CN209394657U - A small omnidirectional robot mobile platform for subway tunnel inspection work - Google Patents

Abstract

The utility model discloses a kind of small-sized omnidirectional's robot moving platforms towards subway tunnel inspection work, including tool mounting platform and mobile platform frame；Tool mounting platform is equipped with depth camera；Mobile platform frame includes platform top, plate, platform floor and platform coaming plate in platform, and laser radar is equipped at the top of platform top, is equipped with power module, control assembly, Power Transfer Unit and serial ports display component on plate in platform；Wireless charging component, dropproof component are connected and installed in platform floor；A millimeter radar is installed on platform coaming plate；Moving parts are equipped in platform floor bottom；The information of depth camera, laser radar and the acquisition of millimeter radar is sent to control assembly, and control assembly sends information to host computer, and the motion control information for then handling host computer is transferred to moving parts, and moving parts are according to received instruction campaign.

Description

A small omnidirectional robot mobile platform for subway tunnel inspection work

technical field

The utility model relates to a small omnidirectional robot mobile platform facing the inspection work of subway tunnels.

Background technique

Subway inspection is the most basic and important guarantee for the safe operation of urban rail transit. Any change in a small detail may cause a major accident. At present, the safety inspection work of subway operation tunnels has a low degree of intelligence, poor inspection efficiency, and takes up a lot of human resources. Carry out related repair work.

Utility model content

In order to solve the technical problems existing in the prior art, the invention discloses a small omnidirectional robot mobile platform for subway tunnel inspection work.

The technical scheme that the utility model adopts is as follows:

A small omnidirectional robot mobile platform for subway tunnel inspection work, including a tool installation platform and a mobile platform frame; the tool installation platform is arranged above the mobile platform frame and connected to the mobile platform frame;

The tool installation platform is provided with a depth camera;

The mobile platform frame includes a platform top plate, a platform middle plate, a platform bottom plate and a platform coaming, a laser radar is installed on the top of the platform top plate, and an energy component, a control component, a power supply are installed on the platform middle plate A conversion component and a serial port display component; a wireless charging component and an anti-drop component are installed on the platform bottom plate; a millimeter radar is installed on the platform coaming plate; a motion component is provided at the bottom of the platform bottom plate;

The information collected by the depth camera, laser radar and millimeter radar is sent to the control component, and the control component sends the information to the host computer, and then transmits the motion control information processed by the host computer to the motion component, and the motion Components move according to the instructions received.

Further, the serial port display component includes a power switch, a signal indicator light and a serial port transmission module, the power switch controls the output state of the energy component through the pop-up state, the signal indicator light performs a state change through the output signal of the underlying main control system, and the serial port The transmission module connects the output port of the underlying main control system to the outside, which is convenient for research, debugging and development.

Furthermore, the wireless charging component adopts the electromagnetic coil transmission method, and the external cover is covered with an electromagnetic coil protection plate. The energy component uses a lithium battery pack, and the electromagnetic coil and the lithium battery pack are connected through the electromagnetic coil control board. The lithium battery pack is connected to each Sensor components and control components.

Further, the control component includes a bottom-level main controller and a motor driver. The bottom-level main controller communicates with the upper computer to transmit the feedback information of each sensor component to the upper computer, and transmits the motion control information processed by the upper computer to the upper computer. The motor driver, the motor driver drives the motion component to move through the command signal.

Further, the depth camera is fixed on the mobile platform frame through a fixed frame, and the fixed frame includes a depth camera enclosure and a depth camera fixing plate, and the depth camera enclosure is connected to the The tool installation platform is fixed, the depth camera fixing plate is fixed with the depth camera enclosure through the L-shaped connecting plate, and the depth camera is fixed by bolts.

Further, the platform coaming is fixed to the platform top plate, platform middle plate, and platform bottom plate through the L-shaped connecting plate and the connecting plate.

Further, along the direction of the long axis of the modularized quick disassembly autonomous motion platform, the motion components are respectively installed on both sides of the mobile platform frame, including motors, motor fixing plates, couplings and wheel trains, and the motors are fixed The plate is fixed on the middle plate of the platform, the motor is fixed on the motor fixing plate, and the coupling connects the motor and various types of gear trains to realize the diversification of the movement mode of the motion platform.

The beneficial effects of the utility model are as follows:

1. The utility model has a relatively compact structural design, realizes miniaturization, does not need to occupy a special track, and has high flexibility. While saving tunnel space, it can leave the established inspection route under the control of the operator according to the on-site feedback inspection situation Go to a specific location to perform related work;

2. The utility model adopts a compartment design to prevent electromagnetic interference in the tunnel and improve the reliability of the tunnel inspection robot. At the same time, different sensors are installed in different compartments to improve the use efficiency of the sensors;

3. The utility model adopts a modular design, and auxiliary parts such as manipulators and maintenance devices can be added according to the needs of on-site use, so as to improve the use value of the tunnel inspection robot.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are For some embodiments of the present invention, those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1, Fig. 2 are axonometric views of the utility model;

Fig. 3 is the front side view of the utility model;

Fig. 4 is the bottom view of the utility model;

Fig. 5 is the explosion diagram of the utility model;

In the figure: 1 depth camera, 2 depth camera enclosure, 3 depth camera fixing plate, 4 hexagonal connection nut, 5 platform top plate, 6 laser radar, 7 platform bottom plate, 8 platform enclosure, 9 millimeter wave radar, 10 wheel train, 11L-type connection board, 12 power switch, 13 signal indicator light, 14 serial port transmission module, 15 motor, 16 motor fixing plate, 17 coupling, 18 connection plate, 19 bottom main controller, 20 motor driver, 21 power conversion component , 22 lithium battery pack, 23 electromagnetic coil protection board, 24 electromagnetic coil, 25 electromagnetic coil control board.

Detailed ways

It should be pointed out that the following detailed description is exemplary and intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and/or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and/or combinations thereof.

As introduced in the background technology, there are the following problems in the existing old T-beam bridge reinforcement technology: subway inspection is the most basic and important guarantee for the safe operation of urban rail transit, and any small detail change may cause major problems. ACCIDENT. At present, the safety inspection work of subway operation tunnels has a low degree of intelligence, poor inspection efficiency, and takes up a lot of human resources. Carry out related repair work. In order to solve the above technical problems, the application proposes a small omnidirectional robot mobile platform for subway tunnel inspection work.

The utility model discloses a small omnidirectional robot mobile platform for subway tunnel inspection work. As shown in Figure 1, the subway tunnel inspection robot is divided into two parts: a tool installation platform and a mobile platform frame.

Specifically, as shown in Figure 2, the tool installation platform is equipped with a depth camera 1 through the fixed frame of the depth camera, through threaded holes and through holes, the execution components such as mechanical arms and maintenance devices can be installed, and the mobile platform frame is installed through the hexagonal connection nut 4 . The mobile platform frame is equipped with a power mechanism, an information collection mechanism and a control mechanism. The power mechanism transmits power to the motion execution component through the transmission component. The information collection mechanism transmits the detection information to the control mechanism, and the control mechanism transmits the detected information to the host computer. , and transmit the control signal to the power mechanism through the command issued by the host computer.

The depth camera fixed frame includes a depth camera enclosure 2 and a depth camera fixation plate 3. The depth camera enclosure is fixed to the tool installation platform through four L-shaped connecting plates 11, and the depth camera fixing plate 3 is also connected to the depth camera through the L-shaped connecting plates 11. The hoarding is fixed, and the depth camera is fixed on the depth camera fixing plate 3 by bolts.

As shown in Figure 2, the mobile platform frame includes a platform top plate 5, a platform middle plate 6, a platform bottom plate 7 and a platform coaming plate 8, and a laser radar 6 is installed on the platform top plate 5, and further, the laser radar is placed on the top of the platform roof plate 5 The central position of the platform; the platform top plate 5 is connected with the platform coaming plate 8 by bolting the L-shaped connecting plate.

The platform middle board 6 is installed with energy components, control components, motion execution components, power conversion components and serial port display components through bolt connection;

The platform base plate 7 is connected by bolts to install a wireless charging component and an anti-drop component;

The platform coaming is connected to the 9 millimeter wave radar by bolts, and is fixed to the platform top, platform middle and platform bottom by 11L-type connecting plates and 18 connecting plates. The components of the mobile platform frame can be quickly disassembled and assembled by external bolts to realize the movement of the platform. Modular quick disassembly function.

The utility model adopts the interlayer design to prevent electromagnetic interference in the tunnel, improve the operation reliability of the tunnel inspection robot, and install different sensors on different interlayers to improve the use efficiency of the sensors;

Specifically, as shown in Figure 5, along the direction of the long axis of the modular quick disassembly autonomous motion platform, the power mechanism is respectively installed on both sides of the mobile platform frame, including the motor 15, the motor fixing plate 16, the coupling 17 and the wheel train 10. The motor fixing plate 16 is fixed on the platform middle plate 6, the motor 15 is fixed on the motor fixing plate 16, and the coupling 17 connects the motor 15 and various types of gear trains to realize the diversification of the movement mode of the moving platform.

The serial port display component includes a power switch 12, a signal indicator light 13 and a serial port transmission module 14. The power switch 12 controls the output state of the energy component through the pop-up state, and the signal indicator light 13 performs state conversion through the output signal of the bottom main control system. Connect the output port of the underlying main control system to the outside, which is convenient for research, debugging and development. The energy component can adopt the lithium battery pack 23 described in the accompanying drawings.

The underlying main control system includes the underlying main controller 19 and the motor driver 20. The underlying main controller 19 transmits the feedback information of each sensor component to the upper computer through information communication with the upper computer, and transmits the motion control information processed by the upper computer to the The motor driver 20, the motor driver 20 drives the motor through command signals.

The wireless charging assembly adopts the electromagnetic coil 24 transmission mode, and the outer cover is covered with an electromagnetic coil protection plate 23. The electromagnetic coil 24 is connected to the lithium battery pack 22 through the electromagnetic coil control board 25, and the lithium battery pack 22 is connected to each power supply through the power conversion assembly 21. Sensor components and the underlying main control system.

The anti-drop component can adopt the existing distance sensor and be installed at the front and rear ends of the mobile platform frame to detect the front and rear distance information. Detect the distance from the front and rear bottom of the car body to the bottom to prevent falling.

The laser radar, the millimeter radar and the depth camera in the utility model are mainly used for collecting surrounding environmental signals, and for the navigation of the whole device.

The above descriptions are only preferred embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, various modifications and changes may be made to the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application shall be included within the protection scope of this application.

Claims (7)

1. a kind of small-sized omnidirectional's robot moving platform towards subway tunnel inspection work, which is characterized in that pacify including tool Assembling platform and mobile platform frame；The tool mounting platform is arranged in above the mobile platform frame and puts down with mobile Table frame is connected；

The tool mounting platform is equipped with depth camera；

The mobile platform frame includes platform top, plate, platform floor and platform coaming plate in platform, in the deck roof Laser radar is installed at the top of plate, be equipped on plate in the platform power module, control assembly, Power Transfer Unit and Serial ports display component；Wireless charging component, dropproof component are connected and installed in the platform floor；It is enclosed in the platform A millimeter radar is installed on plate；Moving parts are equipped in the platform floor bottom；

Depth camera, laser radar and the information of millimeter radar acquisition is sent to the control assembly, the control Component processed sends information to host computer, and the motion control information for then handling host computer is transferred to moving parts, fortune Component is moved according to received instruction campaign.

2. small-sized omnidirectional's robot moving platform as described in claim 1 towards subway tunnel inspection work, feature exist In the serial ports display component includes power switch, signal lamp and serial ports transmission module, and the power switch passes through bullet The state of rising controls power module output state, and signal lamp carries out state transformation by control assembly output signal, and serial ports passes Control assembly output port is connected to outside by defeated module.

3. small-sized omnidirectional's robot moving platform as described in claim 1 towards subway tunnel inspection work, feature exist In the wireless charging component uses electromagnetic coil transmission mode, and outside is covered with electromagnetic coil protection board, and power module uses Lithium battery group connects electromagnetic coil and lithium battery group by solenoid controlled plate, and lithium battery group is connected by Power Transfer Unit It is connected to each sensor module and control assembly.

4. small-sized omnidirectional's robot moving platform as described in claim 1 towards subway tunnel inspection work, feature exist In the control assembly includes bottom master controller and motor driver, and bottom master controller is by carrying out information with host computer It links up, each sensor module feedback information is transferred to host computer, the motion control information that host computer is handled is transferred to Motor driver, motor driver drive moving parts to move by command signal.

5. small-sized omnidirectional's robot moving platform as described in claim 1 towards subway tunnel inspection work, feature exist In the depth camera is fixed on the mobile platform frame by a fixed frame, and the fixed frame includes Depth camera coaming plate and depth camera fixed plate, the depth camera coaming plate are solid by L-type connecting plate and tool mounting platform Fixed, the depth camera fixed plate is fixed by L-type connecting plate and depth camera coaming plate, is bolted depth camera.

6. small-sized omnidirectional's robot moving platform as described in claim 1 towards subway tunnel inspection work, feature exist In the platform coaming plate connection is mutually solid by L-type connecting plate and connection plate and plate, platform floor in platform top, platform It is fixed.

7. small-sized omnidirectional's robot moving platform as described in claim 1 towards subway tunnel inspection work, feature exist In the moving parts are respectively arranged in the two sides of mobile platform frame, including motor, motor fixing plate, shaft coupling and wheel System, the motor fixing plate is fixed in platform on plate, and motor is fixed on motor fixing plate, and shaft coupling connects motor and more The train of seed type.