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Comprehensive pipe gallery three-dimensional routing inspection robot with autonomous navigation and positioning functions

A technology for inspection robots and comprehensive pipe corridors, which is applied to manipulators, program-controlled manipulators, manufacturing tools, etc., and can solve problems such as stroke error coding and lack of adaptive coding

Inactive Publication Date: 2018-07-06
安徽对称轴智能安全科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] The purpose of the present invention is to solve the defects of lack of self-adaptive coding for the stroke error coding of the inspection robot of the urban comprehensive utility gallery in the prior art, and provide a three-dimensional inspection robot of the comprehensive utility gallery with autonomous navigation and positioning to solve the above problems

Method used

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  • Comprehensive pipe gallery three-dimensional routing inspection robot with autonomous navigation and positioning functions
  • Comprehensive pipe gallery three-dimensional routing inspection robot with autonomous navigation and positioning functions
  • Comprehensive pipe gallery three-dimensional routing inspection robot with autonomous navigation and positioning functions

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0033] Such as figure 1 As shown in Fig. 1, a robot-based integrated pipe gallery inspection system is built with the robot as the carrier platform. Of course, different detection systems or devices can be built on this platform.

[0034] The system includes remote infrared monitoring and diagnosis module, remote image monitoring and diagnosis module, remote sound monitoring and diagnosis module, navigation positioning and motion control module, database; remote infrared monitoring and diagnosis module, remote image monitoring and diagnosis module, remote sound monitoring It is connected with the diagnosis module, the navigation positioning module and the motion control module respectively through the network and the database.

[0035] Remote infrared monitoring and diagnosis module

[0036] This design uses an online infrared thermal imaging device. This module includes an infrared image acquisition device, that is, an infrared camera, an infrared image processing unit, an...

Embodiment 2

[0050] Such as figure 1 , figure 2 , image 3 As shown, a robot-based interactive system for inspection of integrated pipeline corridors includes inspection systems, robots, servers, and remote monitoring terminals; the inspection system, servers, and remote monitoring terminals are connected through a network. The inspection system is the inspection system of the first embodiment above. The infrared camera, RGB camera, and noise acquisition and transmission unit are all installed and fixed on the robot; the server includes a database storing various parameter information of the environment in the underground pipe gallery and electrical equipment; the infrared image processing unit, image processing unit, and noise processing unit will The inspection information is stored in the database; the server sends the inspection information to the remote monitoring terminal through the network; the user queries the inspection information and sends instructions to the inspection syst...

Embodiment 3

[0056] Such as Figure 4 , Figure 5 As shown, a shock-absorbing chassis of a robot, the robot includes a chassis system; the specific structure of the chassis system is:

[0057] The motor 1 is connected to the reducer 2, and the motor 1 and the reducer 2 are fixed on the fixed sleeve of the reducer by bolts. The shaft end of the reducer 2 and the fixed sleeve of the reducer are provided with fixing bolts to prevent the driving wheel from falling off due to excessive axial force. , the fixed shaft sleeve of the reducer 2 clamps the driving wheel, the fixed shaft sleeve of the reducer 2 is fixed in the bearing sleeve through the bearing and positioned on the outer fixed plate 3, and the outer fixed plate 3 and the inner fixed plate 4 are connected by three The fixed plate fixes the longitudinal position so that the drive wheels are always driven on the inner teeth of the track. The driving wheel is divided into 2 pieces for the purpose of convenient processing. After the pro...

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Abstract

The invention provides a comprehensive pipe gallery three-dimensional routing inspection robot with autonomous navigation and positioning functions. A stroke positioning self-adaption coding unit anda decoding control unit are used for monitoring the stroke of the robot and receiving the coding marks, sent by stroke detecting coding equipment, of different routing inspection points, the coding marks are verified, if error codes occur, the coding rule is changed, and meanwhile the decoded routing inspection point position marks are sent to a server and a remote monitoring terminal; the strokedetecting coding equipment codes the positions of the different routing points according to the coding rule sent by the stroke positioning self-adaption coding unit and the decoding control unit; andwhen the corresponding routing inspection positions are detected, positions codes are sent to the stroke positioning self-adaption coding unit and the decoding control unit. According to the comprehensive pipe gallery three-dimensional routing inspection robot, through the provided stroke positioning self-adaption coding unit, the remote monitoring terminal, the server, the decoding control unit and the stroke detecting coding equipment, the robot autonomous navigation and positioning functions are achieved, and the problem that the error codes are received by the rotor and thus the robot cannot normally operate is avoided.

Description

technical field [0001] The invention relates to the technical field of underground pipe gallery inspection, in particular to a three-dimensional inspection robot for comprehensive pipe gallery with autonomous navigation and positioning. Background technique [0002] The underground comprehensive pipe corridor is a narrow and long restricted space, with few holes connected to the atmosphere and a small area. When a fire occurs, the hot smoke cannot be discharged, the heat accumulates, and the heat dissipation is slow. The temperature of the space rises rapidly, and flashover may occur earlier. , Even if the temperature rises sharply from about 400°C to 800-900°C, the air volume will expand rapidly, and the concentration of harmful gases such as carbon monoxide and carbon dioxide will increase rapidly. In addition, there are a large number of combustibles in the underground comprehensive pipe gallery, such as plastic and rubber protective sleeves for cables and optical cables....

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J5/00
CPCB25J5/005B25J9/1605B25J9/161B25J9/1689B25J9/1694
Inventor 胡鹄史聪灵姚斌王文伟车洪磊甘安政张英曾雯芝
Owner 安徽对称轴智能安全科技有限公司
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