CN214818594U - Hanger rail type inspection robot - Google Patents
Hanger rail type inspection robot Download PDFInfo
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- CN214818594U CN214818594U CN202022272133.8U CN202022272133U CN214818594U CN 214818594 U CN214818594 U CN 214818594U CN 202022272133 U CN202022272133 U CN 202022272133U CN 214818594 U CN214818594 U CN 214818594U
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Abstract
The application relates to the field of inspection robots. The application relates to a hanger rail formula inspection robot, include: the robot body, with robot body fixed connection's track connecting device, the robot body include a treater, treater and track connecting device information intercommunication for control when patrolling and examining the robot work track connecting device traveles along predetermineeing the track, still includes laser radar, laser radar and treater information intercommunication, its setting is at robot body front end and rear end for survey robot body the place ahead, rear, and with real-time distance data send the treater, whether the treater judgement has the barrier to be close. This application adopts laser radar scanning to survey the hanger rail formula and patrols and examines robot front and back region, receives external environment influence little, and the rate of accuracy is high, can in time discover unsettled or short barrier, avoids causing the collision accident because of touchhing the barrier, satisfies equipment and personnel's safety need.
Description
Technical Field
The application relates to a robot technique of patrolling and examining especially relates to a robot is patrolled and examined to hanger rail formula.
Background
The existing hanger rail type inspection robot usually adopts a suspension rail walking mode, is applied to indoor environments such as a switch room, a distribution room, a GIS room, a relay protection room, an urban comprehensive pipe gallery and the like, and realizes accurate inspection of equipment states through a liftable holder. The crane rail type inspection robot has a complex inspection environment, and once a barrier blocks a collision accident which is easily caused on the way of a robot traveling path, the crane rail type inspection robot damages an expensive inspection robot, and avoids collision with the barrier due to stable operation of the crane rail type inspection robot, and the barrier avoiding module is often additionally arranged. The existing obstacle avoidance module is mainly a camera or an ultrasonic detector, the camera cannot work under the dark condition, light supplement needs to be added on two sides of the inspection robot, and the structure is complex. Ultrasonic wave because have great angle of vision, touch the surrounding environment easily on hanging the rail and cause the spurious triggering, and the range finding is unstable, and the track internal environment is more complicated in addition, and ultrasonic ranging is unstable also causes to patrol and examine robot and barrier collision easily.
Therefore, it is expected that the rail type inspection robot can avoid the obstacle without depending on sensors such as ultrasonic waves and cameras.
SUMMERY OF THE UTILITY MODEL
The embodiment of the application provides a hanger rail formula inspection robot, and it is not good to solve current obstacle avoidance module and keep away the barrier effect, the more problem of restriction.
On the one hand, the application discloses robot is patrolled and examined to hanger rail formula includes: the robot body, with robot body fixed connection's track connecting device, the robot body include a treater, treater and track connecting device information intercommunication for control when patrolling and examining the robot work track connecting device traveles along predetermineeing the track, its characterized in that still includes laser radar, laser radar and treater information intercommunication, it sets up at robot body front end and rear end for survey robot body the place ahead, rear, and with real-time distance data transmission treater, the treater is judged whether there is the barrier to be close.
In a possible implementation mode, the laser radar forms a detection area in front of and behind the robot body, and the detection area covers the area which the robot body passes through when moving forwards and backwards.
In a possible implementation manner, the laser radar is an area array laser radar, the area array laser radar is arranged at the front end and the rear end of the robot body, the horizontal viewing angle of the area array laser radar is 100-180 degrees, the vertical viewing angle is 6-10 degrees, and the measuring range is 10-900 cm.
In a possible implementation mode, the laser radars are area array laser radars and single-point laser radars, the area array laser radars are arranged at the front end and the rear end of the robot body, the horizontal viewing angle of the area array laser radar is 100-180 degrees, the vertical viewing angle is 6-10 degrees, and the maximum range is 10-900 cm; the single-point laser radar is arranged on the robot body below the area array laser radar, the distance between the single-point laser radar and the area array laser radar is larger than 50cm, and the single-point laser radar is used for detecting the obstacle in the preset direction.
In a possible implementation manner, the number of the single-point laser radars is multiple, the single-point laser radars are arranged at the front end and the rear end of the robot body, and the detection direction of the single-point laser radars is 0-5 degrees from the ground depression angle.
In a possible implementation manner, the detection region includes an alarm region, a deceleration region, and an emergency stop region, the emergency stop region is a 3D region with the area array laser radar as a center, the deceleration region is disposed at the periphery of the emergency stop region, and the alarm region is disposed at the periphery of the deceleration region.
In a possible implementation manner, the length of the alarm area is 200-300cm, the width is 60-120cm, and the height is 40-60 cm.
In one possible implementation, the reducer has a length of 100-200cm, a width of 60-120cm and a height of 20-40 cm.
In a possible implementation mode, the length of the emergency stop area is 80-100cm, the width of the emergency stop area is 60-120cm, and the height of the emergency stop area is 10-20 cm.
In a possible implementation mode, the hanger rail type inspection robot further comprises an alarm device, the alarm device is arranged on the robot body and communicated with the robot body information, and the alarm device comprises a warning lamp or a buzzer.
This application adopts laser radar scanning to survey the hanger rail formula and patrols and examines robot front and back region, receives external environment influence little, and the rate of accuracy is high, can in time discover unsettled or short barrier, avoids causing the collision accident because of touchhing the barrier, satisfies equipment and personnel's safety need.
Drawings
Fig. 1 is a front view of an embodiment of the present application.
Fig. 2 is a schematic diagram of module connection according to an embodiment of the present application.
Fig. 3 is a top view of an embodiment of the present application.
Fig. 4 is a schematic diagram of a single-point lidar according to an embodiment of the present application.
In the figure: 1. a robot body; 2. a rail connecting device; 3. a processor; 4. a track; 5. an area array laser radar; 6. a single-point laser radar; 7. an alarm area; 8. a deceleration zone; 9. a scram zone; 10. an obstacle.
Detailed Description
The technical scheme of the application is further explained by the specific implementation mode in combination with the attached drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or device that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or device.
As shown in fig. 1 and 2, a hanger rail type inspection robot includes: robot 1, with 1 fixed connection's of robot track connecting device 2, robot 1 include a treater 3, treater 3 and track connecting device 2 information intercommunication for control when patrolling and examining the robot work track connecting device 2 is followed and is predetermine track 4 and travel, still includes laser radar, laser radar and 3 information intercommunication of treater, it sets up at 1 front end of robot and rear end for survey 1 the place ahead of robot, rear, and with real-time distance data transmission treater 3, treater 3 judges whether there is the barrier to be close.
This application adopts laser radar to survey the hanger rail formula and patrols and examines robot front and back region, receives external environment influence little, and the rate of accuracy is high, can in time discover unsettled or short barrier, avoids causing the collision accident because of touchhing the barrier, satisfies equipment and personnel's safety need.
The laser radar forms a detection area in front of and behind the robot body 1, and the detection area covers the area through which the robot body 1 passes when moving forward and backward.
The laser radar detection area covers the area which is passed when the robot body 1 advances and retreats, and meets the requirement that the robot body 1 safely passes through, generally speaking, the laser radar detection area is larger than the area which is passed when the robot body 1 advances and retreats, and a reserved space is passed through for the robot body 1.
As shown in fig. 3, the laser radar is an area array laser radar 5, the area array laser radar 5 is arranged at the front end and the rear end of the robot body 1, the horizontal viewing angle of the area array laser radar 5 is 100-180 degrees, the vertical viewing angle is 6-10 degrees (not shown in the figure), and the measuring range is 10-900 cm.
This application adopts 5 scanning detection hanger rail formulas of area array laser radar to patrol and examine the 3D region at robot preceding, rear, except detecting the barrier on the horizontal position, also can detect the barrier of vertical direction, can in time discover unsettled or short barrier, avoids causing the collision accident because of touchhing the barrier, satisfies equipment and personnel's safety need.
As shown in fig. 4, the laser radars are an area array laser radar 5 and a single-point laser radar 6, the area array laser radar 5 is arranged at the front end and the rear end of the robot body 1, the horizontal viewing angle of the area array laser radar 5 is 100-180 degrees, the vertical viewing angle is 6-10 degrees, and the maximum measuring range is 10-900 cm; the single-point laser radar 6 is arranged on the robot body 1 below the area array laser radar 5, is more than 50cm away from the area array laser radar 5, and is used for detecting obstacles in a preset direction.
The scanning range of the area array laser radar 5 may have a blind area, and the single-point laser radar 6 is adopted, so that the specific direction can be detected as a supplement to the area array laser radar 5. The distance between the single-point laser radar 6 and the area array laser radar 5 is larger than 50cm, and mutual interference between the single-point laser radar 6 and the area array laser radar 5 is prevented.
The number of the single-point laser radars 6 is multiple, the single-point laser radars are arranged at the front end and the rear end of the robot body 1, and the detection direction of the single-point laser radars is 0-5 degrees relative to the ground depression angle. The number is generally 2-8. Two in fig. 4.
As shown in fig. 3, the detection area includes a warning area 7, a deceleration area 8, and an emergency stop area 9, the emergency stop area 9 is a 3D area centered on the area array laser radar 5, the deceleration area 8 is disposed at the periphery of the emergency stop area 9, and the warning area 7 is disposed at the periphery of the deceleration area 8.
When the laser radar comprises the area array laser radar 5, the area array laser radar 5 does not detect the obstacle 10, and the rail type inspection robot normally operates;
when the area array laser radar 5 detects that the obstacle 10 appears in the alarm area 7, the hanging rail type inspection robot is triggered to alarm, and the hanging rail type inspection robot is mainly used for informing workers to avoid or remove the obstacle 10;
when the area array laser radar 5 detects that the obstacle 10 appears in the deceleration area 8, the hanging rail type inspection robot is triggered to decelerate;
when the area array laser radar 5 detects that the obstacle 10 appears in the scram area 9, the hanging rail type inspection robot is triggered to scram.
The length of the alarm area 7 is 200-300cm, the width is 60-120cm, and the height is 40-60 cm.
The length of the deceleration zone 8 is 100-200cm, the width is 60-120cm, and the height is 20-40 cm.
The length of the emergency stop zone 9 is 80-100cm, the width is 60-120cm, and the height is 10-20 cm.
When the laser radar comprises the area array laser radar 5 and the single-point laser radar 6, except that after the area array laser radar 5 detects obstacles in the alarm area 7, the deceleration area 8 and the emergency stop area 9, the alarm, the deceleration and the emergency stop are respectively triggered, the single-point laser radar 6 gives an alarm when the measurement distance is 200 plus materials and 300cm, decelerates when the measurement distance is 100 plus materials and 200cm, and emergently stops when the measurement distance is 80-100 cm.
The hanger rail type inspection robot further comprises an alarm device (not shown in the figure), wherein the alarm device is arranged on the robot body 1 and communicated with the robot body 1 in an information mode, and the alarm device comprises a warning lamp or a buzzer.
The alarm device is used for prompting an operator, and the inspection robot is controlled by the operator to avoid the obstacle 10.
The technical principles of the present application have been described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the present application and is not to be construed in any way as limiting the scope of the application. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present application without inventive effort, which shall fall within the scope of the present application.
Claims (10)
1. A hanger rail type inspection robot, comprising: the robot body, with robot body fixed connection's track connecting device, the robot body include a treater, treater and track connecting device information intercommunication for control when patrolling and examining the robot work track connecting device traveles along predetermineeing the track, its characterized in that still includes laser radar, laser radar and treater information intercommunication, it sets up at robot body front end and rear end for survey robot body the place ahead, rear, and with real-time distance data transmission treater, the treater is judged whether there is the barrier to be close.
2. The hanger rail type inspection robot according to claim 1, wherein the laser radar forms a detection area in front of and behind the robot body, the detection area covering an area through which the robot body passes when moving forward and backward.
3. The hanger rail type inspection robot according to claim 2, wherein the laser radar is an area array laser radar which is arranged at the front end and the rear end of the robot body, the horizontal viewing angle of the area array laser radar is 100-180 degrees, the vertical viewing angle is 6-10 degrees, and the measuring range is 10-900 cm.
4. The hanger rail type inspection robot according to claim 2, wherein the laser radars are an area array laser radar and a single-point laser radar, the area array laser radar is arranged at the front end and the rear end of the robot body, the horizontal viewing angle of the area array laser radar is 100-180 degrees, the vertical viewing angle is 6-10 degrees, and the maximum measuring range is 10-900 cm; the single-point laser radar is arranged on the robot body below the area array laser radar, the distance between the single-point laser radar and the area array laser radar is larger than 50cm, and the single-point laser radar is used for detecting the obstacle in the preset direction.
5. The hanger rail type inspection robot according to claim 4, wherein the number of the single-point laser radars is plural, the single-point laser radars are arranged at the front end and the rear end of the robot body, and the detection direction thereof is 0-5 ° from the ground depression angle.
6. The hanger rail type inspection robot according to claim 5, wherein the detection area includes a warning area, a deceleration area and an emergency stop area, the emergency stop area is a 3D area with an area array laser radar as a center, the deceleration area is arranged at the periphery of the emergency stop area, and the warning area is arranged at the periphery of the deceleration area.
7. The hanger rail type inspection robot according to claim 6, wherein the length of the alarm area is 200-300cm, the width is 60-120cm, and the height is 40-60 cm.
8. The hanger rail type inspection robot according to claim 7, wherein the deceleration zone is 100-200cm long, 60-120cm wide and 20-40cm high.
9. The hanger rail type inspection robot according to claim 8, wherein the scram area is 80-100cm long, 60-120cm wide and 10-20cm high.
10. The hanger rail type inspection robot according to claim 9, further comprising an alarm device, wherein the alarm device is arranged on the robot body and is in information communication with the robot body, and the alarm device comprises a warning lamp or a buzzer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022272133.8U CN214818594U (en) | 2020-10-13 | 2020-10-13 | Hanger rail type inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022272133.8U CN214818594U (en) | 2020-10-13 | 2020-10-13 | Hanger rail type inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214818594U true CN214818594U (en) | 2021-11-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022272133.8U Active CN214818594U (en) | 2020-10-13 | 2020-10-13 | Hanger rail type inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214818594U (en) |
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- 2020-10-13 CN CN202022272133.8U patent/CN214818594U/en active Active
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