CN103457203B - A kind of robot comprehensive wiring method based on Internet of Things - Google Patents
A kind of robot comprehensive wiring method based on Internet of Things Download PDFInfo
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- CN103457203B CN103457203B CN201310403072.6A CN201310403072A CN103457203B CN 103457203 B CN103457203 B CN 103457203B CN 201310403072 A CN201310403072 A CN 201310403072A CN 103457203 B CN103457203 B CN 103457203B
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Abstract
The present invention relates to crane span structure routing field, be in particular a kind of robot comprehensive wiring method based on Internet of Things.In job area, arrange Internet of things node, adopt controller by Internet of Things control in the work of wiring place.The invention solves the difficult problem that wiring personnel under particular surroundings not easily arrive or are awkward.Achieve the fusion of Internet of Things and Robotics, utilize advanced Internet of Things and Robotics to improve the technical merit of comprehensive wiring, innovative synthesis wire laying mode, promote its developing direction that is intelligent and automation.
Description
Technical field
The present invention relates to crane span structure routing field, be in particular a kind of robot comprehensive wiring method based on Internet of Things.
Background technology
At present, comprehensive wiring mainly adopts artificial mode of laying, and by scaffolding erecting, utilizes finer wire that transmission line is drawn from pipeline or at crane span structure." integration laying line system engineering design specification " GB50311-2007 formally implemented according on October 1st, 2007 and " comprehensive wiring system mounting process standard ", " when crane span structure level is laid; the spacing of hanging (prop up) frame is generally 1.5m ~ 3m ", this just means and an operating personnel will be arranged when wiring just to complete the task of wiring by the transmission of the cable one by one of hand and hand every 1.5m ~ 3m.Calculating accordingly, the crane span structure that 60m is long, needing 5 people just can complete for totally 6 times by constantly moving scaffold.If lay the cable of all the building, then need the manpower and materials of at substantial, efficiency is extremely low, cost of labor height enterprise.And, sometimes there is special environment, make operating personnel not easily arrive or be awkward, and then cannot routing task be completed.If building is higher or operating environment is relatively more severe, complete wiring and also have certain danger, the personal safety of operating worker cannot be guaranteed.
Summary of the invention
For above shortcomings part in prior art, the technical problem to be solved in the present invention is to provide a kind of robot comprehensive wiring method based on Internet of Things, the problem that under solution particular surroundings, wiring personnel not easily arrive or are awkward.
The present invention adopts following technical scheme:
Based on a robot comprehensive wiring method for Internet of Things, in job area, arrange Internet of things node, adopt controller by Internet of Things control in the work of wiring place.
Comprise the following steps: robot camera photographic images, pass to controller by Internet of things node; Staff, according to the content of image, sends control command by controller, passes to robot and control the motion all around of drive machines people by Internet of things node;
Robot takes tail end finer wire to from the head end of crane span structure, and according to image information, controller judges whether robot takes bridge tail end to, no, then repeat above action; That then robot returns by former road; The staff standing in crane span structure tail end moves crane span structure tail end by pulling finer wire to cable; Robot constantly independently repeats above process, thus completes the laying of many cables.
Further, described robot comprises control device, running gear, draw-gear, communication device, and robot is provided with camera;
Wherein control device controls camera photographic images, and by communication device, image information is passed to controller; Controller receives image information and sends instruction according to result to the control device of robot after treatment;
The control device of robot receives the instruction of controller by communication device, control device makes corresponding action according to command request controlling run device; And the retractable cable of draw-gear is controlled according to the instruction of controller.
Further, described controller comprises image receiver module, image processing module, image display and operation control module:
Image receiver module receives the image information from robot communication device by Internet of things node, and will send image information to image processing module and image display simultaneously;
Image processing module calculates the position of robot operation, by local information conveying to operation control module according to image information;
Operation control module according to positional information to robot issuing control order.
Further, this robot also comprises warning device, the fault of described warning device measuring robots and electricity, and reaches controller by Internet of Things.
Further, described controller comprises alarm information processing module, if alarm information processing module receives the warning message of robot warning device transmission and carries out alert process.
Further, this controller comprises image display, and image display receives the image information of image receiver module and shows.
Further, the distance between Internet of things node is 50m ~ 100m.
The present invention has following advantage and beneficial effect:
Propose to adopt the comprehensive wiring robot of technology of Internet of things to replace manually completing comprehensive wiring task.Lay many cables, no matter crane span structure how long, two operating personnels only need be arranged simultaneously at the head and the tail two ends of crane span structure, do not need to climb up and down and repeatedly can complete, and then substantially increase the job safety coefficient of workman, and can complete and manually cannot arrive or the laying of cable in not easy-operating place, the difficult problem that the wiring personnel under particular surroundings that solve not easily arrive or are awkward.
Achieve the fusion of Internet of Things and Robotics, utilize advanced Internet of Things and Robotics to improve the technical merit of comprehensive wiring, innovative synthesis wire laying mode, promote its developing direction that is intelligent and automation.
Accompanying drawing explanation
Fig. 1 is robot architecture's block diagram in the present invention;
Fig. 2 is middle controller structured flowchart of the present invention;
Fig. 3 is the flow chart of the inventive method.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in detail.
As shown in Figure 1, the present invention is based on the robot comprehensive wiring method of Internet of Things, in job area, arrange Internet of things node, during layout, distance controlling between Internet of things node, at 50m ~ 100m, adopts controller by Internet of Things control in the work of wiring place.Finer wire is drawn transmission line for comprehensive wiring by the present invention from pipeline or at crane span structure.Robot in the present invention comprises control device, running gear, draw-gear, communication device, and robot is provided with camera; Wherein control device controls the image of camera shooting working site, and by communication device, image information is passed to controller; Communication device is responsible for the communication of robot and controller.The image of robot shooting and state information are reached controller by Internet of Things.The control command that controller sends is sent to the communication device of robot again by Internet of Things.
Controller sends instruction according to result to the control device of robot through process according to the image information received; The control device of robot receives the instruction of controller by communication device, control device makes corresponding action according to command request controlling run device, in the front-end and back-end of robot, ultrasonic unit is installed, prevent telecontrol equipment from bumping against too soon on crane span structure wall because of advance or astern speed, cause robot to damage.And the retractable cable of draw-gear is controlled according to the instruction of controller.Draw-gear, to the pulling of finer wire in draw-gear, need meet fixation with steel wire, dismounting easily, and steel wire acts freely requirement.This robot also comprises warning device, the fault of warning device measuring robots and electricity, and reaches controller by Internet of Things.
As shown in Figure 2, controller comprises image receiver module, image processing module, image display and operation control module: image receiver module receives the image information from robot communication device by Internet of things node, and will send image information to image processing module and image display simultaneously; Image processing module calculates the position of robot operation, by local information conveying to operation control module according to image information; Operation control module according to positional information to robot issuing control order.Accordingly, controller comprises alarm information processing module, and the warning message of alarm information processing module receiver device people warning device transmission also carries out alert process.
Controller has image display, and image display receives the image information of image receiver module and shows, so that staff is to the supervision of site operation.
As shown in Figure 3, robot of the present invention camera photographic images, passes to controller by Internet of things node.Staff, according to the content of image, sends control command by controller, passes to robot and control the motion all around of drive machines people via Internet of things node.Robot takes tail end finer wire to from the head end of crane span structure, judges whether to take bridge tail end to, no, then the action before repeating is that Ze Anyuan road returns.The staff standing in crane span structure tail end moves crane span structure tail end by pulling finer wire to cable.Robot constantly independently repeats above process, thus completes the laying task of many cables.
Claims (7)
1. based on a robot comprehensive wiring method for Internet of Things, it is characterized in that, in job area, arrange Internet of things node, adopt controller by Internet of Things control in the work of wiring place; Comprise the following steps: robot camera photographic images, pass to controller by Internet of things node; Staff, according to the content of image, sends control command by controller, passes to robot and control the motion all around of drive machines people via Internet of things node;
Robot takes tail end finer wire to from the head end of crane span structure, and according to image information, controller judges whether robot takes bridge tail end to, no, then repeat above action; That then robot returns by former road; The staff standing in crane span structure tail end moves crane span structure tail end by pulling finer wire to cable; Robot constantly independently repeats above process, thus completes the laying of many cables.
2., according to the robot comprehensive wiring method based on Internet of Things according to claim 1, it is characterized in that, described robot comprises control device, running gear, draw-gear, communication device, and robot is provided with camera;
Wherein control device controls camera photographic images, and by communication device, image information is passed to controller; Controller receives image information and sends instruction according to result to the control device of robot after treatment;
The control device of robot receives the instruction of controller by communication device, control device makes corresponding action according to command request controlling run device; And the retractable cable of draw-gear is controlled according to the instruction of controller.
3., according to the robot comprehensive wiring method based on Internet of Things according to claim 2, it is characterized in that, described controller comprises image receiver module, image processing module, image display and operation control module:
Image receiver module receives the image information from robot communication device by Internet of things node, and will send image information to image processing module and image display simultaneously;
Image processing module calculates the position of robot operation, by local information conveying to operation control module according to image information;
Operation control module according to positional information to robot issuing control order.
4. according to the robot comprehensive wiring method based on Internet of Things according to claim 2, its
Be characterised in that, this robot also comprises warning device, the fault of described warning device measuring robots and electricity, and reaches controller by Internet of Things.
5. according to the robot comprehensive wiring method based on Internet of Things according to claim 4,
It is characterized in that, described controller comprises alarm information processing module, and the warning message of alarm information processing module receiver device people warning device transmission also carries out alert process.
6. according to the robot comprehensive wiring method based on Internet of Things according to claim 3,
It is characterized in that, this controller comprises image display, and image display receives the image information of image receiver module and shows.
7. according to the robot comprehensive wiring method based on Internet of Things according to claim 1,
It is characterized in that, the distance between Internet of things node is 50m ~ 100m.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310403072.6A CN103457203B (en) | 2013-09-06 | 2013-09-06 | A kind of robot comprehensive wiring method based on Internet of Things |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310403072.6A CN103457203B (en) | 2013-09-06 | 2013-09-06 | A kind of robot comprehensive wiring method based on Internet of Things |
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| Publication Number | Publication Date |
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| CN103457203A CN103457203A (en) | 2013-12-18 |
| CN103457203B true CN103457203B (en) | 2016-02-17 |
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| CN201310403072.6A Expired - Fee Related CN103457203B (en) | 2013-09-06 | 2013-09-06 | A kind of robot comprehensive wiring method based on Internet of Things |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105390992B (en) * | 2015-11-27 | 2017-09-29 | 沈阳师范大学 | A kind of chute type robot comprehensive wiring method |
| CN106737762B (en) * | 2017-03-07 | 2023-07-21 | 长春理工大学 | Automatic wiring robot of wiring machine |
| CN109473235A (en) * | 2018-11-14 | 2019-03-15 | 航天极创物联网研究院(南京)有限公司 | A kind of automatic wiring machine and its working method based on three-dimensional movement platform realization |
| CN111003577A (en) * | 2019-11-25 | 2020-04-14 | 国网上海市电力公司 | Inertial navigation system integrating shaft encoder positioning and infrared sensor positioning |
| CN112078521A (en) * | 2020-09-15 | 2020-12-15 | 国网湖北省电力有限公司咸宁供电公司 | Tractor intelligent auxiliary control system and control method based on Internet of things |
Citations (4)
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| EP1015928B1 (en) * | 1996-09-19 | 2005-03-09 | BRITISH TELECOMMUNICATIONS public limited company | Blowing head |
| CN201018223Y (en) * | 2007-01-15 | 2008-02-06 | 上海市电力公司电缆输配电公司 | Cable conduit monitoring traction robot |
| CN102497413A (en) * | 2011-12-08 | 2012-06-13 | 西安元智***技术有限责任公司 | Internet of things (IoT)-based dynamic monitoring platform for monitoring archaeological excavation field |
| CN102913275A (en) * | 2012-11-01 | 2013-02-06 | 金纯� | Search and rescue system based on crawler robots |
-
2013
- 2013-09-06 CN CN201310403072.6A patent/CN103457203B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1015928B1 (en) * | 1996-09-19 | 2005-03-09 | BRITISH TELECOMMUNICATIONS public limited company | Blowing head |
| CN201018223Y (en) * | 2007-01-15 | 2008-02-06 | 上海市电力公司电缆输配电公司 | Cable conduit monitoring traction robot |
| CN102497413A (en) * | 2011-12-08 | 2012-06-13 | 西安元智***技术有限责任公司 | Internet of things (IoT)-based dynamic monitoring platform for monitoring archaeological excavation field |
| CN102913275A (en) * | 2012-11-01 | 2013-02-06 | 金纯� | Search and rescue system based on crawler robots |
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