CN206115276U - Robot system is patrolled and examined to underground foreign matter - Google Patents
Robot system is patrolled and examined to underground foreign matter Download PDFInfo
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- CN206115276U CN206115276U CN201621136948.0U CN201621136948U CN206115276U CN 206115276 U CN206115276 U CN 206115276U CN 201621136948 U CN201621136948 U CN 201621136948U CN 206115276 U CN206115276 U CN 206115276U
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- 238000007689 inspection Methods 0.000 claims abstract description 32
- 238000012544 monitoring process Methods 0.000 claims abstract description 16
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- 238000004140 cleaning Methods 0.000 claims abstract description 9
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Abstract
本实用新型公开了地下异物巡检机器人系统，其特征在于，包括机器人本体、机器人控制器、控制终端、电源，所述电源分别与机器人本体、机器人控制器和控制终端并联；所述机器人本体包括巡检机器人、导航系统、异物存储箱、红外摄像头、定位系统、行走驱动系统和清扫驱动系统；所述控制终端包括路径规划系统、监控操作平台、图像信号接收端、数据通讯模块、PC端和移动终端。本系统还包括电子地图，控制终端根据电子地图对巡检机器人的工作过程进行全面展现，其显示直观，便于工作人员及时地了解现场的巡检状况。
The utility model discloses an underground foreign body inspection robot system, which is characterized in that it comprises a robot body, a robot controller, a control terminal, and a power supply, and the power supply is respectively connected in parallel with the robot body, robot controller, and control terminal; the robot body includes Inspection robot, navigation system, foreign matter storage box, infrared camera, positioning system, walking drive system and cleaning drive system; the control terminal includes path planning system, monitoring operation platform, image signal receiving end, data communication module, PC end and mobile terminal. The system also includes an electronic map. The control terminal can fully display the working process of the inspection robot according to the electronic map. The display is intuitive, which is convenient for the staff to understand the inspection status of the site in a timely manner.
Description
技术领域technical field
本实用新型涉及地下机器人技术领域，尤其是地下异物巡检机器人系统。The utility model relates to the technical field of underground robots, in particular to an underground foreign object inspection robot system.
背景技术Background technique
传统的地下轨道巡检工作主要由工作人员来完成，对于夜间巡检的城市地下轨道，会加大工作人员的劳动强度，需要耗费大量的人力和时间；同时，轨道上有异物会影响轨道的正常运行，如果不及时发现甚至会对乘客的人身安全造成损害。The traditional underground track inspection work is mainly done by the staff. For the urban underground track that is inspected at night, the labor intensity of the staff will be increased, and a lot of manpower and time will be consumed. At the same time, foreign objects on the track will affect the quality of the track. Normal operation, if it is not discovered in time, it may even cause damage to the personal safety of passengers.
传统的监控方式采用人工巡查方式，但人工巡查方式人力物资成本投入大，隧道通信质量差，存在问题不能即使预警，隧道内空气流通不畅，存在有毒、有害、易燃易爆气体，对人身造成威胁，且不能做到实时监控。基于此，可用于电缆隧道或者相似环境的轨道异物巡检机器人应运而生。The traditional monitoring method adopts the manual inspection method, but the manual inspection method has a large investment in manpower and materials, and the communication quality of the tunnel is poor. If there is a problem, it cannot be given an early warning. pose a threat and cannot be monitored in real time. Based on this, a track foreign object inspection robot that can be used in cable tunnels or similar environments has emerged as the times require.
实用新型内容Utility model content
针对上述存在的问题，本实用新型的目的是提供一种地下异物巡检机器人系统。In view of the above problems, the purpose of this utility model is to provide an underground foreign object inspection robot system.
本实用新型的技术方案是：地下异物巡检机器人系统，包括机器人本体、机器人控制器、控制终端、电源，所述电源分别与机器人本体、机器人控制器和控制终端并联；The technical solution of the utility model is: an underground foreign object inspection robot system, including a robot body, a robot controller, a control terminal, and a power supply, and the power supply is respectively connected in parallel with the robot body, robot controller, and control terminal;
所述机器人本体包括巡检机器人、导航系统、异物存储箱、红外摄像头、定位系统、行走驱动系统和清扫驱动系统，所述巡检机器人输出端分别与导航系统输入端、行走驱动系统输入端和清扫驱动系统输入端电路并联，所述红外摄像头和定位系统的输出端与巡检机器人的输入端电并联；The robot body includes an inspection robot, a navigation system, a foreign body storage box, an infrared camera, a positioning system, a walking drive system and a cleaning drive system, and the output end of the inspection robot is respectively connected to the input end of the navigation system, the input end of the walking drive system and the input end of the walking drive system. The input end circuit of the cleaning drive system is connected in parallel, and the output end of the infrared camera and the positioning system is electrically connected in parallel with the input end of the inspection robot;
所述控制终端包括路径规划系统、监控操作平台、图像信号接收端、数据通讯模块、PC端和移动终端，所述路径规划系统输出端与机器人控制器的输入端连接，所述监控操作平台的输出端与机器人控制器的输入端连接，所述图像信号接收端的输入端与机器人控制器的输出端连接，所述数据通讯模块的输入端与机器人控制器的输出端连接，所述数据通讯模块的输出端分别与PC端输入端和移动终端输入端并联。The control terminal includes a path planning system, a monitoring operation platform, an image signal receiving end, a data communication module, a PC terminal and a mobile terminal, the output end of the path planning system is connected to the input end of the robot controller, and the monitoring operation platform The output end is connected to the input end of the robot controller, the input end of the image signal receiving end is connected to the output end of the robot controller, the input end of the data communication module is connected to the output end of the robot controller, and the data communication module The output terminals of the PC terminal and the input terminal of the mobile terminal are respectively connected in parallel.
进一步的，所述监控操作平台包括现场信号处理子模块、轨道状态监控模块和监测数据存储模块，所述现场信号处理子模块得到巡检机器人采集的相关数据，通过数据分析调整巡检机器人的运动姿态。Further, the monitoring operation platform includes an on-site signal processing sub-module, a track state monitoring module and a monitoring data storage module, the on-site signal processing sub-module obtains relevant data collected by the inspection robot, and adjusts the movement of the inspection robot through data analysis attitude.
进一步的，所述路径规划系统还包括电子地图，用于显示地下轨道模拟场景以及巡检机器人的实时位置和行走路线。Further, the path planning system also includes an electronic map for displaying the simulation scene of the underground track and the real-time position and walking route of the inspection robot.
进一步的，所述数据通讯模块采用无线网络，同时在地下轨道网络中设有无线信号转发基站。Further, the data communication module adopts a wireless network, and a wireless signal forwarding base station is installed in the underground track network.
与现有技术相比，本实用新型的有益效果是：Compared with the prior art, the beneficial effects of the utility model are:
(1)本系统还包括电子地图，控制终端根据电子地图对巡检机器人的工作过程进行全面展现，其显示直观，便于工作人员及时地了解现场的巡检状况。(1) The system also includes an electronic map. The control terminal comprehensively displays the working process of the inspection robot according to the electronic map. The display is intuitive, which is convenient for the staff to understand the inspection status of the site in a timely manner.
(2)本系统还具有可靠的路径规划系统、导航系统和定位系统，使机器人能够沿着预设路线巡游，同时对轨道运行状态能够准确定位。(2) This system also has a reliable path planning system, navigation system and positioning system, which enables the robot to cruise along the preset route, and at the same time accurately locate the orbital running state.
附图说明Description of drawings
图1为本实用新型的结构示意图。Fig. 1 is the structural representation of the utility model.
具体实施方式detailed description
下面结合附图和实施例对本实用新型作进一步的说明。Below in conjunction with accompanying drawing and embodiment the utility model is described further.
如图所示，地下异物巡检机器人系统，包括机器人本体、机器人控制器、控制终端、电源，所述电源分别与机器人本体、机器人控制器和控制终端并联；As shown in the figure, the underground foreign body inspection robot system includes a robot body, a robot controller, a control terminal, and a power supply, and the power supply is connected in parallel with the robot body, robot controller, and control terminal respectively;
所述机器人本体包括巡检机器人、导航系统、异物存储箱、红外摄像头、定位系统、行走驱动系统和清扫驱动系统，所述巡检机器人输出端分别与导航系统输入端、行走驱动系统输入端和清扫驱动系统输入端电路并联，所述红外摄像头和定位系统的输出端与巡检机器人的输入端电并联；The robot body includes an inspection robot, a navigation system, a foreign body storage box, an infrared camera, a positioning system, a walking drive system and a cleaning drive system, and the output end of the inspection robot is respectively connected to the input end of the navigation system, the input end of the walking drive system and the input end of the walking drive system. The input end circuit of the cleaning drive system is connected in parallel, and the output end of the infrared camera and the positioning system is electrically connected in parallel with the input end of the inspection robot;
所述控制终端包括路径规划系统、监控操作平台、图像信号接收端、数据通讯模块、PC端和移动终端，所述路径规划系统输出端与机器人控制器的输入端连接，所述监控操作平台的输出端与机器人控制器的输入端连接，所述图像信号接收端的输入端与机器人控制器的输出端连接，所述数据通讯模块的输入端与机器人控制器的输出端连接，所述数据通讯模块的输出端分别与PC端输入端和移动终端输入端并联。The control terminal includes a path planning system, a monitoring operation platform, an image signal receiving end, a data communication module, a PC terminal and a mobile terminal, the output end of the path planning system is connected to the input end of the robot controller, and the monitoring operation platform The output end is connected to the input end of the robot controller, the input end of the image signal receiving end is connected to the output end of the robot controller, the input end of the data communication module is connected to the output end of the robot controller, and the data communication module The output terminals of the PC terminal and the input terminal of the mobile terminal are respectively connected in parallel.
进一步的，所述监控操作平台包括现场信号处理子模块、轨道状态监控模块和监测数据存储模块，所述现场信号处理子模块得到巡检机器人采集的相关数据，通过数据分析调整巡检机器人的运动姿态。Further, the monitoring operation platform includes an on-site signal processing sub-module, a track state monitoring module and a monitoring data storage module, the on-site signal processing sub-module obtains relevant data collected by the inspection robot, and adjusts the movement of the inspection robot through data analysis attitude.
进一步的，所述路径规划系统还包括电子地图，用于显示地下轨道模拟场景以及巡检机器人的实时位置和行走路线。Further, the path planning system also includes an electronic map for displaying the simulation scene of the underground track and the real-time position and walking route of the inspection robot.
进一步的，所述数据通讯模块采用无线网络，同时在地下轨道网络中设有无线信号转发基站。Further, the data communication module adopts a wireless network, and a wireless signal forwarding base station is installed in the underground track network.
将巡检机器人放在轨道上，通过路劲规划系统以及导航系统使得巡检机器人按照设定的轨道行走，通过红外摄像头将地下轨道环境情况拍照通过机器人控制系统传送到图像信号接收端，工作人员通过监控操作平台对巡检机器人的的行走驱动系统和清扫驱动系统进行控制，清扫监控系统将清扫指令传送给巡检机器人的机械臂上进行异物清扫，将异物储存在异物储存箱中。Put the inspection robot on the track, and make the inspection robot walk according to the set track through the road strength planning system and navigation system, and use the infrared camera to take pictures of the underground track environment and send them to the image signal receiving end through the robot control system. The walking drive system and cleaning drive system of the inspection robot are controlled by the monitoring operation platform, and the cleaning monitoring system transmits the cleaning command to the robotic arm of the inspection robot to clean foreign objects and store the foreign objects in the foreign object storage box.
以上述依据本实用新型的理想实施例为启示，通过上述的说明内容，相关工作人员完全可以在不偏离本项实用新型技术思想的范围内，进行多样的变更以及修改。本项实用新型的技术性范围并不局限于说明书上的内容，必须要根据权利要求范围来确定其技术性范围。Inspired by the above-mentioned ideal embodiment according to the utility model, and through the above-mentioned description content, relevant staff can completely make various changes and modifications within the scope of not deviating from the technical idea of the utility model. The technical scope of this utility model is not limited to the content in the description, but must be determined according to the scope of the claims.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108198269A (en) * | 2018-01-29 | 2018-06-22 | 石化盈科信息技术有限责任公司 | A kind of real-time integration exhibition method of inspection information and system |
| CN110602714A (en) * | 2019-07-29 | 2019-12-20 | 广东工业大学 | Wireless ad hoc network signal transmission method suitable for tunnel environment operation of explosive-handling robot |
| CN115880870A (en) * | 2022-11-28 | 2023-03-31 | 国网江苏省电力工程咨询有限公司 | Cable tunnel autonomous supervision system based on machine dog |
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- 2016-10-18 CN CN201621136948.0U patent/CN206115276U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108198269A (en) * | 2018-01-29 | 2018-06-22 | 石化盈科信息技术有限责任公司 | A kind of real-time integration exhibition method of inspection information and system |
| CN110602714A (en) * | 2019-07-29 | 2019-12-20 | 广东工业大学 | Wireless ad hoc network signal transmission method suitable for tunnel environment operation of explosive-handling robot |
| CN110602714B (en) * | 2019-07-29 | 2022-06-14 | 广东工业大学 | A wireless ad hoc network signal transmission method adapted to the operation of the EOD robot in the tunnel environment |
| CN115880870A (en) * | 2022-11-28 | 2023-03-31 | 国网江苏省电力工程咨询有限公司 | Cable tunnel autonomous supervision system based on machine dog |
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