A device for realizing traction movement of an intelligent flow measuring robot monitoring equipment and an obstacle avoidance method

Abstract

The application relates to a device for realizing traction movement of an intelligent flow measuring robot monitoring equipment and an obstacle avoidance method, and belongs to the technical field of intelligent flow measuring equipment. The device comprises a mobile chassis, a horizontal power cabin, a vertical power cabin, a main frame, a hoisting detection device, a flow velocity meter and a lead fish. The mobile chassis is provided with the horizontal power cabin and the vertical power cabin on the two sides respectively, the mobile chassis is provided with the main frame in the middle, the main frame is provided with the hoisting detection device, the hoisting detection device is connected with the flow velocity meter and the lead fish on the lower side, the horizontal power cabin provides horizontal direction driving force for the mobile chassis, and the vertical power cabin provides vertical direction driving force for the hoisting detection device. The self-detection protection function is increased, the normal up-and-down movement of the lead fish, the flow velocity meter and other equipment is guaranteed, the intelligent flow measuring robot is self-protected, and the operation stability is improved.

Description

Technical Field

[0001] This invention relates to a device and obstacle avoidance method for realizing the traction motion of an intelligent flow measurement robot monitoring equipment, belonging to the technical field of intelligent flow measurement equipment. Background Technology

[0002] Intelligent flow measurement robots are typically equipped with flow velocity monitoring devices such as rotor-type flow meters and mud level gauges. This allows for more accurate measurement of the cross-sectional area of ​​the water flow and the corresponding flow velocity at that location, theoretically resulting in more accurate flow rate calculations. This is the main reason why intelligent flow measurement robots are superior to other measurement methods. Currently, intelligent flow measurement robots are generally self-driving, automatically completing the corresponding data monitoring and calculation functions after deployment. However, the operating environment of intelligent flow measurement robots is outdoors, and the measurement location is a river. River environments have many uncertainties, such as the presence of weeds and floating debris. Therefore, the stable operation of the equipment is particularly important, especially when the monitoring equipment moves up and down. Obstructions can have a severe impact, not only affecting the flow measurement process but also potentially damaging the robot itself. Therefore, ensuring the normal up-and-down movement of the monitoring equipment is crucial for achieving normal measurement and stable operation.

[0003] Chinese patent document CN112987750B discloses an automatic obstacle avoidance method for multi-vertical flow measurement in irrigation channels based on visual analysis. This method integrates technologies such as irrigation channel flow measurement, image recognition, and automatic control to locate, calculate the area, identify the trajectory, and measure the impact range of floating objects in the channel. This allows for automatic control of the flow measurement unit to avoid damage from obstacles (floating objects), thus achieving automatic obstacle avoidance flow measurement across multiple vertical lines in irrigation channels. While this method uses visual analysis to assess the presence of floating objects and then controls the operation of the flow measurement unit using a control unit, the structure of the equipment itself remains unchanged, lacking effective obstacle avoidance measures. Therefore, this invention is proposed. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a device for realizing the traction movement of intelligent flow measurement robot monitoring equipment. By adding a self-detection and protection function, it ensures the normal up-and-down movement of equipment such as the lead weight and flow meter, realizes the self-protection of the intelligent flow measurement robot, and improves operational stability.

[0005] The present invention also provides an obstacle avoidance method for the above-mentioned device for realizing the traction motion of the intelligent flow measurement robot monitoring equipment.

[0006] The technical solution of the present invention is as follows:

[0007] A device for traction motion of an intelligent flow measurement robot monitoring equipment includes a mobile chassis, a horizontal power cabin, a vertical power cabin, a main frame, a hoisting detection device, a flow meter, and a lead weight.

[0008] The mobile chassis has a horizontal power compartment and a vertical power compartment on each side. The main frame is located in the middle of the mobile chassis, and a hoisting and testing device is installed on the main frame. A flow meter and a lead weight are connected to the lower side of the hoisting and testing device. The horizontal power compartment provides horizontal driving force for the mobile chassis, and the vertical power compartment provides vertical driving force for the hoisting and testing device.

[0009] According to a preferred embodiment of the present invention, the hoisting detection device includes a load detection module, a hoisting bracket, a wheel axle, and a fixed pulley. The load detection module is fixed to the main frame, and a hoisting bracket is provided on the lower side of the load detection module. Both ends of the wheel axle are fixed in the hoisting bracket through bearing seats. A fixed pulley is provided on the wheel axle, and a traction rope is provided on the fixed pulley. One end of the traction rope is connected to the vertical power compartment, and the other end is connected to a flow meter and a lead weight.

[0010] According to a further preferred embodiment of the present invention, a motor is provided in the vertical power compartment, the output shaft of the motor is connected to a roller shaft, and a traction rope is wound on the roller shaft.

[0011] According to a preferred embodiment of the present invention, a stop shaft is provided on the hoisting bracket on the upper side of the fixed pulley, and the stop shaft is used to restrict the traction rope and prevent the traction rope from detaching from the fixed pulley.

[0012] According to a preferred embodiment of the present invention, an encoder is provided on one side of the hoisting bracket, and the encoder is connected to a wheel axle through a coupling to detect the rotational speed of the fixed pulley.

[0013] According to a preferred embodiment of the present invention, a limit switch is provided on the other side of the hoisting bracket, and motion guide rails are provided on both sides of the main frame. A movable crossbeam is provided on the motion guide rail via a slider. The movable crossbeam triggers the switch contacts of the limit switch to prevent excessive movement of the traction rope.

[0014] According to a preferred embodiment of the present invention, the horizontal power compartment, the vertical power compartment, and the limit switches are all connected to a control system for overall machine operation control.

[0015] The obstacle avoidance method of the above-mentioned device for realizing the traction motion of the intelligent flow measurement robot monitoring equipment includes the following steps:

[0016] (1) The mobile chassis drives the device to the flow measurement point, and the dynamic load of the lead weight and flow meter during movement and the static load when stationary are monitored in real time through the load detection module.

[0017] (2) When the lead weight and flow meter move downward, if the load number is lower than the minimum load value, the motor in the vertical power compartment will stop and then rotate in the opposite direction at a certain angle to check whether the load value returns to the set normal range. If the load value returns to normal, it will continue to move downward and solve the problem of the equipment being stuck and unable to descend by lifting until the lead weight and flow meter reach the monitoring point for monitoring.

[0018] (3) After monitoring is completed, the motor pulls the lead weight and flow meter upward. If the load value exceeds the maximum set value during the movement, it indicates that there are objects such as tree branches, weeds, and fishing nets pulling on it. The motor stops moving and then reverses to move the lead weight and flow meter downward to the river bottom. Then it pulls upward again to get rid of the interference from external objects. If the load value still exceeds the limit when pulling upward again, it will perform two more attempts to get rid of the object. If it gets rid of the object successfully, it will continue to monitor the next monitoring point. If it still cannot get rid of the object, it will stop moving and send an alarm message to the platform. The platform will retrieve the camera footage set on the flow measurement room and analyze the cause in real time. If there is indeed a fault, it will arrange for maintenance personnel to repair it on-site in a timely manner. If it is a false alarm, it will cancel the alarm message and resume operation.

[0019] According to a preferred embodiment of the present invention, when the lead weight and flow meter move downward, the moving crossbeam descends accordingly, disengaging from the switch contacts of the limit switch. When the lead weight and flow meter move upward to contact the moving crossbeam, the moving crossbeam moves upward accordingly. After the moving crossbeam contacts the switch contacts, the limit switch is triggered, and the control system controls the motor to stop moving.

[0020] The beneficial effects of this invention are as follows:

[0021] This invention provides a device for monitoring the traction motion of intelligent flow measurement robot equipment. It adds a self-detection and protection function, which detects the load of the lead weight and flow meter and other equipment moving up and down through a load detection module. After detecting an anomaly, it performs preliminary obstacle removal through a set obstacle avoidance method to ensure the normal up and down movement of the lead weight and flow meter and other equipment, realizes the self-protection of intelligent flow measurement robot, and improves the operational stability. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 This is a schematic diagram of the hoisting detection device of the present invention;

[0024] Figure 3 This is a schematic diagram of the obstacle avoidance process of the present invention;

[0025] The components include: 1. Horizontal power compartment; 2. Vertical power compartment; 3. Main frame; 4. Motion guide rail; 5. Lifting and testing device; 6. Connecting parts; 7. Flow meter; 8. Lead weight; 9. Mobile chassis;

[0026] 50. Switch contacts; 51. Load detection module; 52. Lifting bracket; 53. Stop shaft; 54. Limit switch; 55. Wheel and axle; 56. Fixed pulley; 57. Bearing housing; 58. Coupling; 59. Encoder. Detailed Implementation

[0027] The present invention will be further described below with reference to the embodiments and accompanying drawings, but is not limited thereto.

[0028] Example 1:

[0029] like Figure 1-3 As shown, this embodiment provides a device for realizing the traction motion of an intelligent flow measurement robot monitoring equipment, including a mobile chassis 9, a horizontal power cabin 1, a vertical power cabin 2, a main frame 3, a hoisting detection device 5, a flow meter 7, and a lead weight 8, wherein...

[0030] The mobile chassis 9 has a horizontal power compartment 1 and a vertical power compartment 2 on both sides. The main frame 3 is located in the middle of the mobile chassis 9. The hoisting and detection device 5 is installed on the main frame 3. The flow meter 7 and the lead weight 8 are connected to the lower side of the hoisting and detection device 5 through the connector 6 (the connector adopts the existing connecting lock). The vertical power compartment 2 provides vertical driving force for the hoisting and detection device 5. The mobile chassis 9 is an existing side flow vehicle chassis with wheels. The drive motor is installed in the horizontal power compartment. The drive motor is connected to the wheels to provide horizontal driving force for the overall operation.

[0031] The hoisting detection device 5 includes a load detection module 51, a hoisting bracket 52, axle 55, and a fixed pulley 56. The load detection module 51 is an existing device that detects gravity through sensors. The load detection module 51 is fixed to the main frame 3. The hoisting bracket 52 is set on the lower side of the load detection module 51. Both ends of the axle 55 are fixed in the hoisting bracket 52 through bearing seats 57. The fixed pulley 56 is set on the axle 55. The fixed pulley 56 is set on the fixed pulley 56. One end of the traction rope is connected to the vertical power compartment 2, and the other end is connected to a flow meter and a lead weight.

[0032] The vertical power compartment 2 is equipped with a motor, the output shaft of which is connected to a roller shaft, and a traction rope is wound on the roller shaft.

[0033] A stop shaft 53 is installed on the hoisting bracket on the upper side of the fixed pulley 56. The stop shaft is used to restrict the traction rope and prevent the traction rope from detaching from the fixed pulley.

[0034] An encoder 59 is installed on one side of the hoisting bracket 52. The encoder 59 is connected to the axle 55 through the coupling 58, and the encoder is used to detect the speed of the fixed pulley.

[0035] A limit switch 54 is provided on the other side of the hoisting bracket 52. Motion guide rails 4 are provided on both sides of the main frame 3. A movable crossbeam is provided on the motion guide rail 4 via a slider. The movable crossbeam triggers the switch contact 50 of the limit switch 54 to prevent the traction rope from moving excessively.

[0036] The horizontal power compartment 1, the vertical power compartment 2, and the limit switch 54 are all connected to a control system for overall machine operation control.

[0037] The obstacle avoidance method of the above-mentioned device for realizing the traction motion of the intelligent flow measurement robot monitoring equipment includes the following steps:

[0038] (1) The mobile chassis 9 drives the device to the flow measurement point, and the load detection module 51 monitors the dynamic load of the lead fish 8 and the flow meter 7 in real time when they are moving and the static load when they are stationary.

[0039] (2) When the lead weight 8 and the flow meter 7 move downwards, if the load number is lower than the minimum load value, the motor in the vertical power compartment 2 will stop and then rotate in the opposite direction at a certain angle to check whether the load value returns to the set normal range. If the load value returns to normal, it will continue to move downwards and solve the problem of the equipment being stuck and unable to descend by lifting, until the lead weight and the flow meter reach the monitoring point for monitoring.

[0040] (3) After monitoring is completed, the motor pulls the lead weight 8 and the flow meter 7 upward. During the movement, if the load value exceeds the maximum set value, it indicates that there are objects such as tree branches, weeds, and fishing nets pulling on it. The motor stops moving and then reverses to move the lead weight and flow meter downward to the river bottom. Then it pulls upward again to get rid of the interference from external objects. If the load value still exceeds the limit when pulling upward again, it will perform two more attempts to get rid of the object. If it gets rid of the object successfully, it will continue to monitor the next monitoring point. If it still cannot get rid of the object, it will stop moving and send an alarm message to the platform. The platform will retrieve the camera footage set on the flow measurement room. The camera is built into the existing flow measurement room. The platform will analyze the cause in real time. If there is indeed a fault, the maintenance personnel will be arranged to repair it on site in time. If it is a false alarm, the alarm message will be canceled and the operation will be restored.

[0041] When the lead weight 8 and the flow meter 7 move downwards, the moving crossbeam descends accordingly, disengaging from the limit switch contact 50. When the lead weight 8 and the flow meter 7 move upwards and contact the moving crossbeam, the moving crossbeam moves upwards as well. After the moving crossbeam contacts the switch contact 50, the limit switch is triggered, and the control system stops the motor.

[0042] The above description is merely a preferred embodiment of the present invention and does not impose any limitations on its form or substance. It should be noted that those skilled in the art can make various improvements and additions without departing from the basic principles of the present invention, and these improvements and additions should also be considered within the scope of protection of the claims of the present invention.

Claims

1. An obstacle avoidance method for a device that enables the traction motion of an intelligent flow measurement robot monitoring equipment, characterized in that, This includes a mobile chassis, horizontal power compartment, vertical power compartment, main frame, hoisting and testing equipment, flow meter, and lead weight. The mobile chassis has a horizontal power compartment and a vertical power compartment on each side. The main frame is located in the middle of the mobile chassis. A hoisting and testing device is installed on the main frame. A flow meter and a lead weight are connected to the lower side of the hoisting and testing device. The horizontal power compartment provides horizontal driving force for the mobile chassis, and the vertical power compartment provides vertical driving force for the hoisting and testing device. The hoisting and testing device includes a load detection module, a hoisting bracket, a wheel axle, and a fixed pulley. The load detection module is fixed to the main frame. A hoisting bracket is installed on the lower side of the load detection module. Both ends of the wheel axle are fixed to the hoisting bracket through bearing seats. A fixed pulley is installed on the wheel axle. A traction rope is installed on the fixed pulley. One end of the traction rope is connected to the vertical power compartment, and the other end is connected to a flow meter and a lead weight. A motor is installed in the vertical power compartment. The motor output shaft is connected to a roller shaft, and a traction rope is wound on the roller shaft. A limit switch is installed on the other side of the hoisting support, and motion guide rails are installed on both sides of the main frame. A movable crossbeam is installed on the motion guide rail via a slider. The horizontal power compartment, vertical power compartment, and limit switches are all connected to a control system. The obstacle avoidance method of the above-mentioned device for realizing the traction motion of the intelligent flow measurement robot monitoring equipment includes the following steps: (1) The mobile chassis drives the device to the flow measurement point, and the dynamic load of the lead weight and flow meter during movement and the static load when stationary are monitored in real time through the load detection module; (2) When the lead weight and flow meter move downward, if the load number is lower than the minimum load value, the motor in the vertical power compartment will stop and then rotate in the opposite direction at a certain angle to check whether the load value returns to the set normal range. If the load value returns to normal, it will continue to move downward and solve the problem of the equipment being stuck and unable to descend by lifting until the lead weight and flow meter reach the monitoring point for monitoring. (3) After the monitoring is completed, the motor pulls the lead weight and flow meter upward. If the load value exceeds the maximum set value during the movement, it means that there are branches, weeds, or fishing nets pulling at it. The motor stops moving and then reverses to move the lead weight and flow meter downward to the river bottom. Then it pulls upward again to get rid of the interference from the external objects. If the load value still exceeds the limit when pulling upward again, it will perform two more attempts to get rid of the objects. If it gets rid of the objects successfully, it will continue to monitor the next monitoring point. If it still cannot get rid of the objects, it will stop moving and send an alarm message to the platform. The platform will retrieve the camera footage set on the flow measurement room and analyze the cause in real time. If there is indeed a fault, it will arrange for maintenance personnel to repair it on site in time. If it is a false alarm, it will cancel the alarm message and resume operation.

2. The obstacle avoidance method of the device for realizing the traction motion of the intelligent flow measurement robot monitoring equipment as described in claim 1, characterized in that, A stop shaft is installed on the hoisting bracket on the upper side of the fixed pulley.

3. The obstacle avoidance method of the device for realizing the traction motion of the intelligent flow measurement robot monitoring equipment as described in claim 2, characterized in that, An encoder is installed on one side of the hoisting bracket, and the encoder is connected to a wheel axle via a coupling.

4. The obstacle avoidance method of the device for realizing the traction motion of the intelligent flow measurement robot monitoring equipment as described in claim 3, characterized in that, As the lead weight and flow meter move downwards, the moving crossbeam descends accordingly, disengaging from the limit switch contacts. When the lead weight and flow meter move upwards and contact the moving crossbeam, the moving crossbeam moves upwards as well. After the moving crossbeam contacts the switch contacts, the limit switch is triggered, and the control system stops the motor.

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