CN105487507A - Intelligent pipe network system bases on railway robot - Google Patents
Intelligent pipe network system bases on railway robot Download PDFInfo
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- CN105487507A CN105487507A CN201510844114.9A CN201510844114A CN105487507A CN 105487507 A CN105487507 A CN 105487507A CN 201510844114 A CN201510844114 A CN 201510844114A CN 105487507 A CN105487507 A CN 105487507A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4185—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the network communication
- G05B19/41855—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the network communication by local area network [LAN], network structure
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/31—From computer integrated manufacturing till monitoring
- G05B2219/31011—Communication network identical to transport network
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/31—From computer integrated manufacturing till monitoring
- G05B2219/31022—Planner and coordinator, decision and direct control level
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/31—From computer integrated manufacturing till monitoring
- G05B2219/31158—Wan wide area network
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/31—From computer integrated manufacturing till monitoring
- G05B2219/31205—Remote transmission of measured values from site, local to host
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Abstract
The invention is suitable for the field of pipe network municipal management and provides an intelligent pipe network system based on a railway robot. The intelligent pipe network system comprises shuttling railways, a mobile robot, a robot docking station and a control and data interaction platform. The shuttling railways are fixedly arranged in cabins of a comprehensive pipeline corridor, paved along the axis direction of the comprehensive pipeline corridor and pass through a fireproof door; the railway robot can movably and fixedly arranged on the shuttling railways, and is used for patrolling conditions in the comprehensive pipeline corridor and repairing the fault; the robot docking station provides charging, is used for assembly and establishing work, and serves as a communication relay for enabling the control and data interaction platform and the robot to be communicated; and the control and data interaction platform is used for carrying out analysis and storage on the received data, providing search and display service, and sending instruction data for executing the task to the mobile robot. The intelligent pipe network system, compared with an intelligent pipe network adopting a sensor fixed-point layout mode, has the advantages of simple maintenance, low operation cost and wide detection range, and can carry out safety patrol inspection instead of workers.
Description
Technical field
The invention belongs to pipe network municipal administration technical field, particularly relate to a kind of wisdom pipe network system based on track machine people.
Background technology
City's underground pipeline pipe gallery is " common trench " again, refers to that ground, underground or built on stilts all kinds of public class pipeline are concentrated is contained in one by being arranged on, and leaves the tunnel structure for maintainer's walking passageway.Namely a tunnel space is built at Urban Underground, the various pipelines such as municipal administration, electric power, communication, combustion gas, plumbing are integrated in one, be provided with special access hole, hoisting port and monitoring system, implement unified planning, design, Construction and management, thoroughly change that each pipeline is in the past built separately, the messy situation of each Self management.When each pipeline needs to open, only need notify relevant responsible organization, connect interface, both be convenient to repair, and in turn saved the resource of country.
Patrolling and examining of current pipe gallery has come by people, enters pipe gallery by workman, along pipe gallery walking, adopts the mode of range estimation to patrol and examine pipe gallery.This routine inspection mode is adopted to have following shortcoming: one, people depends on workman's experience and sense of responsibility, careful degree for patrolling and examining Detection job; Two, along with human cost promotes, this repeated scissors and paste is difficult to recruit; Three, people is difficult to detect the potential safety hazards such as hazardous gas exceeds standard, local overheating; Four once have an accident, and people is difficult to the very first time and reaches the spot, even if the very first time arrives the scene of the accident, also can emit huge life danger.
People is replaced to make an inspection tour with robot, then can avoid the difficult problem in a lot of manual inspection process, and robot arrival assigned address can be allocated at any time, can carry out detecting and making an inspection tour when whether the unknown has dangerous situation, therefore adopt robot to enter integrated pipe exterior feature and carry out patrolling and examining and slowly can substitute patrolling and examining of people.
For the security monitoring in pipe gallery cabin, adopt fixed point to settle camera at present, the mode of various sensor is installed at ad-hoc location.There is following shortcoming in this mode: if a camera position spacing is less, then installation cost is high, if excessively far away, then there is too much monitoring blind area and dead angle; Two, because pipe gallery inside is separated into relatively independent cabin by fire-proof door, fire-proof door is normally off usually, and each cabin needs to install a whole set of sensor, and cost is higher.
At present, existing wisdom pipe network platform needs to install a large amount of sensors and carrys out Information Monitoring, and the installation and maintenance of sensor is an engineering wasted time and energy.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of to be safeguarded simply, maintenance cost is low and the wisdom pipe network system based on track machine people that sensing range is wide.
The present invention is achieved in that a kind of wisdom pipe network system based on track machine people, comprises shuttle rail, mobile robot, robot docking station and control and data interaction platform;
Described shuttle rail is fixedly arranged in the cabin of pipe gallery, and the axis direction along pipe gallery is laid, and passes through the fire-proof door in pipe gallery, is spliced by multistage shuttle rail sequence of unit;
Described mobile robot is fixedly arranged in described shuttle rail movingly, for patrolling and examining situation in described pipe gallery and repairing the fault that pipe gallery inside occurs;
Described robot docking station is placed in the exit outside the cabin of pipe gallery or cabin, for charging to described mobile robot, assembling work is set up, and as the communication controlled described in communication relay station UNICOM and between data interchange platform and described mobile robot; Described control and data interaction platform are connected by wireless or cable network with described mobile robot, described robot docking station respectively, for will receive data analysis, storage, and provide inquiry to the data received and the result analyzed out and show, and send the director data of executing the task to described mobile robot.
Further, described mobile robot is built-in with high-definition camera, alignment sensor, temperature sensor, humidity sensor and oxygen level sensor.
Further, described mobile robot has mechanical arm, and described mechanical arm is for performing the fault of repairing pipe gallery inside and occurring.
Further, described mobile robot comprises the car body unit that a joint or more piece can be run in described shuttle rail, when described mobile robot is made up of more piece car body unit, to be connected in series and each joint car body unit is detachable between adjacent two car body unit.
Further, described control and data interaction platform comprise surveillance equipment, memory device and controlling equipment;
Described surveillance equipment is used for the data that video image in the duty of in real time display mobile robot, pipe gallery and described mobile robot collect;
The data that described memory device collects for storing described mobile robot, and carry out data interconnection by internet and other management system;
Described controlling equipment is dispatched described mobile robot, control described mobile robot executes the task.
Further, described shuttle rail is installed on upper position or the position, top of pipe gallery cabin inner walls.
Further, described robot docking station comprises communication device and charging device; Described communication device is as the communication controlled described in communication relay station UNICOM and between data interchange platform and described mobile robot;
Described charging device is for charging to the mobile robot be docked in described robot docking station in shuttle rail.
The present invention compared with prior art, beneficial effect is: shuttle rail is laid in pipe gallery inside by the described wisdom pipe network system based on track machine people, mobile robot is made to run in shuttle rail and patrol and examine the situation in pipe gallery and repair, simultaneously can the real-time reception director data of executing the task and will patrol and examine data and be sent in time and control and data interaction platform.Adopt mobile robot to patrol and examine along shuttle rail, track, once lay, needs the quantities of maintenance very little; And mobile robot maintenance storehouse in pipe gallery or outlet can unload and carry out inspection and maintenance, very convenient, cost is very low.This wisdom pipe network system is safeguarded simply, operation cost is low, and sensing range is wide, and can replace manually carrying out safety patrol inspection.
Accompanying drawing explanation
Fig. 1 is the structural representation of the wisdom pipe network system that the present invention is based on track machine people;
The schematic diagram that Fig. 2 is data in the wisdom pipe network system that the present invention is based on track machine people, signal flows to.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
Wisdom pipe network system based on track machine people of the present invention by installing shuttle rail in pipe gallery, and be provided in the mobile robot that shuttle rail is run, this mobile robot can replace people to complete patrol task, can realize again the task that a lot of people can not complete, and it is more reliably more economical to dispose various sensor relative to fixed point in pipe gallery.Again because the designed life of shuttle rail can be identical with the serviceable life of pipe gallery, and the sensor that mobile robot carries can be changed easily and overhaul, and therefore inspection and maintenance cost is low.
Wisdom pipe network refers to: the pipeline, well, manhole etc. of inner attachment rail, utilize the carrier of track travel, there is field data collection, the patrolling and examining of the sensor (containing in tube wall) be arranged in pipeline, docking station, communication device, electric supply installation, data collector, wisdom pipe network data collection and analysis management software, wisdom Supervisory control software, computing machine composition, repair function artificial intelligence system.This wisdom pipe network data collection and analysis management software gathers the sensor data by communication device, comprehensively analyzes, stores, inquires about, output transducer data, asset data and layout data etc. to sensing data.
Shown in composition graphs 1 and Fig. 2, be the present invention one preferred embodiment, a kind of wisdom pipe network system based on track machine people, comprises shuttle rail 10, mobile robot 20, robot docking station 30 and controls and data interaction platform 40.Shuttle rail 10 is fixedly arranged in the cabin of pipe gallery 50, and the axis direction along pipe gallery 50 is laid, and passes through the fire-proof door 70 in pipe gallery 50, consistent with the length of pipe gallery 50, is spliced by multistage shuttle rail sequence of unit.Pipe gallery 50 concentrates accommodation for being arranged on below ground 60 for all kinds of utility line, and leaves the tunnel structure for maintainer's walking passageway.Cabin is the enclosure space being used for the laying the line inner structure of pipe gallery 50 be divided into by fire-proof door 70, is normally off under fire-proof door normality.Mobile robot 20 is fixedly arranged in shuttle rail 10 movingly, for patrolling and examining situation in pipe gallery 50 and repairing the fault that pipe gallery 50 inside occurs.Robot docking station 30 is placed in the exit outside the cabin of pipe gallery 50 or cabin, and for charging to mobile robot 20, assembling work sets up and control as communication relay station UNICOM and communication between data interchange platform 40 and mobile robot 20.Control and data interaction platform 40 are connected by wireless or cable network with mobile robot 20, robot docking station 30 respectively, for will receive data analysis, storage, and provide inquiry to the data received and the result analyzed out and show, and send the director data of executing the task to mobile robot 20.
Wisdom pipe network system based on track machine people also comprises radio sensing network, and it is inner that radio sensing network is placed in pipe gallery 50, exports to control and data interaction platform 40 for the data of patrolling and examining of mobile robot 20 being patrolled and examined.
Mobile robot 20 is embedded in shuttle rail 10 and runs, and it is built-in with high-definition camera, alignment sensor, temperature sensor, humidity sensor and oxygen level sensor.The situation that mobile robot 20 is patrolled and examined pipe gallery 50 in process by high-definition camera carries out captured in real-time.How far etc. alignment sensor, for obtaining the positional information of mobile robot 20 movement in shuttle rail 10, can be understood mobile robot 20 in time and move how many distances, have from starting point.Temperature sensor is for detecting the air themperature in pipe gallery 50.Humidity sensor is for detecting the air humidity in pipe gallery 50.Oxygen level sensor is for detecting the content of oxygen in pipe gallery 50.Mobile robot 20 also can be equipped with harmful gas detection sensor and/or flame snuffer according to the needs performing operation.Harmful gas detecting sensor detects the harmful gas concentration in pipe gallery 50.The fire that flame snuffer can occur pipe gallery 50 carries out emergent fire extinguishing, and when underground electrical network is due to breaking out of fires such as short circuits, mobile robot 20 can move to fire location and perform the operation such as fire extinguishing, cooling by the flame snuffer carried.By the radio sensing network in pipe gallery 50 the oneself state information of the HD video photographed, mobile robot, the data of mobile robot's upper sensor collection are uploaded to control and data interaction platform 40 in real time.
According to the needs of executing the task, mobile robot 20 can also configure infrared video camera, RFID (RadioFrequencyIdentification, also known as radio frequency identification) read write line, leakage measuring instrument by sonic, smoke transducer, range sensor, laser scanner etc.Infrared video camera is used for scanning the cable in pipe gallery 50, detects whether there is local overheating.To electric wire of breaking by the teeth due to mouse, the local overheating such as resistance decreasing, electric leakage can be detected in real time.Rfid interrogator is for identifying the information of RFID cable, cable information database is set up according to the information recognized, Intelligent Recognition goes out every section of cable information, and is automatically stored to cable maintenance and patrols and examines in report, really realizes the automatic management of cable maintenance and information acquisition.Whether leakage measuring instrument by sonic is used for existing in monitoring and location pipe gallery 50 leaking and seeping water.
Mobile robot 20 has mechanical arm, and mechanical arm is for performing the fault of repairing pipe gallery 50 inside and occurring.The fault that pipe gallery 50 inside occurs both had comprised the fault of pipeline, and the wall comprising again pipe gallery 50 leaks, breakage, and panel board, illumination, the fault of air draft etc.High-definition camera can be arranged on the end of mechanical arm, also can be arranged on the front end of fuselage.The shower nozzle of flame snuffer and the terminal of mechanical arm are held together, and mechanical arm can control the direction of nozzle of fire extinguisher.During fire extinguishing, manipulator control nozzle of fire extinguisher aims at the position of flare root.
Mobile robot 20 can comprise the car body unit that a joint or more piece can be run in shuttle rail 10, when mobile robot 20 is made up of more piece car body unit, to be connected in series and each car body unit is detachable between adjacent two car body unit.According to the needs of executing the task, the car body unit of different work assembly can be had in 30 pairs of mobile robot 20 assemblings of robot docking station.When pipe gallery 50 is relatively more straight and the ratio of slope is less, mobile robot 20 can be designed to a joint.If pipe gallery 50 has some cambers or has abrupt slope, smooth in order to make mobile robot 20 advance, mobile robot 20 need be designed to more piece.Because mobile robot 20 body comprises the certain volume of the needs such as battery, and on cross section, in pipe gallery 50, do not allow mobile robot 20 to take very large space, so mobile robot 20 can only be strip, be similar to the train on track.If track is very straight, do not turn, so much of that once saving; If track needs climbing of turning, so just need to be designed to more piece.
Control and data interaction platform 40 comprise surveillance equipment, memory device and controlling equipment.Surveillance equipment is used for the data that video image in the duty of in real time display mobile robot 20, pipe gallery 50 and mobile robot 20 upper sensor collect.Memory device is used for storing mobile robot 20 and patrols and examines the data that in process, oneself state information, video image and sensor collect, and carries out data interconnection by internet and other management system.Controlling equipment is dispatched mobile robot 20, control mobile robot 20 executes the task, and the mechanical arm aligner dial plate such as controlling mobile robot 20 carries out reading etc.Control and data interaction platform 40 are connected with mobile robot 20 by wireless or cable network, if do not have network, also can be connected by composite cable.Composite cable comprises coaxial video cable, and 485 control buss are connected with power lead.
Shuttle rail 10 is installed on upper position or the position, top of the cabin inner walls of pipe gallery 50.The fire-proof door 70 in pipe gallery 50, in " work " font, is conveniently passed through in the cross section of shuttle rail 10.The installation of shuttle rail 10 needs spatially to stagger with existing cable frame etc.
Robot docking station 30 comprises communication device and charging device.Communication device is as the control of communication relay station UNICOM and the communication between data interchange platform 40 and mobile robot 20.Charging device is used for charging to the mobile robot 20 be docked in robot docking station 30 in shuttle rail 10.
When in the process of patrolling and examining, mobile robot 20 detects that self-contained battery electric quantity is less than threshold value (minimum amount of power) of a setting, mobile robot 20 can get back to robot docking station 30 recharging along shuttle rail 10 in time.The electricity of the threshold value of setting can ensure that mobile robot 20 gets back to machine docking station 30 with minimum energy dissipation state.Minimum energy dissipation state class is similar to the holding state of mobile phone, mobile robot 20 can communication, can advance in shuttle rail 10, but cannot mechanical arm be opened.
Robot docking station 30 and control and data interaction platform 40 between generally connected by netting twine, data are by the network cable transmission of LAN (Local Area Network).Carry out communication by wireless communication mode between robot docking station 30 and mobile robot 20, be generally 3G, 4G and Wifi.Control and data interaction platform 40 send the orders such as advance, retrogressing, stopping, and by the signal repeater of Internet Transmission to robot docking station 30, being then transferred to mobile robot 20 accepted, thus realize the motion control to mobile robot 20.Data acquisition in like manner, mobile robot 20 collects data by sensor, then through master control board or without master control board, be transferred to the wireless transmitter module on mobile robot 20, by wireless transmitter module, data are sent, radio sensing network in pipe gallery 50 receives signal, is then transferred to control and data interaction platform 40.
As shown in Figure 2, whole wisdom pipe network system can be divided into four large layers when building, and is respectively apperceive identity layer, network struction layer, management service layer and integrated application layer.Wherein mobile robot 20 is placed in apperceive identity layer, for image data and reparation fault.The building of network struction layer facilitates mobile robot 20, robot docking station 30 and controls and the transmission of data between data interaction platform 40, robot docking station 30 and to control and data interaction platform 40 is placed in management service layer.Integrated application layer is the superiors, generally calls the inspection data of control and data interaction platform 40 by the administrative authority of each pipeline, cable etc. and analyzes data, carrying out the operation that some are concrete.Such as: emergency command, security monitoring, expection forecast, accident treatment, wisdom draining, environmental monitoring, analog simulation, numeral are patrolled and examined.
It is inner that shuttle rail 10 is laid in pipe gallery 50 by the described wisdom pipe network system based on track machine people, mobile robot 20 is made to run in shuttle rail 10 and patrol and examine the situation in pipe gallery 50 and repair, patrol and examine along shuttle rail 10 mobile robot 20, can realize monitoring without dead angle pipe gallery 50 inside.By being equipped with sensor on mobile robot 20, by reading in the reading of sensor in the inner diverse location of pipe gallery 50, thus the parameter such as temperature, humidity, harmful gas, oxygen concentration of diverse location can be obtained.Meanwhile, mobile robot 20 can also carry out hidden troubles removing, pipeline maintenance etc. by instruments such as installation manipulator, infrared video camera, leakage measuring instrument by sonic.Adopt mobile robot 20 to patrol and examine along shuttle rail 10, shuttle rail 10, once lay, needs the quantities of maintenance very little; And mobile robot 20 maintenance storehouse in pipe gallery 50 or outlet can unload and carry out inspection and maintenance, very convenient, cost is very low.This wisdom pipe network system is safeguarded simply, operation cost is low, and sensing range is wide, and can replace manually carrying out safety patrol inspection.
Wisdom pipe network system based on track machine people of the present invention, except being applied in pipe gallery, can also be applied to the tunnel with similar long and narrow closed environment, in the monitoring of culvert and large-scale pipeline and security maintenance.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (7)
1. based on a track machine people's wisdom pipe network system, it is characterized in that, comprise shuttle rail, mobile robot, robot docking station and control and data interaction platform;
Described shuttle rail is fixedly arranged in the cabin of pipe gallery, and the axis direction along pipe gallery is laid, and passes through the fire-proof door in pipe gallery, is spliced by multistage shuttle rail sequence of unit;
Described mobile robot is fixedly arranged in described shuttle rail movingly, for patrolling and examining situation in described pipe gallery and repairing the fault that pipe gallery inside occurs;
Described robot docking station is placed in the exit outside the cabin of pipe gallery or cabin, for charging to described mobile robot, assembling work is set up, and as the communication controlled described in communication relay station UNICOM and between data interchange platform and described mobile robot; Described control and data interaction platform are connected by wireless or cable network with described mobile robot, described robot docking station respectively, for will receive data analysis, storage, and provide inquiry to the data received and the result analyzed out and show, and send the director data of executing the task to described mobile robot.
2. the wisdom pipe network system based on track machine people according to claim 1, is characterized in that, described mobile robot is built-in with high-definition camera, alignment sensor, temperature sensor, humidity sensor and oxygen level sensor.
3. the wisdom pipe network system based on track machine people according to claim 1, it is characterized in that, described mobile robot has mechanical arm, and described mechanical arm is for performing the fault of repairing pipe gallery inside and occurring.
4. the wisdom pipe network system based on track machine people according to claim 1, it is characterized in that, described mobile robot comprises the car body unit that a joint or more piece can be run in described shuttle rail, when described mobile robot is made up of more piece car body unit, to be connected in series between adjacent two car body unit and each joint car body unit is detachable.
5. the wisdom pipe network system based on track machine people according to claim 1, is characterized in that, described control and data interaction platform comprise surveillance equipment, memory device and controlling equipment;
Described surveillance equipment is used for the data that video image in the duty of in real time display mobile robot, pipe gallery and described mobile robot collect;
The data that described memory device collects for storing described mobile robot, and carry out data interconnection by internet and other management system;
Described controlling equipment is dispatched described mobile robot, control described mobile robot executes the task.
6. the wisdom pipe network system based on track machine people according to claim 1, is characterized in that, described shuttle rail is installed on upper position or the position, top of pipe gallery cabin inner walls.
7. the wisdom pipe network system based on track machine people according to claim 1, is characterized in that, described robot docking station comprises communication device and charging device;
Described communication device is as the communication controlled described in communication relay station UNICOM and between data interchange platform and described mobile robot;
Described charging device is for charging to the mobile robot be docked in described robot docking station in shuttle rail.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510844114.9A CN105487507A (en) | 2015-11-26 | 2015-11-26 | Intelligent pipe network system bases on railway robot |
| PCT/CN2016/098473 WO2017088555A1 (en) | 2015-11-26 | 2016-09-08 | Intelligent pipe network system based on orbital robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510844114.9A CN105487507A (en) | 2015-11-26 | 2015-11-26 | Intelligent pipe network system bases on railway robot |
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| CN105487507A true CN105487507A (en) | 2016-04-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510844114.9A Pending CN105487507A (en) | 2015-11-26 | 2015-11-26 | Intelligent pipe network system bases on railway robot |
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| WO (1) | WO2017088555A1 (en) |
Cited By (24)
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| CN106050308A (en) * | 2016-07-29 | 2016-10-26 | 长安大学 | Automatic tunnel inspection system and method |
| CN106707739A (en) * | 2016-12-06 | 2017-05-24 | 山东康威通信技术股份有限公司 | Redundancy control system and method for railway robot to automatically pass through fire exit door |
| WO2017088555A1 (en) * | 2015-11-26 | 2017-06-01 | 深圳市施罗德工业测控设备有限公司 | Intelligent pipe network system based on orbital robot |
| CN106826864A (en) * | 2017-03-29 | 2017-06-13 | 张胜雷 | The logical integration piping lane environmental monitoring intelligent miniature robot of the towed electricity of hanger rail |
| CN107322567A (en) * | 2017-07-11 | 2017-11-07 | 丁志国 | A kind of piping lane monitoring robot |
| CN107390676A (en) * | 2016-05-17 | 2017-11-24 | 深圳市朗驰欣创科技股份有限公司 | Tunnel crusing robot and tunnel cruising inspection system |
| CN107524884A (en) * | 2017-10-18 | 2017-12-29 | 丁志国 | A kind of piping lane monitoring system |
| CN107526330A (en) * | 2017-09-11 | 2017-12-29 | 中信重工开诚智能装备有限公司 | A kind of underground pipe gallery auto-translating window device passed through for rail polling robot |
| CN107590876A (en) * | 2017-09-13 | 2018-01-16 | 四川君逸数码科技股份有限公司 | Pipe gallery crusing robot and pipe gallery cruising inspection system |
| CN108170865A (en) * | 2018-01-30 | 2018-06-15 | 广州晟能电子科技有限公司 | The acquisition of ambient parameter data field and analysis method inside underground pipe gallery system corridor body |
| CN108197842A (en) * | 2018-02-12 | 2018-06-22 | 国家电网公司 | A kind of vehicle monitoring system for GIL piping lanes |
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