CN107322567A - A kind of piping lane monitoring robot - Google Patents
A kind of piping lane monitoring robot Download PDFInfo
- Publication number
- CN107322567A CN107322567A CN201710559255.5A CN201710559255A CN107322567A CN 107322567 A CN107322567 A CN 107322567A CN 201710559255 A CN201710559255 A CN 201710559255A CN 107322567 A CN107322567 A CN 107322567A
- Authority
- CN
- China
- Prior art keywords
- piping lane
- cabinet
- robot
- module
- wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Signal Processing (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of piping lane monitoring robot, replacement is manually entered piping lane, the problems such as checking internal line fault, equipment fault, environment, the corresponding monitoring information of collection.Robot includes camera, cabinet, mobile module, battery module and control module, and the mobile module includes wheel and track, and robot is by the way of projecting, by track installation above piping lane inwall.Because robot is placed in piping lane for a long time, so being provided with corresponding charging inlet in robot and piping lane, battery module includes the battery being arranged in cabinet and the charging device including mobile charging port and fixed charging port, the mobile charging port is arranged on outside cabinet, the fixed charging port is arranged on the terminal of track, connects power supply.The present invention uses hang, it is to avoid robot is contacted with the water or debris of piping lane bottom, reduces advance resistance, it is to avoid robot intakes, or the influence work of debris robot, can extend the robot life-span.
Description
Technical field
The present invention relates to a kind of piping lane monitoring robot.
Background technology
Piping lane includes the pipelines, existing piping lane inspection such as pipe gallery, military beneath passage, civilian beneath passage, tunnel
Monitoring is mainly manually examined based on monitoring, supplemented by Internet of Things sensing monitoring, wherein, manual inspection is mainly by operation maintenance personnel
Underground is arrived down, the problems such as in piping lane by the relevant device in eye recognition piping lane, environment, and manual inspection shortcoming is：
First, personnel underground inspection, space is small, and it is poor to divulge information, and visualized operation environment is poor；
2nd, underground may have inflammable, explosive, poisonous gas, and larger life security is constituted to operation maintenance personnel；
3rd, the cost of manual inspection is high, and the piping lane pair with some frequent inspections of needs, manual inspection number of times is few, it is impossible to expire
Sufficient inspection demand.
4th, manual inspection, it is impossible to accomplish to monitor piping lane inner case in real time.
Therefore, it is necessary to provide, a kind of relative cost is low, the piping lane monitoring robot being often placed in piping lane.
The content of the invention
The present invention is in order to solve the above technical problems, there is provided a kind of piping lane monitoring robot, for detecting piping lane interior lines road
The problems such as failure, equipment fault, environment, typically used cooperatively with piping lane monitoring detecting system, realize piping lane intelligent management.
Robot includes collection video and camera, the cabinet as robot body, the band mobile robot of image information
Mobile mobile module, battery module and control module, wherein, camera, mobile module and battery module are electrically connected with control
Molding block.
The camera is arranged on cabinet.The mobile module includes wheel and track, and the wheel is arranged on cabinet
One end, to avoid robot from being worked in water, to avoid in piping lane the movement of debris influence robot, robot is using projecting
Mode, by track installation above piping lane inwall, and through wheel and cabinet, wheel passes through drive device one in orbit
Realize and roll.To improve convenience and guaranteeing to monitor piping lane at any time, robot using being placed in piping lane for a long time, so machine
Corresponding charging inlet is must be provided with device people and piping lane, the battery module includes battery, charging device, and battery is arranged on machine
In case, charging device includes mobile charging port and fixed charging port, and the mobile charging port is arranged on outside cabinet, electricity
Property connection battery, the fixed charging port is arranged on the terminal of track, connects power supply, when robot does not have electricity, can automatically return to
, will be automatic when the end points of track, mobile charging port and fixed charging port docking, charging, or robot work are completed
Rail end point is returned to, i.e. when not working, just connection power supply, so that next time can work long hours.
Further, provided with the first signal receiving/transmission device for sending and receiving signal in the cabinet, it is electrically connected with control
Module.
Further, the fixed charging port includes secondary signal R-T unit, wired connection network.
Further, the robot also includes being arranged on server module outside piping lane, server module and described the
Binary signal R-T unit is by network connection, and first signal receiving/transmission device passes through wireless signal with secondary signal R-T unit
Connection.
Further, the camera uses Varifocal zoom lens, and driven by drive device two realize 360 ° of rotations and
180 ° of swing amplitudes up and down, eyeglass, which is scribbled, prevents steam from forming the antifouling painting mist of the globule on its surface.
Further, it is increase stability, preferably four, wheel of the present invention but is not limited to four, is symmetrically mounted on cabinet
Both sides, the both sides wheel of correspondence cabinet lays two tracks, and the wheel is provided with brake member.
Further, the lowering or hoisting gear provided with the elevating movement for realizing suspension cabinet between the wheel and cabinet, passes through
Drive device three drives.By lowering or hoisting gear, camera can be closer to target.
Further, to be precisely controlled camera hunting range and amplitude and control machine people's displacement, the driving
Device one, drive device two and drive device three include stepper motor, and stepper motor is electrically connected with control module.When service mould
When block receives position of failure point information, moving parameter is parsed into when server module is by positional information, robot wheel is changed into
The corresponding revolution of the stepper motor of son, and moving parameter is sent to by secondary signal R-T unit by network, secondary signal is received
Moving parameter is sent to the first signal receiving/transmission device by transmitting apparatus again, finally proceeds to the control module of robot, control module
Stepper motor is controlled according to moving parameter, robot realizes accurate mobile.
Further, the cabinet is externally provided with lighting device, link control module, can increase the bright of picture or screen
Degree.
Further, the cabinet is provided with temperature sensor, humidity sensor and air mass sensor, can gather
Temperature information in piping lane, humidity information and air quality information, can be judged according to these information personnel enter maintenance whether
Safety.
From the above-mentioned description of this invention, compared to the prior art, the invention has the advantages that：
The present invention provides a kind of piping lane monitoring robot, and replacement is manually entered line fault, equipment inside piping lane, inspection
The problems such as failure, environment, collection screen image and corresponding monitoring information.Using hang, robot and piping lane can be avoided
Water or the debris contact of bottom, when advance, resistance is greatly reduced, meanwhile, robot can be avoided to intake or debris shadow
Robot work is rung, or even shortens the service life of robot.
Brief description of the drawings
Accompanying drawing described herein is used for providing a further understanding of the present invention, constitutes the part of the present invention, this hair
Bright schematic description and description is used to explain the present invention, does not constitute inappropriate limitation of the present invention.
Wherein：
Fig. 1 is the structural representation one of the present invention；(front view)
Fig. 2 is the structural representation two of the present invention；(side view)
Fig. 3 is the structural representation three of the present invention；(axis side view)
Fig. 4 is the structural representation four of the present invention；(axis side view)
Fig. 5 is the application schematic diagram one of the present invention；(axis side view)
Fig. 6 is the application schematic diagram two of the present invention.(axis side view)
Embodiment
In order that technical problems, technical solutions and advantages to be solved are clearer, clear, tie below
Drawings and examples are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only used
To explain the present invention, it is not intended to limit the present invention.
Refer to Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, a kind of piping lane monitoring robot 2, for detecting the interior lines of piping lane 1
The problems such as road failure, equipment fault, environment, collection screen image and corresponding monitoring information.
Camera 3 of the robot 2 including collection video and image information, the cabinet 4 as the main body of robot 2, band motivation
Mobile module 5, battery module 6 and control module that device people 2 moves, wherein, camera 3, mobile module 5 and battery module 6 are equal
It is electrically connected with control module.
The camera 3 has autozoom function, and reality is driven installed in one end of cabinet 4, and by drive device two
Existing 360 ° of rotations and up and down 180 ° of swing amplitudes, to ensure that steam does not influence to take pictures and image, the camera lens of the camera 3 is scribbled
Prevent steam from forming the antifouling painting mist of the globule on its surface.
The mobile module 5 includes the four wheels 51 for being symmetrically mounted on the both sides of cabinet 4 and correspondence both sides wheel 51 is laid
Two tracks 52, the wheel 51 be arranged on the one end of cabinet 4 away from camera 3, to avoid robot 2 from being worked in water,
Track 52 is arranged on above the inwall of piping lane 1 by robot 2 by the way of projecting, and through wheel 51 and cabinet 4, wheel
Son 51 is realized by drive device one on track 52 and rolled.Provided with the lifting for realizing suspension cabinet 4 between wheel 51 and cabinet 4
The lowering or hoisting gear 7 of motion, is driven by drive device three, to be precisely controlled the hunting range of camera 3 and amplitude and control machine
The displacement of people 2, the drive device one, drive device two and drive device three include stepper motor, and stepper motor is electrical
In link control module, the present embodiment, brake member is carried on wheel.
Robot 2 using being placed in piping lane 1 for a long time, so must be provided with corresponding charging in robot 2 and piping lane 1
Mouthful, the battery module 6 includes battery, charging device, and the battery is arranged in cabinet 4, and the charging device includes movement
Charging port 61 and fixed charging port 62, the mobile charging port 61 are arranged on outside cabinet 4, are electrically connected with battery, institute
The terminal that fixed charging port 62 is arranged on track 52 is stated, power supply 7 is connected, when robot 2 does not have electricity, track 52 can be automatically returned to
End points, mobile charging port 61 and fixed charging port 62 are docked, and are charged, or during the work completion of robot 2, will be returned automatically
To the end points of track 52, i.e. when not working, power supply 7 is just connected, so that next time can work long hours.
In the present embodiment, in addition to the server module being arranged on outside piping lane, the cabinet 4 is interior to be provided with transmission and receives letter
Number the first signal receiving/transmission device, be electrically connected with control module, fixed charging port 62 includes secondary signal R-T unit, wired
Connect network.Server module and described secondary signal R-T unit are by network connection, first signal receiving/transmission device
It is connected with secondary signal R-T unit by wireless signal.
When service module receives position of failure point information, mobile ginseng is parsed into when server module is by positional information
Number, changes into the corresponding revolution of the stepper motor of wheels of robot, and moving parameter is sent into secondary signal by network and receive
Moving parameter is sent to the first signal receiving/transmission device by transmitting apparatus, secondary signal R-T unit again, finally proceeds to robot
Control module, control module controls stepper motor according to moving parameter, and robot realizes accurate mobile.Pass through three signal transmitting and receivings
Device, the robot can realize real-time interactive with server, send real-time monitoring information to operation maintenance personnel, operation maintenance personnel
Being capable of real time remote control robot monitoring piping lane situation.
Temperature sensor, humidity sensor and air mass sensor are additionally provided with cabinet 4, can be gathered in piping lane 1
Temperature information, humidity information and air quality information, can judge whether personnel enter to repair safe according to these information.
In the present embodiment, the cabinet 4 is externally provided with lighting device 41, and link control module can increase picture or screen
Brightness.
From the above-mentioned description of this invention, compared to the prior art, the invention has the advantages that：
The present invention provides a kind of piping lane monitoring robot, and replacement is manually entered line fault, equipment inside piping lane, inspection
The problems such as failure, environment, collection screen image and corresponding monitoring information.Using hang, robot and piping lane can be avoided
Water or the debris contact of bottom, when advance, resistance is greatly reduced, meanwhile, robot can be avoided to intake or debris shadow
Robot work is rung, or even shortens the service life of robot.
The present invention is exemplarily described above in conjunction with accompanying drawing, it is clear that the present invention is implemented not by aforesaid way
Limitation, as long as the improvement of the various unsubstantialities of inventive concept and technical scheme of the present invention progress is employed, or without changing
Enter and the design of the present invention and technical scheme are directly applied into other occasions, within protection scope of the present invention.
Claims (10)
1. a kind of piping lane monitoring robot, for monitoring inside piping lane, gathers monitoring information, including collection video and image information
Camera, the cabinet as robot body, with mobile robot move mobile module, battery module and control module；Take the photograph
As head, mobile module and battery module are electrically connected with control module；The camera is arranged on cabinet, it is characterised in that
The mobile module includes wheel and track, and the wheel is arranged on one end of cabinet, and robot is described by the way of projecting
Track installation is above piping lane inwall, and through wheel and cabinet, and wheel is realized by drive device one roll in orbit
It is dynamic；The battery module includes battery, charging device, and the battery is arranged in cabinet, and the charging device includes moving charging
Electric port and fixed charging port, the mobile charging port are arranged on outside cabinet, are electrically connected with battery, the fixed charging
Port is arranged on the terminal of track, connects power supply.
2. a kind of piping lane monitoring robot according to claim 1, it is characterised in that be provided with the cabinet and send and connect
By the first signal receiving/transmission device of signal, control module is electrically connected with.
3. a kind of piping lane monitoring robot according to claim 1, it is characterised in that the fixed charging port includes the
Binary signal R-T unit, wired connection network.
4. a kind of piping lane monitoring robot according to claim 1 or 2 or 3, it is characterised in that also including being arranged on piping lane
Outer server module, server module is with described secondary signal R-T unit by network connection, and first signal is received
Transmitting apparatus is connected with secondary signal R-T unit by wireless signal.
5. a kind of piping lane monitoring robot according to claim 1, it is characterised in that the camera uses varifocal mirror
Head, and 360 ° of rotations and up and down 180 ° of swing amplitudes are realized by the drive of drive device two, eyeglass, which is scribbled, prevents steam in its table
Face forms the antifouling painting mist of the globule.
6. a kind of piping lane monitoring robot according to claim 1, it is characterised in that the wheel has four, symmetrical peace
Mounted in the both sides of cabinet, the both sides wheel of correspondence cabinet lays two tracks, and the wheel is provided with brake member.
7. a kind of piping lane monitoring robot according to claim 1, it is characterised in that be provided between the wheel and cabinet
The lowering or hoisting gear of the elevating movement of suspension cabinet is realized, is driven by drive device three.
8. a kind of piping lane monitoring robot according to claim 1 or 7, it is characterised in that the drive device one, driving
Device two and device three, which drive, includes stepper motor, and stepper motor is electrically connected with control module, the first signal transmitting and receiving dress
Receive displacement signal and be sent to control module, control module control stepper motor rotates corresponding revolution.
9. a kind of piping lane monitoring robot according to claim 1, it is characterised in that the cabinet is externally provided with illumination dress
Put, link control module.
10. a kind of piping lane monitoring robot according to claim 1, it is characterised in that the cabinet is passed provided with temperature
Sensor, humidity sensor and air mass sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710559255.5A CN107322567A (en) | 2017-07-11 | 2017-07-11 | A kind of piping lane monitoring robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710559255.5A CN107322567A (en) | 2017-07-11 | 2017-07-11 | A kind of piping lane monitoring robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107322567A true CN107322567A (en) | 2017-11-07 |
Family
ID=60197138
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710559255.5A Pending CN107322567A (en) | 2017-07-11 | 2017-07-11 | A kind of piping lane monitoring robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN107322567A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108527459A (en) * | 2018-03-20 | 2018-09-14 | 马鞍山远荣机器人智能装备有限公司 | A kind of intelligent monitoring device based on industrial robot |
| CN108789492A (en) * | 2018-06-21 | 2018-11-13 | 广州供电局有限公司 | Amphibious hot line robot insulation distance test device and method |
| CN109348182A (en) * | 2018-11-15 | 2019-02-15 | 贵州创世科技有限公司 | A kind of packing lot monitoring apparatus |
| CN109502479A (en) * | 2018-12-18 | 2019-03-22 | 南京理工大学 | A kind of track hoisting mechanism convenient for handling |
| CN109542019A (en) * | 2018-12-20 | 2019-03-29 | 上海金盾消防智能科技有限公司 | One kind remotely monitoring underground pipe gallery fire detecting system based on Internet of Things |
| CN112555593A (en) * | 2020-12-02 | 2021-03-26 | 扬州工业职业技术学院 | Intelligent home monitoring device based on cloud computing |
| CN116760956A (en) * | 2023-08-21 | 2023-09-15 | 建元未来城市投资发展有限公司 | Intelligent monitoring management system and method for urban comprehensive pipe rack |
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| CN207240185U (en) * | 2017-07-11 | 2018-04-17 | 唐山市智明电子科技有限公司 | A kind of piping lane monitoring robot |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108527459A (en) * | 2018-03-20 | 2018-09-14 | 马鞍山远荣机器人智能装备有限公司 | A kind of intelligent monitoring device based on industrial robot |
| CN108789492A (en) * | 2018-06-21 | 2018-11-13 | 广州供电局有限公司 | Amphibious hot line robot insulation distance test device and method |
| CN108789492B (en) * | 2018-06-21 | 2020-09-18 | 广州供电局有限公司 | Device and method for testing insulation distance of amphibious live working robot |
| CN109348182A (en) * | 2018-11-15 | 2019-02-15 | 贵州创世科技有限公司 | A kind of packing lot monitoring apparatus |
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| CN112555593A (en) * | 2020-12-02 | 2021-03-26 | 扬州工业职业技术学院 | Intelligent home monitoring device based on cloud computing |
| CN116760956A (en) * | 2023-08-21 | 2023-09-15 | 建元未来城市投资发展有限公司 | Intelligent monitoring management system and method for urban comprehensive pipe rack |
| CN116760956B (en) * | 2023-08-21 | 2023-10-20 | 建元未来城市投资发展有限公司 | Intelligent monitoring management system and method for urban comprehensive pipe rack |
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Application publication date: 20171107 |