel 155 rotates in contact with the surface of the cable 10, and the encoder 156 axially coupled to the wheel 155 as it rotates calculates the movement distance based on the rotation angle.

Since the body 154 is slidably fitted to the support bars 152 and 152a via the springs 153 and 153a, even if an obstacle is attached to the surface of the cable 10 like the cable support unit 120 You can move smoothly.

In the dispensing unit 300,

Fig. 7 shows a dispensing unit 300 applied to the present invention.

The dispensing unit 300 includes a ring-shaped dispenser 320 that surrounds and surrounds the surface of the cable 10 at a predetermined distance, a gap holding member 340 that is installed at at least one end of the dispenser 320, And connecting rods 350 and 352 for connecting the main body 100 to the main body 100.

A plurality of nozzles (not shown) are formed on the inner surface of the dispenser 320, that is, the surface facing the surface of the cable 10, so that the paint supplied from the paint storage installed in the control unit 400 is sprayed from the nozzles.

The spacing members 330 are composed of four identical modules arranged at a plurality of spaced intervals, in this example 90 degrees apart, but are not limited thereto. Each module is inserted into a support bar 342 via a bracket 341 fixed to the body 320, a support bar 342 provided inside the bracket 341 and a spring 343, A supporting wheel bracket 345 for supporting the wheel, and a wheel 344 for contacting the surface of the cable 10.

With this structure, the surfaces of the dispenser 320 and the cable 10 can be always kept constant by the wheels 344 so that the paint can be uniformly coated on the surface of the cable 10, Even if an obstacle is adhered to the surface of the spring 343.

The connecting rods 350 and 352 can absorb a shock applied to the dispensing unit 300 by the inertia force of the main body 100, for example, by applying a cylinder structure.

The control unit (400)

Referring to Fig. 8, the control unit 400 is fixed to the inside of the cradle 130 coupled to the lower portion of the main body 100, for example, in a box shape.

A power line and a control line 451 are connected to a lower portion of the control unit 400 through an input and output port and an antenna 450 is connected to a lower portion of the cradle 130 through a connection bar 452.

In the control unit 400, as described above, a paint storage in which paints are stored and a control interface for controlling the mobile robot 1000 and communicating with the portable terminal 2000 are mounted on a printed circuit board Respectively.

8 is a block diagram showing a functional configuration of a control interface applied to the present invention.

The main control unit 401 controls the main body drive unit 110, the movement distance measurement unit 150, the electronic brake 118, the horizontal detection sensor 440 and the electrostatic detection sensor 472 in accordance with an instruction from the portable terminal 2000 ), And incorporates a control program algorithm.

The photographing unit 200 and the dispensing unit 300 are connected to the LAN switch 410 and the image data received under the control of the main control unit 401 is transmitted from the antenna 450 through the RF module 430.

The LAN switch adapter 412 converts the input power into an appropriate power for the LAN switch 410 and supplies the power.

Similarly, the camera adapter 420 converts the input power into a power suitable for the camera 210 and supplies the same.

The main control unit 401 controls the motor driver 480 to apply or cut off power to the motor of the main body drive unit 110 and to control the operation of the electromagnetic brake 118. [

The power input to the mobile robot 2000 may be 220 V, for example, and is applied to the power supply unit 470.

It is preferable that the power source is supplied through a power line of one line to simplify the wire exposed to the outside. For example, a plurality of rings slidably fitted to the cable 10 are fixed to the power line at regular intervals, The cable 10 can be always adjacent to the cable 10.

A battery 462 is accommodated in the control unit 400 and the battery 462 is charged using a power source inputted by the battery charging and control unit 460. The battery charging and controlling unit 460 is controlled by the main control unit 401 and controls the main control unit 401 to use the battery 462 as a power source when a power failure occurs.

On the other hand, the power output from the battery 462 is converted into AC through the DC-AC inverter 464 and supplied to the power switch 466 so as to be input to the power source for driving the motor driver 480.

The electrostatic charge sensor 472 is attached to the power supply unit 470 and the detection signal is amplified through the amplifier 474 and transmitted to the main control unit 401.

The horizontal detection sensor 440 senses whether the main body 100 is inclined to a predetermined angle or more with respect to the horizontal and outputs a signal. The output signal is amplified by the amplifier 444 and output from the A / D converter 446 to the digital Signal to be transmitted to the main control unit 401.

On the other hand, the portable terminal 2000 is provided with a control program for controlling the mobile robot 1000.

9 is a screen interface showing the functions of the mobile robot control program installed in the portable terminal 2000. As shown in Fig.

Referring to FIG. 9, the screen interface is divided into a connection unit 20, a display unit 30, an operation unit 40, and a network status display unit 50.

The connection unit (20) selectively performs reconnection with the mobile robot (1000) or termination of connection.

The main control unit 401 of the mobile robot 1000 receiving the command stops the operation of the main body driving unit 110 to stop the wireless communication with the mobile terminal 2000 And stop any functions including.

If the reconnection is selected, the wireless communication with the mobile robot 1000 is resumed after the existing connection is released to initiate communication.

The display unit 30 displays the traveling speed, moving distance, and tilt information of the mobile robot 1000.

More specifically, the main control unit 401 of the mobile robot 1000 receives the rotational speed information of the motor from the motor driver 480, receives the moving distance information from the moving distance measuring unit 150, The control program of the portable terminal 2000 displays this information on the display unit 30. The control program of the portable terminal 2000 displays the control program of the portable terminal 2000 on the display unit 30. [

9, it can be seen that the traveling speed is 30 Hz, the moving distance is 1,454 m, and the slope is -2.13.

The operation unit 40 receives a numerical value for controlling the mobile robot 1000 from the operator.

The section repetition setting section 41 sets a section for repeating travel of the mobile robot 1000, and the rear position is indicated by (-) and the forward position is indicated by (+) based on the current position.

The designated position setting unit 42 sets a distance in meters to be moved on the basis of the current position of the mobile robot 1000, and the mobile robot 1000 moves by a set distance and stops.

Here, the control of the moving distance of the mobile robot 1000 can be performed by, for example, receiving the distance value at a predetermined interval from the mobile robot 1000, and comparing the distance value with the set value to advance or backward.

The speed setting unit 43 sets the speed at which the mobile robot 1000 moves, and may be displayed in the form of a slide bar, for example.

The repetition number setting unit 44 specifies the number of times that the mobile robot 1000 repeats traveling in the set interval, and may be separately checked in the case of infinite repetition.

The operation button unit 45 operates the operation of the mobile robot 1000 with a button, for example, may include stop, advance and reverse, and movement to the first and last positions.

The movement distance initialization unit 46 initializes the measured movement distance to enable measurement of a new movement distance.

The network status display unit 50 checks and displays the current communication status. For example, green may indicate a normal status and red may indicate an abnormal status.

Hereinafter, the operation of the cable coating apparatus of the present invention will be described with reference to Figs.

When the mobile robot control program installed in the portable terminal 2000 is driven, the control program checks the communication state with the mobile robot 1000. [

When normal communication is established, packets are transmitted to the mobile robot 1000 together with the parameters set in the screen interface of FIG. 9, for example, the traveling speed, the designated position,

The main control unit 401 of the control unit 400 of the mobile robot 1000 receives the command from the portable terminal 2000 and controls the main body drive unit 110 so that the main body 100 travels along the cable 10 do.

The main control unit 401 operates the dispensing unit 300 to control the dispenser 330 to spray the paint on the surface of the cable 10 and drives the photographing unit 200 so that the camera 210 The surface of the cable 10 is photographed, and a state in which the coating material is coated is photographed to transfer the image.

The main control unit 401 receives the measurement data from the movement distance measurement unit 150, receives the detection signal from the electrostatic detection sensor 472, and receives the tilt data from the horizontal detection sensor 440.

When the main control unit 401 transmits the measurement data received from the movement distance measurement unit 150 and the tilt data received from the horizontal detection sensor 440 to the portable terminal 2000, And is displayed on the display unit 30.

When the received tilt data is larger than the reference data, the tilt can be adjusted by individually controlling a pair of body drive units 110 provided symmetrically on both sides of the main body 100. For example, the driving of either one of the motors can be stopped and the other motor can be driven to adjust the tilt.

The main control unit 401 controls the battery charging and control unit 460 to switch the power source of the battery 462 to the input power source, For example, by stopping the main body driving unit 110 and then waiting for a command from the portable terminal 2000 or performing the function as it is, transmits the detection of the blackout to the portable terminal 2000. [

On the other hand, the main control unit 401 periodically checks the communication state with the portable terminal 2000. When it detects that the communication state is abnormal, the main control unit 401 stops the main body driving unit 110 for a predetermined period according to a predetermined process, If the process is repeated a predetermined number of times, the process of returning to the initial position can be performed.

In the above description, the mobile robot 1000 is assumed to be in an abnormal situation. However, the present invention is not limited to this, and the robot 1000 can be handled in other ways.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. Accordingly, the scope of the present invention should not be construed as being limited to the embodiments described above, but should be construed in accordance with the following claims.

10: Cable
100:
110: body drive unit
120: Cable support unit
130: Cradle
150: Moving distance measuring device
200: shooting unit
300; Dispensing unit
400: control unit
452: Connection bar
450: antenna

Claims (12)

A mobile robot movably installed on the cable so that the cable passes through the inside in the longitudinal direction; And
And a portable terminal for controlling the mobile robot through wireless communication and receiving data from the mobile robot,
Wherein the mobile robot includes a dispensing unit for coating a surface of the cable with paint,
Wherein the portable terminal is provided with a mobile robot control program that controls driving of the mobile robot and includes a connection unit, a display unit, an operation unit, and a network status display unit. The method according to claim 1,
The mobile robot includes:
A body having a through hole through which the cable is inserted, the body being formed in the longitudinal direction;
A photographing unit for photographing a coating state of the surface of the cable;
A body drive unit coupled to the body to contact the surface of the cable to move the body relative to the cable; And
And a control unit detachably coupled to a lower portion of the main body. The method of claim 2,
Wherein the photographing unit comprises a support bracket coupled to the main body and a camera attached to an end of the support bracket. The method of claim 2,
The dispensing unit may include:
A ring-shaped dispenser spaced apart from the surface of the cable at a predetermined interval;
A spacing member provided at least one end of the dispenser; And
And a connection rod connecting the dispenser to the main body. The method of claim 2,
The main body driving unit includes:
A housing in which a motor and an electromagnetic brake are accommodated;
A bracket coupled to a front surface of the housing;
A pair of pulleys connected to the motor shaft of the motor on both sides by a timing belt to receive power; And
And a traveling wheel rotatably supported on the bracket and axially coupled with the pulley. A mobile robot movably installed on the cable so that the cable passes through the inside in the longitudinal direction and having a dispensing unit for coating the surface of the cable with paint;
A mobile terminal for controlling the mobile robot through wireless communication and receiving data from the mobile robot; And
And a cable support unit for supporting the cable in contact with the surface of the cable,
The cable supporting unit includes:
Body;
A bracket projecting on both sides of the upper surface of the body;
A wheel rotatably supported on the bracket;
A slider protruding from a lower surface of the body at a position corresponding to the wheel; And
And a support post having one end fixed to the mobile robot and the other end engaged with a lower surface of the body through a spring between the sliders. A mobile robot movably installed on the cable so that the cable passes through the inside in the longitudinal direction and having a dispensing unit for coating the surface of the cable with paint;
A mobile terminal for controlling the mobile robot through wireless communication and receiving data from the mobile robot; And
And a movement distance measurement unit for measuring a distance traveled by the mobile robot relative to the cable,
Wherein the moving distance measuring unit comprises:
A '''shaped bracket fixed to a rear end plate of the mobile robot;
A pair of support bars installed inside the bracket;
A body slidably fitted on the support bar via a spring;
A wheel rotatably mounted on the body; And
And an encoder which is axially coupled to the wheel. A mobile robot movably installed on the cable so that the cable passes through the inside in the longitudinal direction and having a dispensing unit for coating the surface of the cable with paint; And
And a portable terminal for controlling the mobile robot through wireless communication and receiving data from the mobile robot,
The mobile robot includes:
A main body driving unit which is connected to the main body and contacts the surface of the cable to move the main body with respect to the cable; and a detachable coupling unit And a control unit
Wherein the control unit comprises:
A main control unit for controlling the main body driving unit according to an instruction from the portable terminal and incorporating a control program algorithm;
A LAN switch connected to the photographing unit and the dispensing unit and receiving image data from the photographing unit under the control of the main control unit and allowing the dispensing unit to be controlled;
A motor driver for applying or disconnecting power to the motor of the main body drive unit under the control of the main control unit and controlling the operation of the electromagnetic brake of the main body drive unit;
A power supply unit that receives power and supplies the power to the mobile robot; And
And a battery charging and controlling unit charging the battery with the input power source and replacing the power charged in the battery with the input power under the control of the main control unit. A mobile robot movably installed on the cable so that the cable passes through the inside in the longitudinal direction and having a dispensing unit for coating the surface of the cable with paint; And
And a portable terminal for controlling the mobile robot through wireless communication and receiving data from the mobile robot,
The mobile robot includes:
An electrostatic sensor for sensing whether the power supplied to the mobile robot is static electricity; And
And a horizontal sensor for detecting the horizontal angle of the mobile robot. delete The method according to claim 1,
Wherein the connection unit selectively performs reconnection with the mobile robot or termination of connection,
The display unit displays driving speed, moving distance, and tilt information of the mobile robot,
Wherein the operation unit receives a numerical value for controlling the mobile robot from an operator. The method of claim 11,
Wherein,
A section repetition setting unit for setting a repetition period of the traveling of the mobile robot;
A designated position setting unit for setting a distance to move based on a current position of the mobile robot;
A speed setting unit for setting a speed at which the mobile robot moves;
A repetition number setting unit that specifies a number of times the mobile robot repeats the traveling in the set interval;
An operation button unit for operating the operation of the mobile robot with a button; And
And a movement distance initialization unit for initializing the measured movement distance.

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