CN205581549U - Robot - Google Patents
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- CN205581549U CN205581549U CN201620173945.8U CN201620173945U CN205581549U CN 205581549 U CN205581549 U CN 205581549U CN 201620173945 U CN201620173945 U CN 201620173945U CN 205581549 U CN205581549 U CN 205581549U
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Abstract
The utility model discloses a robot. Include: a communication device for receive equipment running state information and/or equipment operational data that one or more working equipment sent, erupt simultaneously and give controlling means, and the working equipment control command who is used for receiving control device to send erupts simultaneously and gives corresponding working equipment for corresponding working equipment accomplishes corresponding operation according to working equipment control command, controlling means for send the operating instruction who carries out specific operation to final controlling element according to equipment running state information and/or equipment operational data, and/or, be used for generating corresponding working equipment control command according to equipment running state information and/or equipment operational data and erupt simultaneously and give a communication device, final controlling element for the operating instruction who sends according to controlling means carries out specific operation. This robot can adjust working equipment according to working equipment's running state information, equipment operational data, has promoted work efficiency and has reduced personnel's cost.
Description
Technical field
This utility model relates to robot field, particularly to a kind of robot.
Background technology
Due to the restriction of scientific and technological level, many working environments are the severeest, the most sternly for workman
The environment such as cold, extremely hot, many dirt not only limit work task efficiency, drastically influence workman's especially
Healthy.And in the case of cannot greatly improving working environment, people research and development, produce batchs of
There is the robot of one or more functions, thus substitute workman and perform some work, be greatly reduced
The burden of workman.
But, the work equipment of robot manipulation often produces state change, but robot is generally not capable of
Enough tackle these situations well.Therefore robot is put into special scenes by prior art more,
Down-hole searching etc. after occurring such as mine disaster, robot also tends to the role of the simply surveyor played the part of wherein,
The shortcoming disposal ability to event.
Utility model content
In view of the above problems, it is proposed that this utility model is to provide one to overcome the problems referred to above or at least
Partly solve the robot of the problems referred to above.
According to an aspect of the present utility model, it is provided that a kind of robot, including:
First communication device, for receiving the equipment running status information that one or more work equipment sends
And/or equipment operational data, and it is sent to control device；And the work for receiving control device transmission
Equipment control instruction is also sent to corresponding work equipment so that corresponding work equipment is according to work equipment
Control instruction completes to operate accordingly；
Control device, for sending out to performing device according to equipment running status information and/or equipment operational data
Send the operational order performing specific operation, and/or, for according to equipment running status information and/or equipment
Operational data generates corresponding work equipment control instruction and is sent to first communication device；
Perform device, for according to controlling the operational order execution specific operation that device sends.
Alternatively, this robot farther includes: secondary communication device；
Described control device, be further used for by first communication device send equipment running status information and/
Or equipment operational data is sent to secondary communication device；And be further used for sending secondary communication device
Equipment control instruction be sent to first communication device, according to secondary communication device send robot control
Instruct to performing the device corresponding operational order of transmission；
Secondary communication device, for sending out the equipment running status information received and/or equipment operational data
Give remote supervisory and control(ling) equipment；And refer to for receiving the equipment control control of described remote supervisory and control(ling) equipment transmission
Order and/or robot control instruction and be sent to control device.
Alternatively, this robot farther includes:
Temperature sensor, for the temperature value of Real-time Collection current region and be sent to described control device；
Humidity sensor, for the humidity value of Real-time Collection current region and be sent to described control device；
Described control device, for receiving temperature value and the described humidity sensor that described temperature sensor sends
The humidity value that device sends；When the temperature value gathered is less than the second threshold higher than the humidity value of first threshold and collection
During value, send the instruction performing cooling operation to described execution device；When the temperature value gathered is higher than the 3rd
During threshold value, send to described execution device and perform fire-extinguishing operations and the instruction of operation of reporting to the police, and by the condition of a fire
Warning message is sent to described secondary communication device；
Described secondary communication device, for being sent to remote supervisory and control(ling) equipment by described condition of a fire warning message；
Described execution device, is used for the cooling operational order according to the transmission of described control device to current region
Carry out cooling operation, according to the fire-extinguishing operations instruction that described control device sends, current region is put out a fire
Operation, and it is used for the work in current region of the warning operational order according to the transmission of described control device
Personnel send prompt messages.
Alternatively, this robot farther includes:
Air velocity transducer, for the air speed value of Real-time Collection current region and be sent to described control device；
Described control device, for receiving the air speed value that described air velocity transducer sends；When the wind speed gathered
During less than four threshold values, information too low for wind speed is sent to described secondary communication device and to institute
State execution device and send wind speed too low prompting operational order；
Described secondary communication device, for being sent to remote supervisory and control(ling) equipment by described information；
Described execution device, for according to described control device send wind speed too low prompting operational order to
Staff in current region sends the too low information of wind speed.
Alternatively, this robot farther includes: photographic head and storage device；
Described photographic head, for gathering the image information of current region and being sent to described control device and deposit
Storage device；
Described storage device, is used for storing described image information；
Described control device, is further used for described image information is sent to described secondary communication device；
Described secondary communication device, is further used for that described image information is sent to described long-range monitoring and sets
Standby.
Alternatively, described work equipment is the belt conveyer scale weighing coal；
Described control device, is further used for the temperature value received for the first time is recorded as initial temperature,
The humidity value received for the first time is recorded as initial humidity；When the temperature value received and initial temperature
When difference is more than the difference of the 5th threshold value and the humidity value received and initial humidity more than six threshold values, to
Described execution device sends the instruction performing school Z-operation；
Described execution device, is further used for instructing working as according to the school Z-operation that described control device sends
Belt conveyer scale in forefoot area carries out school Z-operation, and/or timing carries out school zero to the belt conveyer scale in current region
Operation.
Alternatively, this robot also includes:
Cartridges；
Described secondary communication device, for receiving the sampling instruction that described remote supervisory and control(ling) equipment sends, concurrently
Give described control device；
Described control device, sends to performing device for the sampling instruction sent according to secondary communication device
Sampling operation instructs；
Perform device, for the sampling operation instruction acquisition target sample sent according to control device, and will
The target sample collected puts into described cartridges.
Alternatively, this robot farther includes:
One or more gas concentration sensors, all kinds of gases being respectively used to Real-time Collection current region are dense
Angle value is also sent to described control device；Described condition of a fire warning message is spontaneous combustionof coal warning message；
Described control device, is further used for the gas concentration value when gathering and exceedes the threshold corresponding with this gas
During value, too high for gas concentration information and/or spontaneous combustionof coal warning message are sent to described second communication
Device, and send gas concentration too high prompting operational order and/or fire-extinguishing operations to described execution device
Instruction；
Described secondary communication device, for by too high for described gas concentration information and/or spontaneous combustionof coal report
Alarming information is sent to remote supervisory and control(ling) equipment；
Described execution device, is further used for the too high prompting of gas concentration sent according to described control device
Operational order staff in current region sends the too high information of gas concentration.
Alternatively, this robot farther includes:
Running gear, for the action operational order action sent according to described control device；
Described control device, for according to predetermined paths figure and/or being sent by secondary communication device of receiving
Activity control instruction, to described running gear send action operational order；
Power set are for providing power for other devices.
Alternatively, this robot farther includes:
Electronic compass, is presently in the directional information of position for gathering and is sent to described control device；
Global position system GPS, for gathering the latitude and longitude information being presently in position and being sent to described
Control device；
Ultrasonic sensor and infrared distance sensor, be used for gathering near robot whether there is barrier
And/or the traffic information of hollow；
Described control device, for according to gather directional information, latitude and longitude information, traffic information and
Predetermined paths figure and/or the activity control sent by the secondary communication device instruction received, determine action behaviour
Instruct.
From the foregoing, the technical solution of the utility model provide robot, including first communication device,
Controlling device and perform device, wherein, first communication device is used for receiving one or more work equipment and sends out
The equipment running status information sent and/or equipment operational data, and be sent to control device；And be used for connecing
Receive and control the work equipment control instruction of device transmission and be sent to corresponding work equipment so that be corresponding
Work equipment completes to operate accordingly according to work equipment control instruction；Control device, for according to equipment
Running state information and/or equipment operational data send the operational order performing specific operation to execution device,
And/or, for generating corresponding work equipment according to equipment running status information and/or equipment operational data
Control instruction is also sent to first communication device；Perform device, for according to controlling the operation that device sends
Instruction performs specific operation.This robot can be according to the running state information of work equipment and/or equipment work
Make data work equipment is adjusted, such as when work equipment is overheated, it is lowered the temperature, operation suspension
Deng process, it is achieved that the intelligent management and control of automatization, greatly improve work efficiency and reduce personnel
This.
Described above is only the general introduction of technical solutions of the utility model, in order to better understand this practicality
Novel technological means, and can be practiced according to the content of description, and in order to allow this utility model
Above and other objects, features and advantages can become apparent, below especially exemplified by tool of the present utility model
Body embodiment.
Accompanying drawing explanation
By reading the detailed description of hereafter preferred implementation, various other advantage and benefit for this
Field those of ordinary skill will be clear from understanding.Accompanying drawing is only used for illustrating the purpose of preferred implementation,
And be not considered as restriction of the present utility model.And in whole accompanying drawing, by identical reference marks
Represent identical parts.In the accompanying drawings:
Fig. 1 shows the structural representation of a kind of robot according to one embodiment of this utility model；
Fig. 2 shows the structural representation of the another kind of robot according to one embodiment of this utility model；
Fig. 3 shows the schematic diagram of the robot according to one specific embodiment of this utility model.
Detailed description of the invention
It is more fully described the exemplary embodiment of the disclosure below with reference to accompanying drawings.Although accompanying drawing shows
The exemplary embodiment of the disclosure, it being understood, however, that may be realized in various forms the disclosure and not
Should be limited by embodiments set forth here.On the contrary, it is provided that these embodiments are able to more thoroughly
Understand the disclosure, and complete for the scope of the present disclosure can be conveyed to those skilled in the art.
Fig. 1 shows the structural representation of a kind of robot according to one embodiment of this utility model, as
Shown in Fig. 1, robot 100 includes:
First communication device 110, for receiving the equipment running status that one or more work equipment sends
Information and/or equipment operational data, and be sent to control device 120；And for receiving control device 120
The work equipment control instruction that sends also is sent to corresponding work equipment so that corresponding work equipment root
Complete to operate accordingly according to work equipment control instruction.
Wherein, equipment running status information can be: runs well, transship, overheated, idle etc.,
This does not enumerates, and equipment operational data can be completed task amount, such as the coal sample gathered
Quantity etc..Such as, need coal is weighed during Coal Transport, as a example by belt conveyer scale, its
In real time instantaneous value of weighing can be transferred to robot, first communication device be received, machine
These values are carried out simple integration and add up by people, it is possible to obtain the coal amount that belt conveyer scale has transported.Specifically
Ground, the communication between first communication device and work equipment can use Zigbee protocol to realize setting.
ZigBee is low-power consumption LAN protocol based on IEEE802.15.4 standard, and it has closely, low one-tenth
Basis, self-organizing, short time-delay, the feature of low-power consumption, it is easy to practical.
Control device 120, for according to equipment running status information and/or equipment operational data to performing dress
Put 130 transmissions and perform the operational order of specific operations, and/or, for according to equipment running status information and
/ or equipment operational data generate corresponding work equipment control instruction be sent to first communication device 110.
Such as, when the coal amount that belt conveyer scale has transported reaches task amount, can send to performing device 130
Make the out-of-work instruction of belt conveyer scale.
Perform device 130, for according to controlling the operational order execution specific operation that device 120 sends.
Visible, the robot shown in Fig. 1, including first communication device, control device and perform device,
Wherein, first communication device is for receiving the equipment running status information that one or more work equipment sends
And/or equipment operational data, and it is sent to control device；And the work for receiving control device transmission
Equipment control instruction is also sent to corresponding work equipment so that corresponding work equipment is according to work equipment
Control instruction completes to operate accordingly；Control device, for according to equipment running status information and/or equipment
Operational data sends the operational order of execution specific operation to performing device, and/or, for transporting according to equipment
Row status information and/or equipment operational data generate corresponding work equipment control instruction and are sent to first
Communicator；Perform device, for according to controlling the operational order execution specific operation that device sends.Should
Work equipment can be added by robot according to the running state information of work equipment and/or equipment operational data
To adjust, such as when work equipment is overheated lower the temperature it, operation suspension etc. processes, it is achieved that automatically
The intelligent management and control changed, greatly improves work efficiency and reduces personnel cost.
Fig. 2 shows the structural representation of the another kind of robot according to one embodiment of this utility model,
As in figure 2 it is shown, robot 200 includes first communication device 210, controls device 220 and perform device
230, said apparatus has the function identical with corresponding intrument in Fig. 1, does not repeats them here.This robot
Also include: secondary communication device 240.
Control device 220, be further used for the equipment running status letter sent by first communication device 210
Breath and/or equipment operational data are sent to secondary communication device 240；And be further used for communicating second
The equipment control instruction that device 240 sends is sent to first communication device 210, according to secondary communication device
The 240 robot control instructions sent send corresponding operational order to performing device 230；Second communication
Device 240, for being sent to the equipment running status information received and/or equipment operational data remotely
Monitoring device；And for receiving equipment control control instruction and/or the robot that remote supervisory and control(ling) equipment sends
Control instruction also is sent to control device 220.
In the present embodiment, robot may be provided for middle rotating function, is i.e. received by secondary communication device
The equipment control instruction that remote supervisory and control(ling) equipment sends, and be sent to set accordingly by first communication device
Standby.Between secondary communication device and remote supervisory and control(ling) equipment the most relatively far apart, GPRS can be used
(General Packet Radio Service, general packet radio service technology) mode communicates, because of
For GPRS, there is the advantages such as transmission is stable, connection speed is fast, area coverage is big, charging is the most cheap.
Equally, the equipment running status information received and/or equipment operational data can also be sent to by robot
Remote supervisory and control(ling) equipment, it is simple to Security Officer is remotely monitored.
For representing the working condition of the work equipment each several part of working site, in a reality of the present utility model
Executing in example, the robot shown in Fig. 2 farther includes: photographic head 250 and storage device 260.Shooting
250, for gathering the image information of current region and being sent to control device 220 and storage device 260；
Storage device 260, is used for storing image information；Control device 220, be further used for sending out image information
Give secondary communication device 240；Secondary communication device 240, is further used for being sent to far image information
Range monitoring equipment.
In the present embodiment, high definition network head can be installed with robot, and match corresponding
The Cloud Terrace, catches and gathers the work sheet picture of the various piece of each work equipment, such as, supervise whole coal
Transport and the process of storage, check scene of the accident situation etc..Storage device can be jumbo portable hard drive,
Analyse scientifically for the later stage with storage image information.The Security Officer of remote supervisory and control(ling) equipment side can be by sending out
Send photographic head control instruction to control photographic head rotate and adjust angle, so that visual angle is broader.And due to
The transmission speed of GPRS is limited, so real-time transmission of video requirement can not be met.Therefore before being different from
State embodiment, use the high speed data transfer function of 3G network to realize image information in the present embodiment
Real-time Transmission.
In an embodiment of the present utility model, the robot shown in Fig. 2 farther includes: temperature sensing
Device 270, for the temperature value of Real-time Collection current region and be sent to control device 220；Humidity sensor
280, for the humidity value of Real-time Collection current region and be sent to control device 220；Control device 220,
For receiving temperature value and the humidity value of humidity sensor 280 transmission that temperature sensor 270 sends；When
When the temperature value gathered is less than Second Threshold higher than the humidity value of first threshold and collection, to performing device
230 send the instruction performing cooling operation；When the temperature value gathered is higher than three threshold values, to performing dress
Put 230 transmissions and perform fire-extinguishing operations and the instruction of operation of reporting to the police, and condition of a fire warning message is sent to the
Two communicators 240；Secondary communication device 240, for being sent to remotely monitor set by condition of a fire warning message
Standby；Perform device 240, for according to controlling the cooling operational order of device 220 transmission to current region
Carrying out cooling operation, current region is put out a fire by the fire-extinguishing operations instruction according to controlling device 220 transmission
Operation, and it is used for the work in current region of the warning operational order according to control device 220 transmission
Personnel send prompt messages.
Disaster hidden-trouble, such as mine, forest farm etc. is all there is at many working environments.Therefore can be according to work
Make the burning-point of combustibles in environment and set corresponding threshold value, when the temperature value collected is too high, humidity value mistake
Time low, it is easy for because the reasons such as combustibles generation spontaneous combustion produce fire, for taking precautions against this phenomenon, can be right
Current region is lowered the temperature, and easy method is that water spray processes, and had the most both reduced temperature, and had also improved
Humidity.And if the temperature collected has exceeded the burning-point of combustibles, then be likely to have occurred that certainly
Combustion phenomenon or fire have occurred and that, now need all to carry out Security Officer, staff alarm,
And take fire-extinguishing operations.Preferably, robot can also include the photographic head in previous embodiment, passes through
Camera collection image information, the condition of a fire situation at the scene of transmitting of the Security Officer to remote supervisory and control(ling) equipment side.
Equally, in the most smooth environment that ventilates, the condition of a fire is the most easily caused, then in an enforcement of the present utility model
In example, the robot shown in Fig. 2 farther includes: air velocity transducer 290, current for Real-time Collection
The air speed value in region also is sent to control device 220；Control device 220, be used for receiving air velocity transducer
290 air speed value sent；When the wind speed gathered is less than four threshold values, by information too low for wind speed
It is sent to secondary communication device 240 and sends wind speed too low prompting operational order to performing device 230；
Secondary communication device 240, is used for will be prompted to information and is sent to remote supervisory and control(ling) equipment；Perform device 230, use
In the wind speed too low prompting operational order sent according to control device 220 staff in current region
Send the too low information of wind speed.
Such as, in coal mine environment, under normal temperature condition, owing to the oxygen in coal absorption air aoxidizes
Reaction will release heat, if oxidation liberated heat can not lose in time, heat will be accumulated,
Temperature will raise, and spontaneous combustion will occur when the temperature of coal reaches ignition point, therefore ventilates and does not freely hold very much
Easily cause the accumulation of heat.Therefore the present embodiment provides and detect when smooth, the wind speed of ventilating is too low
Process.
Specifically, in an embodiment of the present utility model, work equipment is weigh coal
Belt conveyer scale；Control device, be further used for the temperature value received for the first time is recorded as initial temperature,
The humidity value received for the first time is recorded as initial humidity；When the temperature value received and initial temperature
When difference is more than the difference of the 5th threshold value and the humidity value received and initial humidity more than six threshold values, to
Perform device and send the instruction performing school Z-operation；Perform device, be further used for sending out according to control device
The school Z-operation instruction sent carries out school Z-operation to the belt conveyer scale in current region, and/or timing is to working as proparea
Belt conveyer scale in territory carries out school Z-operation.
The belt of belt conveyer scale is easy to when temperature, humidity change greatly produce fracture, and belt fracture is such as
Fruit processes not in time often causes great security incident.Therefore the transmission equipment of belt conveyer scale is being received
During the status information of belt fracture sent, robot need by perform device perform to stop belt conveyer scale and
The work of associated transmission equipment, in order to avoid causing coal to pile up cause security incident, can believe state simultaneously
The information such as the belt fracture position carried in breath pass to Security Officer, it is simple to safeguard.It addition, continuing
During work, the humidity of working environment and temperature are all it may happen that change, and the zero point of belt conveyer scale is just
Can change therewith, cause error.Specifically, belt conveyer scale is produced by the temperature and humidity of external environment
Zero point error is 0.2%, but for colliery, although the error of only 0.2% will also result in the biggest
Error.Record humidity and the temperature of initial environment the most in the present embodiment, when humiture changes greatly
By robot, belt conveyer scale is carried out school zero.And can as required, after knocking off every day or every day goes into operation
Front setting time point is carried out school zero by robot to belt conveyer scale.
In an embodiment of the present utility model, the robot shown in Fig. 2 farther includes: cartridges
2100；Secondary communication device 240, for receiving the sampling instruction that remote supervisory and control(ling) equipment sends, and sends
Give and control device 220；Control device 230, for the sampling instruction sent according to secondary communication device 240
Sampling operation instruction is sent to performing device 230；Perform device 230, for according to controlling device 220
The sampling operation instruction acquisition target sample sent, and the target sample collected is put into cartridges
2100。
Wherein it is possible to be not all execution device different the adopting of replacing of robot according to the target sample of sampling
Storage, as coal pickup pawl, medical material take shovel etc..
In an embodiment of the present utility model, the robot shown in Fig. 2 farther includes: one or
Multiple gas concentration sensors 2110, are respectively used to all kinds of gas concentration value of Real-time Collection current region also
It is sent to control device 220；Condition of a fire warning message is spontaneous combustionof coal warning message；Control device 220, enter
When one step is for exceeding the threshold value corresponding with this gas when the gas concentration value gathered, gas concentration is too high
Information and/or spontaneous combustionof coal warning message are sent to secondary communication device 240, and to performing device
230 send gas concentration too high prompting operational order and/or the instruction of fire-extinguishing operations；Secondary communication device
240, for being sent to remotely monitor by too high for gas concentration information and/or spontaneous combustionof coal warning message
Equipment；Perform device 230, be further used for carrying according to the gas concentration controlling device 220 transmission is too high
Show that operational order staff in current region sends the too high information of gas concentration.
Such as, clear stipulaties carbon monoxide, carbon dioxide, titanium dioxide in " safety regulations in coal mine "
The upper limit of concentration of the gases such as nitrogen, the most easily existing in a lot of other working environments like this poisonous has
Evil gas, has specified in more detail in respective safety code, numerous to list herein, therefore can root
According to actual demand, corresponding gas concentration sensor is installed, when gas concentration is too high to Security Officer and work
Warning is sent as personnel.Further, too high in gas concentrations such as carbon monoxide, sulfur dioxide, carbon dioxide
Time, it is likely that represent and have occurred that spontaneous combustionof coal, the most equally carry out reporting to the police and fire-extinguishing operations,
Compensate for the shortcoming that only may not find the condition of a fire in time by temperature sensor.
In an embodiment of the present utility model, the robot shown in Fig. 2 farther includes: action dress
Put 2120, for according to controlling the action operational order action that device 220 sends；Control device 220,
For referring to according to predetermined paths figure and/or the activity control sent by secondary communication device 240 that receives
Order, sends action operational order to running gear 2120；Power set 2130, are used for as other devices
Power is provided.
Wherein, running gear can be set to crawler belt or road wheel according to the working environment of robot.Dynamic
Power apparatus can include large-capacity battery, may be equipped with solar panel in the open and carry out in environment
Charging.In the presence of a harsh environment, higher action edge can be exported by high pulling torque motor.Such as, Fig. 3
Show the schematic diagram of robot according to one specific embodiment of this utility model, as shown in Figure 3 should
Robot application, in open coal mine, has therefore selected crawler belt and coal to gather pawl.
And robot in action during route also need to set, both can by remotely controlling,
Can also take action according to pre-determined route figure.Therefore in an embodiment of the present utility model, above-mentioned machine
People also includes: electronic compass, for gathering the directional information being presently in position and being sent to control device；
Global position system GPS, for gathering the latitude and longitude information being presently in position and being sent to control device；
Ultrasonic sensor and infrared distance sensor, be used for gathering near robot whether exist barrier and/
Or the traffic information of hollow；Control device, for according to the directional information gathered, latitude and longitude information, road
Condition information and predetermined paths figure and/or the activity control sent by the secondary communication device instruction received,
Determine action operational order.
Such as, preset the route map comprising latitude and longitude information, i.e. determine route original position and final position
Respective latitude and longitude information, then the direction of advance of each point on road is set.But in view of residing for course of action
Environment it may happen that change, such as in open-air atmosphere, the position that originally there is not barrier rolls
One block of stone, or owing to job demand has dug a hole, these are likely to when predetermined paths figure go back
Do not occur, it is therefore desirable in robot, mounting ultrasonic sensor and infrared distance sensor detect
Traffic information, walks around hollow, avoiding barrier.Such as, specifically, in action during, use
GY-282-HMC5983 electronic compass control vehicle body direction is to reach the requirement of hunting driving, and passes through
NEO-6M GPS determines objective.Gps data is sent to single-chip microcomputer by serial ports, resolves through single-chip microcomputer
Process, extract required longitude and latitude value.Owing to destination's longitude and latitude is set, by purpose
Ground longitude and latitude and current calculation of longitude & latitude go out course deviation direct north angle, then by angle value with
Electronic compass is just communicating the deviation returned through IIC (Inter-Integrated Circuit, IC bus)
Beijiao angle value contrasts, thus judges vehicle body direct of travel.
In sum, the technical solution of the utility model provide robot, including first communication device,
Controlling device and perform device, wherein, first communication device is used for receiving one or more work equipment and sends out
The equipment running status information sent and/or equipment operational data, and be sent to control device；And be used for connecing
Receive and control the work equipment control instruction of device transmission and be sent to corresponding work equipment so that be corresponding
Work equipment completes to operate accordingly according to work equipment control instruction；Control device, for according to equipment
Running state information and/or equipment operational data send the operational order performing specific operation to execution device,
And/or, for generating corresponding work equipment according to equipment running status information and/or equipment operational data
Control instruction is also sent to first communication device；Perform device, for according to controlling the operation that device sends
Instruction performs specific operation.This robot can be according to the running state information of work equipment and/or equipment work
Make data work equipment is adjusted, such as when work equipment is overheated, it is lowered the temperature, operation suspension
Deng process, it is achieved that the intelligent management and control of automatization, greatly improve work efficiency and reduce personnel
This.
The foregoing is only preferred embodiment of the present utility model, be not intended to limit this utility model
Protection domain.All made within spirit of the present utility model and principle any amendment, equivalent,
Improve, be all contained in protection domain of the present utility model.
Claims (10)
1. a robot, it is characterised in that this robot includes:
First communication device, for receiving the equipment running status information that one or more work equipment sends
And/or equipment operational data, and it is sent to control device；And the work for receiving control device transmission
Equipment control instruction is also sent to corresponding work equipment so that corresponding work equipment is according to work equipment
Control instruction completes to operate accordingly；
Control device, for sending out to performing device according to equipment running status information and/or equipment operational data
Send the operational order performing specific operation, and/or, for according to equipment running status information and/or equipment
Operational data generates corresponding work equipment control instruction and is sent to first communication device；
Perform device, for according to controlling the operational order execution specific operation that device sends.
2. robot as claimed in claim 1, it is characterised in that this robot farther includes: the
Two communicators；
Described control device, be further used for by first communication device send equipment running status information and/
Or equipment operational data is sent to secondary communication device；And be further used for sending secondary communication device
Equipment control instruction be sent to first communication device, according to secondary communication device send robot control
Instruct to performing the device corresponding operational order of transmission；
Secondary communication device, for sending out the equipment running status information received and/or equipment operational data
Give remote supervisory and control(ling) equipment；And refer to for receiving the equipment control control of described remote supervisory and control(ling) equipment transmission
Order and/or robot control instruction and be sent to control device.
3. robot as claimed in claim 2, it is characterised in that this robot farther includes:
Temperature sensor, for the temperature value of Real-time Collection current region and be sent to described control device；
Humidity sensor, for the humidity value of Real-time Collection current region and be sent to described control device；
Described control device, for receiving temperature value and the described humidity sensor that described temperature sensor sends
The humidity value that device sends；When the temperature value gathered is less than the second threshold higher than the humidity value of first threshold and collection
During value, send the instruction performing cooling operation to described execution device；When the temperature value gathered is higher than the 3rd
During threshold value, send to described execution device and perform fire-extinguishing operations and the instruction of operation of reporting to the police, and by the condition of a fire
Warning message is sent to described secondary communication device；
Described secondary communication device, for being sent to remote supervisory and control(ling) equipment by described condition of a fire warning message；
Described execution device, is used for the cooling operational order according to the transmission of described control device to current region
Carry out cooling operation, according to the fire-extinguishing operations instruction that described control device sends, current region is put out a fire
Operation, and it is used for the work in current region of the warning operational order according to the transmission of described control device
Personnel send prompt messages.
4. robot as claimed in claim 2, it is characterised in that this robot farther includes:
Air velocity transducer, for the air speed value of Real-time Collection current region and be sent to described control device；
Described control device, for receiving the air speed value that described air velocity transducer sends；When the wind speed gathered
During less than four threshold values, information too low for wind speed is sent to described secondary communication device and to institute
State execution device and send wind speed too low prompting operational order；
Described secondary communication device, for being sent to remote supervisory and control(ling) equipment by described information；
Described execution device, for according to described control device send wind speed too low prompting operational order to
Staff in current region sends the too low information of wind speed.
5. robot as claimed in claim 2, it is characterised in that this robot farther includes: take the photograph
As head and storage device；
Described photographic head, for gathering the image information of current region and being sent to described control device and deposit
Storage device；
Described storage device, is used for storing described image information；
Described control device, is further used for described image information is sent to described secondary communication device；
Described secondary communication device, is further used for that described image information is sent to described long-range monitoring and sets
Standby.
6. robot as claimed in claim 3, it is characterised in that described work equipment is for enter coal
The belt conveyer scale that row is weighed；
Described control device, is further used for the temperature value received for the first time is recorded as initial temperature,
The humidity value received for the first time is recorded as initial humidity；When the temperature value received and initial temperature
When difference is more than the difference of the 5th threshold value and the humidity value received and initial humidity more than six threshold values, to
Described execution device sends the instruction performing school Z-operation；
Described execution device, is further used for instructing working as according to the school Z-operation that described control device sends
Belt conveyer scale in forefoot area carries out school Z-operation, and/or timing carries out school zero to the belt conveyer scale in current region
Operation.
7. robot as claimed in claim 2, it is characterised in that this robot also includes:
Cartridges；
Described secondary communication device, for receiving the sampling instruction that described remote supervisory and control(ling) equipment sends, concurrently
Give described control device；
Described control device, sends to performing device for the sampling instruction sent according to secondary communication device
Sampling operation instructs；
Perform device, for the sampling operation instruction acquisition target sample sent according to control device, and will
The target sample collected puts into described cartridges.
8. robot as claimed in claim 3, it is characterised in that this robot farther includes:
One or more gas concentration sensors, all kinds of gases being respectively used to Real-time Collection current region are dense
Angle value is also sent to described control device；Described condition of a fire warning message is spontaneous combustionof coal warning message；
Described control device, is further used for the gas concentration value when gathering and exceedes the threshold corresponding with this gas
During value, too high for gas concentration information and/or spontaneous combustionof coal warning message are sent to described second communication
Device, and send gas concentration too high prompting operational order and/or fire-extinguishing operations to described execution device
Instruction；
Described secondary communication device, for by too high for described gas concentration information and/or spontaneous combustionof coal report
Alarming information is sent to remote supervisory and control(ling) equipment；
Described execution device, is further used for the too high prompting of gas concentration sent according to described control device
Operational order staff in current region sends the too high information of gas concentration.
9. robot as claimed in claim 2, it is characterised in that this robot farther includes:
Running gear, for the action operational order action sent according to described control device；
Described control device, for according to predetermined paths figure and/or being sent by secondary communication device of receiving
Activity control instruction, to described running gear send action operational order；
Power set, for providing power for other devices.
10. robot as claimed in claim 9, it is characterised in that this robot farther includes:
Electronic compass, is presently in the directional information of position for gathering and is sent to described control device；
Global position system GPS, for gathering the latitude and longitude information being presently in position and being sent to described
Control device；
Ultrasonic sensor and infrared distance sensor, be used for gathering near robot whether there is barrier
And/or the traffic information of hollow；
Described control device, for according to gather directional information, latitude and longitude information, traffic information and
Predetermined paths figure and/or the activity control sent by the secondary communication device instruction received, determine action behaviour
Instruct.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620173945.8U CN205581549U (en) | 2016-03-07 | 2016-03-07 | Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620173945.8U CN205581549U (en) | 2016-03-07 | 2016-03-07 | Robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205581549U true CN205581549U (en) | 2016-09-14 |
Family
ID=56867972
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620173945.8U Expired - Fee Related CN205581549U (en) | 2016-03-07 | 2016-03-07 | Robot |
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| Country | Link |
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| CN (1) | CN205581549U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106873677A (en) * | 2017-03-01 | 2017-06-20 | 连京华 | A kind of pouity dwelling place environment is patrolled and examined and regulator control system |
| CN107065923A (en) * | 2017-03-15 | 2017-08-18 | 侯思明 | A kind of spontaneous combustion monitoring method and system |
| CN108115647A (en) * | 2016-11-30 | 2018-06-05 | 广东大仓机器人科技有限公司 | Using the concave robot of infrared distance measurement identification road before wheel |
| CN108189004A (en) * | 2018-02-11 | 2018-06-22 | 浙江科聪智能科技有限公司 | A kind of explosion-proof crusing robot |
| CN108497988A (en) * | 2018-04-11 | 2018-09-07 | 重庆第二师范学院 | A kind of embedded high-altitude cleaning glass window machine people's control system |
| CN109339865A (en) * | 2018-12-07 | 2019-02-15 | 辽宁工程技术大学 | A kind of colliery downhole equipment monitoring system |
| CN112462755A (en) * | 2020-10-27 | 2021-03-09 | 机械工业第九设计研究院有限公司 | AGV control system |
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2016
- 2016-03-07 CN CN201620173945.8U patent/CN205581549U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108115647A (en) * | 2016-11-30 | 2018-06-05 | 广东大仓机器人科技有限公司 | Using the concave robot of infrared distance measurement identification road before wheel |
| CN106873677A (en) * | 2017-03-01 | 2017-06-20 | 连京华 | A kind of pouity dwelling place environment is patrolled and examined and regulator control system |
| CN107065923A (en) * | 2017-03-15 | 2017-08-18 | 侯思明 | A kind of spontaneous combustion monitoring method and system |
| CN108189004A (en) * | 2018-02-11 | 2018-06-22 | 浙江科聪智能科技有限公司 | A kind of explosion-proof crusing robot |
| CN108497988A (en) * | 2018-04-11 | 2018-09-07 | 重庆第二师范学院 | A kind of embedded high-altitude cleaning glass window machine people's control system |
| CN109339865A (en) * | 2018-12-07 | 2019-02-15 | 辽宁工程技术大学 | A kind of colliery downhole equipment monitoring system |
| CN112462755A (en) * | 2020-10-27 | 2021-03-09 | 机械工业第九设计研究院有限公司 | AGV control system |
| CN112462755B (en) * | 2020-10-27 | 2022-09-16 | 机械工业第九设计研究院有限公司 | AGV control system |
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