Robot suitable for long and narrow tunnel autonomous obstacle avoidance

A robot and tunnel technology, applied in the field of robots, can solve the problems of poor environmental adaptability of dragging cables, long and narrow tunnels, high-gain antennas, directional antennas are not suitable, etc., and achieve the effect of improving flexible control and autonomous obstacle avoidance

Inactive Publication Date: 2017-02-15
STATE GRID CHONGQING ELECTRIC POWER CO ELECTRIC POWER RES INST +3
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] In recent years, with the increase of tunnel projects, there are often narrow, non-directional and multiple wall obstacles in the tunnel; it is difficult for robots to control in this environment
When the robot patrols in the tunnel, it needs to transmit real-time images to the control station, and at the same time the control station needs to issue control instructions to the robot; data and signal transmission are often carried out with wired cables, which brings difficulties to the driving of the robot; In the early technical conditions, the communication between the robot and the control station was mainly divided into wired communication, radio communication, optical communication, etc. For the tunnel environment, due to the lack of efficient long-

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  • Robot suitable for long and narrow tunnel autonomous obstacle avoidance
  • Robot suitable for long and narrow tunnel autonomous obstacle avoidance
  • Robot suitable for long and narrow tunnel autonomous obstacle avoidance

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Experimental program
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Embodiment 1

[0038] As shown in the figure, the robot suitable for autonomous obstacle avoidance in long and narrow tunnels provided by this embodiment includes a mobile chassis and a platform; Swing arm 5; the cloud platform includes linkage folding arm 3 and camera 6;

[0039] The two sides of the car body are respectively provided with walking crawlers; the car body is provided with a linkage folding arm; the upper end of the linkage folding arm is provided with a camera; the two sides of the front end of the car body are respectively provided with front swing arms;

[0040] The walking crawler belt on one side of the car body and the swing arm crawler belt 71 are driven by a walking motor located on the same side; the swing arm motor is arranged at the front end of the car body; The crawler driving wheels 8 on both sides of the front end of the car body are connected; the crawler driving wheels 8 on both sides of the car body and the swing arm driving wheels 9 are respectively coaxiall...

Embodiment 2

[0054] The robot suitable for autonomous obstacle avoidance in narrow and long tunnels provided in this embodiment improves the flexible control and autonomous obstacle avoidance capabilities of tunnel robots in the environment of narrow and long tunnels. Raspberry Pi assisted the control system of image processing and signal processing, and applied it to the tunnel robot. The design of the control system solves the control problems such as poor communication, unclear image transmission, and inability to autonomous barriers in the complex environment of the tunnel. At the same time, it solves the problem that people can operate and inspect away from the tunnel environment. It provides a control scheme for the traditional cable tunnel to realize robot inspection without modification.

[0055] Narrow, non-directional and multiple wall obstacles are the difficulties that the robot control in the tunnel environment cannot overcome for a long time; therefore, for the communication ...

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Abstract

The invention discloses a robot suitable for long and narrow tunnel autonomous obstacle avoidance. The robot comprises a trolley body, a swing arm motor, walking motors, walking tracks, front swing arms, linkage foldable arms and a camera; the walking tracks are arranged on the two sides of the trolley body correspondingly; the trolley body is provided with the linkage foldable arms; the camera is arranged at the upper end of the linkage foldable arms; the two sides of the front end of the trolley body are each provided with the corresponding front swing arm; the walking track and a swing arm track on one side of the trolley body are driven by the corresponding walking motor on the same side; the swing arm motor is connected with track driving wheels correspondingly arranged on the two sides of the front end the trolley body through swing arm transmission shafts; and the track driving wheels and swing arm driving wheels on the two sides of the trolley body are correspondingly coaxial and are connected with the front swing arms on the two sides of the front end of the trolley body correspondingly. By means of the robot suitable for long and narrow tunnel autonomous obstacle avoidance, the flexible control and autonomous obstacle avoidance capacity of the tunnel robot under a long and narrow tunnel environment is improved and the control problems that communication under a complicated tunnel environment is not smooth, image transmission is not clear, and autonomous obstacle avoidance cannot be performed are solved.

Description

technical field [0001] The invention relates to the field of robots, in particular to a robot suitable for autonomous obstacle avoidance in long and narrow tunnels. Background technique [0002] In recent years, with the increase of tunnel projects, there are often narrow, non-directional and multiple wall obstacles in the tunnel; it is difficult for robots to control in this environment. When the robot patrols in the tunnel, it needs to transmit real-time images to the control station, and at the same time the control station needs to issue control instructions to the robot; data and signal transmission are often carried out with wired cables, which brings difficulties to the driving of the robot; In the early technical conditions, the communication between the robot and the control station was mainly divided into wired communication, radio communication, optical communication, etc. For the tunnel environment, due to the lack of efficient long-distance communication methods...

Claims

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Application Information

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IPC IPC(8): B25J5/00F16M11/38F16M11/20
CPCB25J5/005F16M11/2014F16M11/2035F16M11/38
Inventor 周小龙吴高林罗春雷周李黄江晨石为人甘建峰王成疆王大洪肖杰李新平薛凯文
Owner STATE GRID CHONGQING ELECTRIC POWER CO ELECTRIC POWER RES INST
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