CN207696515U - A kind of cable duct crusing robot - Google Patents
A kind of cable duct crusing robot Download PDFInfo
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- CN207696515U CN207696515U CN201721652714.6U CN201721652714U CN207696515U CN 207696515 U CN207696515 U CN 207696515U CN 201721652714 U CN201721652714 U CN 201721652714U CN 207696515 U CN207696515 U CN 207696515U
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Abstract
The utility model is related to a kind of cable duct crusing robots, including robot body, crawler travel device in robot body arranged on left and right sides is set, the three axis Self-stabilization holders on robot body top, Wi Fi antennas, GFSK antennas and robot main control unit, the camera and thermal imaging system being installed in the holder storehouse of three axis Self-stabilization holders are set；Robot main control unit includes power module, and central controller, video processing unit, Wi Fi communication units, the radio-frequency communication unit being all connected with power module；Central controller and video processing unit are all connected with Wi Fi communication units and radio-frequency communication unit；Wi Fi antennas connect Wi Fi communication units, GFSK days connecting line radio-frequency communication units, and camera and thermal imaging system are all connected with video processing unit；Crawler travel device and three axis Self-stabilization holders are all connected with central controller.There is a stronger adaptability in the robot to the landform of cable duct, and monitoring process is because that topography variation causes to shake and deviate is impacted.
Description
Technical field
The utility model is related to robotic technology fields, and in particular to a kind of cable duct crusing robot.
Background technology
Substation is generally all arranged with conduit line on ground, and control circuit, communication pipeline etc. are to substation's electricity in raceway groove
The normal operation of power equipment has vital effect.It is required according to the O＆M of electricity substation, current there are many need to transport
The work that dimension personnel go on patrol, detect.There is a large amount of Intelligent Mobile Robot, instead of operation maintenance personnel recent years
Carry out infrared measurement of temperature, meter and inspections work, the whole work process such as make a copy of that there is high degree of automation, intelligence in electricity substation
The working strength of operation maintenance personnel greatly reduces in the features such as analysis ability is strong, improves the quality of inspection work.But it is directed to field
In space is relatively narrow, internal environment is complicated conduit line do not obtain good inspection work but, not in automatic detecting
Range.To be detected operation, need to carry out again after opening the cover board of conduit line, and complete inspection operation
Afterwards, it needs to restore cover board, quantities is larger.Therefore inspection operation is carried out to it has the characteristics that inoperable property.If
Generation accident will cause electric power netting safe running larger loss.
Some engineering sites at present, install monitoring camera in conduit line, carry out real-time picture control, because of environment item
Part is severe, the short life of monitoring camera, and needs camera quantity to be mounted more, and cost is high, and single Visible Light Camera cannot
Thermometric work is carried out, the effect of temperature monitoring is not achieved.The device that inspection is carried out in cable duct, using crawler type trolley, peace
Detection sensor is filled, but its size is larger, in the smaller space of size, can not effectively be implemented, the holder of robot
Video camera can not be allowed to stablize when robot operation is shaken for 2 axis holders, cause video effect poor.
Utility model content
The technical problem to be solved by the utility model is to provide a kind of cable duct crusing robots, using crawler belt as row
Into device, there are stronger adaptability, machine user tripod head to stablize holder using three axis accelerometer the landform of cable duct, can allow peace
Loaded in holder storehouse high definition camera and thermal imaging system keep specific angle without in by robot kinematics because of crust deformation
It shakes and deviates caused by change.
The technical solution that the utility model solves above-mentioned technical problem is as follows：
The crawler belt row in robot body arranged on left and right sides is arranged in a kind of cable duct crusing robot, including robot body
Into device, the three axis Self-stabilization holders on robot body top, Wi-Fi antennas, GFSK antennas and robot master control list are set
Member, the camera and thermal imaging system being installed in the holder storehouse of the three axis Self-stabilization holder；
The robot main control unit includes power module, and be all connected with the power module central controller,
Video processing unit, Wi-Fi communication units, radio-frequency communication unit；The central controller and video processing unit are all connected with Wi-
Fi communication units and radio-frequency communication unit；
The Wi-Fi antennas connection Wi-Fi communication units, GFSK days connecting line radio-frequency communication units, the camera and heat
Imager is all connected with video processing unit；The crawler travel device and three axis Self-stabilization holders are all connected with central controller.
The utility model has the beneficial effects that：Robot is set to be moved in cable duct by crawler travel device, to cable
The landform of ditch has stronger adaptability；The detection data of camera, thermal imaging system is passed through into Wi-Fi communication units and radio-frequency communication
Unit Real-time Feedback realizes the monitoring to small space on operating personnel's handheld terminal on ground；Use three axis self-stabilizations
High definition camera, thermal imaging system when robot being made to be moved in cable duct complex environment, can be remained to operator's control by holder
Angle ensures the stabilization and quality of picture, keeps monitoring data more acurrate.
Based on the above technical solution, the utility model can also do following improvement.
Further, the three axis Self-stabilization holder include three axis cradle head controllors, and with the three axis cradle head controllor
The three axis servo motors and gyrocontrol module of connection, the three axis cradle head controllor connect central controller.
Further, the three axis Self-stabilization holder lower end is also equipped with damper.
Advantageous effect using above-mentioned further scheme is：Robot is effectively ensured during traveling, holder storehouse it is steady
It is qualitative, to reach good monitoring effect.
Further, it is also equipped with light compensating lamp in the holder storehouse.
Advantageous effect using above-mentioned further scheme is：Make robot in the case of dim light, it also can be good
Monitoring.
Further, the moving device includes driving motor and controls the traveling electric machine controller of driving motor, described
Traveling electric machine controller connects central controller.
Further, the power module include sequentially connected charging interface, charge management module, power supply handover module with
And battery module.
Advantageous effect using above-mentioned further scheme is：Wherein charging interface can be USB interface or charging plug,
In use, when having detected external power supply power supply, power supply handover module can preferred charge management module power supply, when detecting electricity
When the voltage of pond module is less than preset value, user is reminded to replace battery.
Description of the drawings
Fig. 1 is the utility model robot left view；
Fig. 2 is the utility model robot right view；
Fig. 3 is the utility model robot control system architecture figure；
Fig. 4 is three axis Self-stabilization holder schematic diagram of the utility model robot.
In figure, 1- crawler travel devices；2- robot bodies；Tri- axis Self-stabilization holders of 3-；4-Wi-Fi antennas；5-GFSK
Antenna；6- dampers.
Specific implementation mode
The principles of the present invention and feature are described below in conjunction with attached drawing, example is served only for explaining this practicality
It is novel, it is not intended to limit the scope of the utility model.
As shown in Figure 1 to Figure 3, the utility model provides a kind of cable duct crusing robot, including robot body 2,
Crawler travel device 1 in 2 arranged on left and right sides of robot body is set, the three axis self-stabilization clouds on 2 top of robot body are set
Platform 3, Wi-Fi antennas 4, GFSK antennas 5 and robot main control unit are installed in the holder storehouse of the three axis Self-stabilization holder 3
Camera and thermal imaging system；
The robot main control unit includes power module, and be all connected with the power module central controller,
Video processing unit, Wi-Fi communication units, radio-frequency communication unit；The central controller and video processing unit are all connected with Wi-
Fi communication units and radio-frequency communication unit；
The Wi-Fi antennas 4 connect Wi-Fi communication units, GFSK days connecting line radio-frequency communication units, the camera and heat
Imager is all connected with video processing unit；The crawler travel device 1 and three axis Self-stabilization holders 3 are all connected with central controller.
The utility model makes robot be moved in cable duct by crawler travel device 1, to the landform of cable duct have compared with
Strong adaptability；The detection data of camera, thermal imaging system is passed through into Wi-Fi communication units and radio-frequency communication unit Real-time Feedback
To on operating personnel's handheld terminal on ground, the monitoring to small space is realized；Make robot using three axis Self-stabilization holders 3
When being moved in cable duct complex environment, high definition camera, thermal imaging system can be remained to the angle of operator's control, ensure picture
Stabilization and quality, keep monitoring data more acurrate.
In order to keep robot effect of taking pictures in the case where light is dimer more preferable, benefit is also equipped in the holder storehouse
Light lamp.
The power module includes sequentially connected charging interface, charge management module, power supply handover module and battery
Module, wherein charging interface can be USB interface or charging plug, and power supply handover module in use can preferred Charge Management mould
Block is powered, and when detecting that the voltage of battery module is less than preset value, user is reminded to replace battery.
Robot control system is combined using Wi-Fi with the GFSK radio-frequency communications modulated, by business datum and control number
According to separated binary channels mode, the control performance and service feature of robot can be effectively ensured；The motion control of robot, packet
Control instruction containing traveling, cradle head control instruction, information inquiry and feedback of status instruction by radio-frequency communication unit with hold it is distant
Control device is communicated；After high definition camera video, thermal imaging system video carry out compression of images by video processing unit, pass through Wi-
Fi communication units are communicated with remote controler, and the temperature detection quantity of thermal imaging system is transmitted to diagnosis eventually also by Wi-Fi communication units
End.
Moving device includes driving motor and controls the traveling electric machine controller of driving motor, the traveling motor control
Device connects central controller.Traveling electric machine controller receives the control signal of central controller, the instruction sent out according to remote controler
It controls left and right motor to be rotated with corresponding speed, to achieve the purpose that advance in cable duct；Robot uses
Duplex channel can separately transmit business datum and control data, and data volume is larger in will not being communicated because of Wi-Fi causes letter
Number obstruction, and GFSK modulation communication frequency it is relatively low, can have better diffraction characteristic, to ensure that robot control has
Effect property.
Three axis Self-stabilization holders, 3 principle is as shown in figure 4, three axis Self-stabilization holders 3 include three axis cradle head controllors, Yi Jiyu
The three axis servo motors and gyrocontrol module of the three axis cradle head controllor connection, three axis cradle head controllor connection center
Controller.Gyrocontrol module uses three-axis gyroscope, and there are three the movements of mutually perpendicular direction for three axis Self-stabilization holders 3 tool
Axis, three axis servo motors are controlled by three axis cradle head controllors, and three axis cradle head controllors connect three-axis gyroscope, when system is on level land
After the completion of upper initialization, three axis cradle head controllors will control holder acquiescence and reach horizontal position, and in this, as three axis of holder
Zero-bit, when the angle for having remote controler controls input, three axis cradle head controllors will control corresponding horizontal stage electric machine rotation, reach use
The angle position that family needs.When robot encounters the variation of posture during advancing, such as rocks, rolls, pitch feelings
When condition, the real-time status of robot can be fed back to three axis cradle head controllors by three-axis gyroscope, and three axis cradle head controllors are by basis
The feedback data of sensor readjusts three axis holders to the position relative to horizontality of user's control, to ensure to observe
The stability at angle.The holder of robot uses three axis Self-stabilization holders 3, and three axis Self-stabilization holder, 3 lower end, which is also equipped with, to be subtracted
Device 6 is shaken, can effectively ensure that robot during traveling, the stability in holder storehouse, to reach good monitoring effect.
The above is only the preferred embodiment of the present invention, is not intended to limit the utility model, all in this practicality
Within novel spirit and principle, any modification, equivalent replacement, improvement and so on should be included in the guarantor of the utility model
Within the scope of shield.
Claims (6)
1. a kind of cable duct crusing robot, which is characterized in that including robot body, be arranged in robot body left and right two
Three axis Self-stabilization holders, Wi-Fi antennas, GFSK antennas and machine on robot body top is arranged in the crawler travel device of side
Device people's main control unit, the camera and thermal imaging system being installed in the holder storehouse of the three axis Self-stabilization holder；
The robot main control unit includes power module, and central controller, the video being all connected with the power module
Processing unit, Wi-Fi communication units, radio-frequency communication unit；It is logical that the central controller and video processing unit are all connected with Wi-Fi
Interrogate unit and radio-frequency communication unit；
The Wi-Fi antennas connection Wi-Fi communication units, GFSK days connecting line radio-frequency communication units, the camera and thermal imaging
Instrument is all connected with video processing unit；The crawler travel device and three axis Self-stabilization holders are all connected with central controller.
2. cable duct crusing robot according to claim 1, which is characterized in that the three axis Self-stabilization holder includes three
Axis cradle head controllor, and the three axis servo motors and gyrocontrol module that are connect with the three axis cradle head controllor, described three
Axis cradle head controllor connects central controller.
3. cable duct crusing robot according to claim 2, which is characterized in that the three axis Self-stabilization holder lower end is also
Damper is installed.
4. cable duct crusing robot according to claim 1, which is characterized in that be also equipped with light filling in the holder storehouse
Lamp.
5. cable duct crusing robot according to claim 1, which is characterized in that the moving device includes driving motor
And the traveling electric machine controller of control driving motor, the traveling electric machine controller connect central controller.
6. cable duct crusing robot according to claim 1, which is characterized in that the power module includes being sequentially connected
Charging interface, charge management module, power supply handover module and battery module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721652714.6U CN207696515U (en) | 2017-12-01 | 2017-12-01 | A kind of cable duct crusing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721652714.6U CN207696515U (en) | 2017-12-01 | 2017-12-01 | A kind of cable duct crusing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207696515U true CN207696515U (en) | 2018-08-07 |
Family
ID=63024687
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721652714.6U Active CN207696515U (en) | 2017-12-01 | 2017-12-01 | A kind of cable duct crusing robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN207696515U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109291035A (en) * | 2018-10-31 | 2019-02-01 | 深圳供电局有限公司 | Small-sized crusing robot and small-sized crusing robot system |
| CN109291032A (en) * | 2018-10-18 | 2019-02-01 | 国网山西省电力公司太原供电公司 | Buried cable channel information sniffing robot |
| CN109737951A (en) * | 2019-01-31 | 2019-05-10 | 中科院合肥技术创新工程院 | A kind of navigation system and its air navigation aid of cable duct crusing robot |
-
2017
- 2017-12-01 CN CN201721652714.6U patent/CN207696515U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109291032A (en) * | 2018-10-18 | 2019-02-01 | 国网山西省电力公司太原供电公司 | Buried cable channel information sniffing robot |
| CN109291035A (en) * | 2018-10-31 | 2019-02-01 | 深圳供电局有限公司 | Small-sized crusing robot and small-sized crusing robot system |
| CN109737951A (en) * | 2019-01-31 | 2019-05-10 | 中科院合肥技术创新工程院 | A kind of navigation system and its air navigation aid of cable duct crusing robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20181213 Address after: 518000 Fengyun Science and Technology Building 301, No. 5 Industrial Zone, North Ring Road, Nanshan District, Shenzhen City, Guangdong Province Co-patentee after: Chengdu Hitoal Automatic Control Technology Co., Ltd. Patentee after: Shenzhen Launch Digital Technology Co., Ltd. Address before: Fengyun Science and Technology Building 301, No. 5 Industrial Zone, North Ring Road, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Launch Digital Technology Co., Ltd. |
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| TR01 | Transfer of patent right |