CN113910254A - Ceiling type inspection robot - Google Patents
Ceiling type inspection robot Download PDFInfo
- Publication number
- CN113910254A CN113910254A CN202111193149.2A CN202111193149A CN113910254A CN 113910254 A CN113910254 A CN 113910254A CN 202111193149 A CN202111193149 A CN 202111193149A CN 113910254 A CN113910254 A CN 113910254A
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- China
- Prior art keywords
- inspection robot
- traveling mechanism
- control
- control panel
- robot according
- Prior art date
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- Pending
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 40
- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 239000000779 smoke Substances 0.000 claims abstract description 11
- 238000004891 communication Methods 0.000 claims abstract description 8
- 239000000725 suspension Substances 0.000 claims abstract description 7
- 238000001514 detection method Methods 0.000 claims description 6
- 238000011161 development Methods 0.000 claims description 3
- 230000001939 inductive effect Effects 0.000 claims description 3
- 239000013589 supplement Substances 0.000 claims description 3
- 230000002159 abnormal effect Effects 0.000 description 3
- 230000006872 improvement Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000003245 coal Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- 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
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model relates to a suspension type patrols and examines robot, be in including track and carry walking mechanism on the track, the last operation portion that can carry out the operation of walking mechanism, operation portion include a quick-witted case and set up in control panel in the quick-witted case, control panel electric connection has a communication unit, a smoke transducer and a camera, smoke transducer configuration is to detect the unusual smog concentration of patrolling and examining on the circuit, the camera set up in the quick-witted case outside is configured to the image information who patrols and examines the circuit for the collection, the control panel configuration is to receive control command and right camera and/or walking mechanism control. The ceiling type inspection robot provided by the invention can realize adjustable functions by selectively connecting various components on the control panel, and has high customization.
Description
Technical Field
The invention relates to an inspection robot, in particular to a ceiling type inspection robot.
Background
The track robot system can execute an automatic inspection task according to the setting and automatically generate an abnormal condition report. Therefore, a specific rail-type inspection robot is subdivided into the rail robots. And the rail type inspection robot is mainly based on the ceiling type inspection robot. The ceiling type inspection robot can be widely applied to inspection of indoor transformer substations, underground working surface inspection of coal mines and the like. Relatively speaking, the current inspection robot structural design is mostly set for specific scenes, and the wide applicability is lacked.
Disclosure of Invention
In view of the above problems in the prior art, an object of the present invention is to provide a ceiling type inspection robot which can be deployed in a modular manner and has a wide application range.
In order to achieve the above object, an aspect of the present invention provides a ceiling type inspection robot, including a rail and a traveling mechanism mounted on the rail, wherein the traveling mechanism includes an operation unit capable of performing an operation, the operation unit includes a case and a control board disposed in the case, the control board is electrically connected to a communication unit, a smoke sensor and a camera, the smoke sensor is configured to detect an abnormal smoke concentration on an inspection line, the camera is disposed outside the case and configured to collect image information of the inspection line, and the control board is configured to receive a control command and control the camera and/or the traveling mechanism.
Preferably, the communication unit is a wireless router and is configured to be in communication connection with an upper computer, and the upper computer is configured to collect routing inspection information and is in line connection with a remote control center.
Preferably, a charging unit is suspended at the end of the travel of the rail, the working unit further comprises a rechargeable power supply, the power supply is provided with a power supply connector, the power supply connector is configured to be as high as a magnetic suction type interface arranged on the charging unit, and the traveling mechanism can be controlled to move towards the charging unit for power supplement.
Preferably, the operation unit further includes a battery detection unit configured to detect a remaining capacity of the power supply in real time, and the control board is configured to determine whether to control the traveling mechanism to move to the charging unit according to the remaining capacity of the power supply.
Preferably, the charging unit is connected to the rail through a suspension.
Preferably, a proximity sensor is arranged outside the traveling mechanism, the proximity sensor is configured to determine whether the traveling mechanism reaches a charging position, if so, the control board controls the traveling mechanism to stop operating, and when the battery detection unit determines that the battery is fully charged, the control board controls the traveling mechanism to enter a working state.
Preferably, the control board is an Ardinuo development board, and the proximity sensor is a non-contact inductive proximity sensor.
The ceiling type inspection robot provided by the invention can realize adjustable functions by selectively connecting various components on the control panel, and has high customization. Meanwhile, in some improvement schemes, the chargeable power supply can be additionally arranged through the scheme, particularly the tail end node of the routing inspection line is arranged, the charging unit of the magnetic type interface is arranged, and the cruising requirement in the routing inspection process is met.
Drawings
Fig. 1 is a schematic view of a front view structure of a ceiling type inspection robot according to the present invention.
Fig. 2 is a schematic perspective view of the ceiling type inspection robot according to the present invention.
Fig. 3 is another perspective view of the ceiling type inspection robot according to the present invention.
Fig. 4 is a block diagram of a ceiling type inspection robot according to the present invention.
The main reference numbers:
1-track, 2-operation part, 3-walking mechanism, 4-charging unit, 21-explosion-proof camera, 22-wireless router and 23-DC/DC module; 24-wireless module, 25-power connector; 31-road wheels, 32-proximity sensors; 41-power box; 42-suspension.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
Various aspects and features of the present invention are described herein with reference to the drawings.
These and other characteristics of the invention will become apparent from the following description of a preferred form of embodiment, given as a non-limiting example, with reference to the accompanying drawings.
It should also be understood that, although the invention has been described with reference to some specific examples, a person of skill in the art shall certainly be able to achieve many other equivalent forms of the invention, having the characteristics as set forth in the claims and hence all coming within the field of protection defined thereby.
The above and other aspects, features and advantages of the present invention will become more apparent in view of the following detailed description when taken in conjunction with the accompanying drawings.
As shown in fig. 1 to 3, a ceiling type inspection robot according to an embodiment of the present invention includes a track 1 and a traveling mechanism 3 mounted on the track 1, wherein the traveling mechanism 3 is provided with an operation unit 2 capable of performing an operation, the operation unit 2 includes a case (not labeled in the figures) and a control board (not labeled in the figures) disposed in the case, and the control board is electrically connected to a communication unit, a smoke sensor and a camera. In some embodiments, the communication unit is a wireless router 22, and the camera, preferably an explosion-proof camera 21, is considered for the particular application. In the present embodiment, the smoke sensor is configured to detect abnormal smoke concentration on the inspection line, and a conventional photoelectric smoke sensor may be generally selected, and the specific configuration thereof is not described in the present invention. As shown in fig. 1 to 3, the explosion-proof camera 21 is disposed outside the chassis and configured to collect image information of the inspection line, and the control board, for example, a selectable Ardinuo development board, is configured to receive a control instruction and control the camera and/or the traveling mechanism. Note that fig. 1 to 3 show the inspection mechanism as a single line section, and in practice, in the inspection area, it is possible to provide a plurality of inspection rails each provided with an inspection robot. Thus, in fact, the wireless router 22 needs to be communicatively connected to a host computer (not shown) configured to collect routing inspection information and wired to a remote control center.
In addition, as shown in fig. 3 and 4, in the present invention, in consideration of endurance, a charging unit may be suspended by a suspension 42 at the end of the travel of the track 1, the charging unit includes a power box 41 and a magnetic attraction type interface provided on the power box 41, the working unit 2 further includes a rechargeable power source (not shown), the power source is provided with a power connector 25, the power connector 25 is configured to be as high as the magnetic attraction type interface provided on the charging unit 4, the height is specifically adjustable by the suspension, and the traveling mechanism 3 is controllably moved to the charging unit 4 for power supplement.
As a still further improvement, the working unit 2 further includes a battery detection unit configured to convert a charging voltage, and a DC/DC module configured to detect a remaining capacity of the power supply in real time, and the control board is configured to determine whether to control the traveling mechanism 3 to move to the charging unit according to the remaining capacity of the power supply. In order to avoid the collision caused by the over-high speed when the traveling mechanism 3 moves toward the charging unit, it is preferable that a proximity sensor, typically a non-contact inductive proximity sensor, is provided outside the traveling mechanism 3. The proximity sensor is configured to judge whether the travelling mechanism reaches a charging position, if so, the control panel controls the travelling mechanism 3 to stop, and when the battery detection unit judges that the battery is fully charged, the control panel controls the travelling mechanism to enter a working state.
The above embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and the scope of the present invention is defined by the claims. Various modifications and equivalents may be made by those skilled in the art within the spirit and scope of the present invention, and such modifications and equivalents should also be considered as falling within the scope of the present invention.
Claims (7)
1. Robot is patrolled and examined to suspension type, be in including track and carry walking mechanism on the track, the last operation portion that can carry out the operation of walking mechanism, operation portion include a quick-witted case and set up in quick-witted incasement control panel, control panel electric connection has a communication unit, a smoke transducer and a camera, smoke transducer configuration is for detecting the unusual smog concentration of patrolling and examining on the circuit, the camera set up in the machine case outside is configured for the image information of gathering the circuit of patrolling and examining, the control panel configuration is received control command and right camera and/or walking mechanism control.
2. The ceiling inspection robot according to claim 1, wherein the communication unit is a wireless router and is configured to communicatively couple to a host computer, the host computer configured to collect inspection information and to a remote control center.
3. The ceiling type inspection robot according to claim 1, wherein a charging unit is suspended at the end of the travel of the rail, the working unit further includes a rechargeable power supply, the power supply is provided with a power connector, the power connector is configured to be as high as a magnetic suction type interface provided on the charging unit, and the traveling mechanism is controllably moved toward the charging unit for power supplement.
4. The ceiling inspection robot according to claim 3, wherein the work unit further includes a battery detection unit configured to detect a remaining capacity of the power supply in real time, and the control board is configured to determine whether to control the traveling mechanism to move toward the charging unit according to the remaining capacity of the power supply.
5. The ceiling inspection robot according to claim 3, wherein the charging unit is coupled to the rail via a suspension.
6. The ceiling inspection robot according to claim 3, wherein a proximity sensor is disposed outside the traveling mechanism, the proximity sensor is configured to determine whether the traveling mechanism reaches a charging position, if so, the control board controls the traveling mechanism to stop, and when the battery detection unit determines that the battery is fully charged, the control board controls the traveling mechanism to enter a working state.
7. The ceiling inspection robot according to claim 6, wherein the control board is an Ardinuo development board and the proximity sensor is a non-contact inductive proximity sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111193149.2A CN113910254A (en) | 2021-10-13 | 2021-10-13 | Ceiling type inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111193149.2A CN113910254A (en) | 2021-10-13 | 2021-10-13 | Ceiling type inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113910254A true CN113910254A (en) | 2022-01-11 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111193149.2A Pending CN113910254A (en) | 2021-10-13 | 2021-10-13 | Ceiling type inspection robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN113910254A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105471046A (en) * | 2016-01-06 | 2016-04-06 | 山东康威通信技术股份有限公司 | Lithium battery rapid charging management system and method for electric power tunnel inspection robot |
| CN106512266A (en) * | 2016-10-27 | 2017-03-22 | 中国矿业大学 | Hanging rail type fire controlling and routing inspection robot |
| CN106540390A (en) * | 2016-10-27 | 2017-03-29 | 中国矿业大学 | Hanger rail type fire protection patrol robot system |
| CN107769063A (en) * | 2016-08-15 | 2018-03-06 | 深圳市朗驰欣创科技股份有限公司 | Electric inspection process robot and system |
| CN108608399A (en) * | 2018-04-24 | 2018-10-02 | 南京理工大学 | A kind of crusing robot of Master-Slave Distributive Control |
| CN111152236A (en) * | 2020-01-19 | 2020-05-15 | 辽宁工程技术大学 | Inspection robot for safety detection of mining belt conveyor |
| CN111300453A (en) * | 2020-03-31 | 2020-06-19 | 中自机器人技术(安庆)有限公司 | Intelligent inspection robot for comprehensive pipe rack |
| CN111716322A (en) * | 2020-07-14 | 2020-09-29 | 重庆大学 | Track type inspection robot |
-
2021
- 2021-10-13 CN CN202111193149.2A patent/CN113910254A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105471046A (en) * | 2016-01-06 | 2016-04-06 | 山东康威通信技术股份有限公司 | Lithium battery rapid charging management system and method for electric power tunnel inspection robot |
| CN107769063A (en) * | 2016-08-15 | 2018-03-06 | 深圳市朗驰欣创科技股份有限公司 | Electric inspection process robot and system |
| CN106512266A (en) * | 2016-10-27 | 2017-03-22 | 中国矿业大学 | Hanging rail type fire controlling and routing inspection robot |
| CN106540390A (en) * | 2016-10-27 | 2017-03-29 | 中国矿业大学 | Hanger rail type fire protection patrol robot system |
| CN108608399A (en) * | 2018-04-24 | 2018-10-02 | 南京理工大学 | A kind of crusing robot of Master-Slave Distributive Control |
| CN111152236A (en) * | 2020-01-19 | 2020-05-15 | 辽宁工程技术大学 | Inspection robot for safety detection of mining belt conveyor |
| CN111300453A (en) * | 2020-03-31 | 2020-06-19 | 中自机器人技术(安庆)有限公司 | Intelligent inspection robot for comprehensive pipe rack |
| CN111716322A (en) * | 2020-07-14 | 2020-09-29 | 重庆大学 | Track type inspection robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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Application publication date: 20220111 |