Intelligent operation and maintenance rail-hung routing inspection robot for underground pipe gallery and routing inspection method of robot
A technology for inspection robots and underground pipe corridors, applied in the field of inspection robots, can solve problems such as robot damage, violent collisions, and inaccurate positioning, and achieve the effects of good environmental applicability, accurate walking positioning, and good obstacle avoidance
Inactive Publication Date: 2018-12-25
BEIJING MUNICIPAL CONSTR
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Problems solved by technology
However, there may be obstacles or staff on the track. If the robot continues to move when encountering this situation, a violent collision will occur, resulting in damage to the robot, track damage, equipment damage, and personnel injury. The performance cannot be guaranteed, resulting in the failure of the normal inspection work, and most of the walking positioning is not accurate enough, and the detection effect on the environment is not good
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[0026] In conjunction with the accompanying drawings, the present invention will be described in further detail.
[0027] This example provides an intelligent operation and maintenance hanging rail robot inspection method for underground pipe corridors, including the following steps:
[0028] Step 1: Install the inspection robot body on the guide rail with a barcode, and input the barcode information corresponding to all measurement points into the control module in the inspection robot body in advance;
[0029] Step 2. During the movement, the barcode reader on the robot body reads the position information on the barcode, and compares the read position information with the position of the measuring point input in advance, so as to control the motor to rotate forward or reverse, and to adjust left and right The robot body makes it reach the measurement point;
[0030] Step 3: Use the visible light video monitoring and thermal imaging monitoring of the smart pan / tilt to realiz...
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The invention discloses an intelligent operation and maintenance rail-hung routing inspection robot for an underground pipe gallery and a routing inspection method of the robot. The robot comprises arobot body and a guide rail, and the robot body is hung on the guide rail, moves along the guide rail and comprises a moving mechanism, an ultrasonic radar, alarm devices, a control platform, a detection platform and an intelligent pan-tilt; a plurality of barcodes are attached to the side, facing the robot body, of the guide rail, the moving mechanism is provided with a barcode reader, and the barcode reader is opposite to the barcodes in position; the ultrasonic radar is arranged at the front end of the control platform, the alarm devices are installed at the periphery of the control platform, the detection platform is provided with a temperature and humidity sensor and a gas detector, the intelligent pan-tilt comprises a main body, an infrared camera module and a visible light camera module, and the infrared camera module and the visible light camera module are arranged at the two sides of the main body; the structure is simple, the environmental applicability is high, the robot canstop running when there is an obstacle on the guide rail, walking positioning is accurate, the detection effect on the environment is good, and the equipment is better detected.
Description
technical field [0001] The invention relates to the field of inspection robots, in particular to an intelligent operation and maintenance rail inspection robot for underground pipe corridors and an inspection method thereof. Background technique [0002] For a long time, manual methods have been used for the inspection of underground pipe corridors. However, due to the special environment in the underground pipe gallery, it is impossible for the staff to go in and out of the pipe gallery every day to check the safety of the equipment. Not only is the work efficiency low, but also the safety of personnel cannot be guaranteed. At present, in order to overcome the above problems, inspection robots are used to realize the inspection work . [0003] Due to the rough road conditions in underground pipe corridors or in some special venues, conventional land walking robots will have large deviations in walking positioning, which is obviously not suitable for walking inspections in ...
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IPC IPC(8): B25J9/16B25J5/02F16M11/42
CPCB25J5/02B25J9/1674B25J9/1694B25J9/1697F16M11/425
Inventor 孔恒郭飞张丽丽杨伏川卢长炯赵福元曹开斌陈长城刘明
Owner BEIJING MUNICIPAL CONSTR