阅读说明：本技术 一种综合管廊挂轨式机器人的救援机器人及救援方法 (Rescue robot and rescue method for comprehensive pipe rack rail-mounted robot ) 是由 陈荣顺 朱丹 耿明 张�浩 殷勤 罗存喜 邱绍峰 周明翔 游鹏辉 刘辉 张俊岭 于 2021-07-30 设计创作，主要内容包括：本发明公开了一种综合管廊挂轨式机器人的救援机器人,救援机器人和故障机器人均为综合管廊挂轨式机器人,行走于管廊内的轨道,其特征在于：沿轨道依次间隔设有多个RFID射频标签,故障机器人载有射频标签识别器,用于经过RFID射频标签时反馈其位置；救援机器人包括安装在救援机器人本体上的障碍物识别装置、测距装置、防撞缓接装置、拖拽装置；障碍物识别装置检测前方是否存在故障机器人,测距装置测量救援机器人与故障机器人的距离,防撞缓接装置用于缓冲和粗对接,拖拽装置用于将救援机器人拖回。挂轨式机器人在管廊内发生故障后,挂轨式救援机器人将故障机器人拖拽出故障地点,避免机器人故障导致对管廊的巡检效率的影响。(The invention discloses a rescue robot of a comprehensive pipe rack rail-mounted robot, wherein the rescue robot and a fault robot are both comprehensive pipe rack rail-mounted robots and run on rails in a pipe rack, and the rescue robot is characterized in that: a plurality of RFID radio frequency tags are arranged at intervals along the track in sequence, and the fault robot is provided with a radio frequency tag identifier for feeding back the position of the fault robot when the fault robot passes through the RFID radio frequency tags; the rescue robot comprises an obstacle identification device, a distance measuring device, an anti-collision slow-connection device and a dragging device which are arranged on a rescue robot body; obstacle recognition device detects the place ahead and whether has trouble robot, and range unit measures rescue robot and trouble robot's distance, and anticollision buffer device is used for buffering and thick butt joint, drags the device and is used for dragging rescue robot back. Hang rail formula robot and break down the back in the piping lane, hang rail formula rescue robot and pull out trouble place with trouble robot, avoid the robot trouble to lead to the influence of efficiency of patrolling and examining to the piping lane.)

1. The utility model provides a utility tunnel hangs rescue robot of rail formula robot, rescue robot and trouble robot are utility tunnel and hang rail formula robot, walk the track in the pipe gallery, its characterized in that:

a plurality of RFID radio frequency tags (5) are arranged at intervals along the track in sequence, and the fault robot is provided with a radio frequency tag identifier and is used for feeding back the position of the fault robot when the fault robot passes through the RFID radio frequency tags;

the rescue robot comprises an obstacle identification device, a distance measuring device, an anti-collision slow-connection device and a dragging device which are arranged on a rescue robot body (1);

the obstacle recognition device detects whether a fault robot exists in the front, the distance measuring device measures the distance between the rescue robot and the fault robot, the anti-collision buffer device is used for buffering and rough butt joint, and the dragging device is used for dragging the rescue robot back.

2. The rescue robot of utility tunnel hanging rail type robot as claimed in claim 1, characterized in that:

the obstacle recognition device employs an image recognition device (4).

3. The rescue robot of utility tunnel hanging rail type robot as claimed in claim 2, characterized in that:

the image recognition device (4) is installed at the front end of the rescue robot body (1).

4. The rescue robot of utility tunnel hanging rail type robot as claimed in claim 1, characterized in that:

the distance measuring device adopts an infrared distance measuring device (7).

5. The utility tunnel hangs rescue robot of rail mounted robot of claim 4 characterized in that:

the infrared distance measuring device (7) is installed at the front end of the rescue robot body (1).

6. The rescue robot of utility tunnel hanging rail type robot as claimed in claim 1, characterized in that:

the anti-collision buffer device comprises an electromagnetic spring (2) and is arranged at the front end of the rescue robot body (1);

in a first state, the electromagnetic spring (2) is kept in a retracted state; the first state is that the obstacle recognition device detects that no fault robot exists in front;

in a second state, the electromagnetic spring (2) is extended; the second state is that the obstacle recognition device detects a faulty robot ahead.

7. The rescue robot of utility tunnel hanging rail type robot as claimed in claim 6, characterized in that:

the anti-collision slow-connection device also comprises an electromagnet (3) which is arranged at the front end of the electromagnetic spring (2);

in the first state, the electromagnet (3) is not energized;

and in the second state, the electromagnet (3) is electrified and is used for adsorbing the fault robot.

8. The rescue robot of utility tunnel hanging rail type robot as claimed in claim 1, characterized in that:

the dragging device adopts a mechanical arm (6).

9. The rescue robot of utility tunnel hanging rail type robot as claimed in claim 8, characterized in that:

the front end of the mechanical arm (6) is provided with a suction cup (61).

10. A rescue method of a rescue robot of a comprehensive pipe rack rail-mounted robot as claimed in any one of claims 1 to 9, characterized by comprising the following steps:

s1, when the rescue robot receives the instruction of the robot with the fault in the pipe gallery, entering the pipe gallery environment for rescue;

s2, fault location interval and mileage estimation:

determining the fault section according to the RFID radio frequency tag which is passed by the fault robot for the last time and the section fed back by the adjacent RFID radio frequency tag which is not passed, and preliminarily estimating the mileage of the rescue robot from the fault robot;

s3, determining the speed of the rescue robot driving to the fault section according to the mileage;

s4, in the process of driving to the fault section, whether the fault robot exists in the front is detected according to the obstacle recognition device, and whether the rescue robot performs the deceleration operation is determined;

s5, if the obstacle recognition device detects that the fault robot exists in front of the robot, the distance measurement device is started at the same time, and the distance between the rescue robot and the fault robot is measured;

s6, if the obstacle recognition device detects that the fault robot exists in front, the electromagnetic spring (2) included in the anti-collision buffer device is extended out at the same time;

s7, when the distance measured by the distance measuring device reaches the adsorption range of the electromagnet (3) included by the anti-collision buffer device, the electromagnet (3) is electrified, the electromagnet of the rescue robot generates electromagnetic adsorption force to attract the fault robot, and the two robots are adsorbed and attached to each other front and back;

and S8, the rescue robot stretches out of the dragging device, grabs the rescue robot and drags the rescue robot back.

Technical Field

The invention belongs to the field of rescue of a comprehensive pipe rack rail-mounted robot, and particularly relates to a rescue robot and a rescue method of the comprehensive pipe rack rail-mounted robot.

Background

With the development of cities, underground comprehensive pipe galleries are applied more and more. The utility tunnel internal line is numerous and the environment is complicated, utilizes the piping lane robot to replace artifical realization to overhaul the function now.

The piping lane hangs rail formula robot is one of them inspection robot commonly used. With the frequent use of the robot, once the robot breaks down in the inspection process, the inspection efficiency of the pipe gallery can be affected; second, how to drag a malfunctioning robot out of the tube lane also becomes a difficult problem.

Disclosure of Invention

Aiming at least one of the defects or the improvement requirements of the prior art, the invention provides the rescue robot of the rail-mounted robot for the comprehensive pipe gallery.

In order to achieve the above object, according to one aspect of the present invention, there is provided a rescue robot for a utility tunnel rail-mounted robot, where the rescue robot and a fault robot are both utility tunnel rail-mounted robots, and walk on a track in a pipe gallery, and the rescue robot is characterized in that:

a plurality of RFID radio frequency tags are arranged at intervals along a track in sequence, and the fault robot is provided with a radio frequency tag identifier and is used for feeding back the position of the fault robot when the fault robot passes through the RFID radio frequency tags;

the rescue robot comprises an obstacle identification device, a distance measuring device, an anti-collision slow-connection device and a dragging device which are arranged on a rescue robot body;

the obstacle recognition device detects whether a fault robot exists in the front, the distance measuring device measures the distance between the rescue robot and the fault robot, the anti-collision buffer device is used for buffering and rough butt joint, and the dragging device is used for dragging the rescue robot back.

Preferably, the obstacle recognition device employs an image recognition device.

Preferably, the image recognition device is installed at the front end of the rescue robot body.

Preferably, the distance measuring device is an infrared distance measuring device.

Preferably, the infrared distance measuring device is installed at the front end of the rescue robot body.

Preferably, the anti-collision buffer device comprises an electromagnetic spring which is arranged at the front end of the rescue robot body;

in a first state, the electromagnetic spring is kept in a retracted state; the first state is that the obstacle recognition device detects that no fault robot exists in front;

in a second state, the electromagnetic spring extends out; the second state is that the obstacle recognition device detects a faulty robot ahead.

Preferably, the anti-collision buffer device further comprises an electromagnet which is installed at the front end of the electromagnetic spring;

in the first state, the electromagnet is not electrified;

and in the second state, the electromagnet is electrified and used for adsorbing the fault robot.

Preferably, the dragging device is a robotic arm.

Preferably, the front end of the robot arm has a suction cup.

In order to achieve the above object, according to another aspect of the present invention, there is provided a rescue method for a rescue robot of a comprehensive pipe rack rail-mounted robot as described above, including the steps of:

s1, when the rescue robot receives the instruction of the robot with the fault in the pipe gallery, entering the pipe gallery environment for rescue;

s2, fault location interval and mileage estimation:

determining the fault section according to the RFID radio frequency tag which is passed by the fault robot for the last time and the section fed back by the adjacent RFID radio frequency tag which is not passed, and preliminarily estimating the mileage of the rescue robot from the fault robot;

s3, determining the speed of the rescue robot driving to the fault section according to the mileage;

s4, in the process of driving to the fault section, whether the fault robot exists in the front is detected according to the obstacle recognition device, and whether the rescue robot performs the deceleration operation is determined; if the obstacle recognition device detects that the fault robot exists in front of the robot, the rescue robot decelerates, otherwise does not decelerate or even accelerates;

s5, if the obstacle recognition device detects that the fault robot exists in front of the robot, the distance measurement device is started at the same time, and the distance between the rescue robot and the fault robot is measured;

s6, if the obstacle recognition device detects that the fault robot exists in front, the electromagnetic spring included in the anti-collision buffer device is stretched out at the same time;

s7, when the distance measured by the distance measuring device reaches the adsorption range of the electromagnet included by the anti-collision buffer device, the electromagnet is electrified, the electromagnet of the rescue robot generates electromagnetic adsorption force to attract the magnet of the fault robot, and the two robots are adsorbed and attached to each other front and back;

s8, the rescue robot stretches out of the dragging device, grabs the rescue robot and drags the rescue robot back; specifically, the rescue robot stretches out the mechanical arm for rescue, adsorbs the fault robot tightly through the sucking disc on the mechanical arm, and pulls out the piping lane.

The above-described preferred features may be combined with each other as long as they do not conflict with each other.

Generally, compared with the prior art, the above technical solution conceived by the present invention has the following beneficial effects:

1. according to the rescue robot for the comprehensive pipe rack rail-hung type robot, after the rail-hung type robot breaks down in a pipe rack, the rail-hung type rescue robot drags the broken-down robot to the broken-down place, so that the influence of the robot failure on the inspection efficiency of the pipe rack is avoided.

2. According to the rescue robot for the comprehensive pipe rack rail-hung type robot, the RFID radio frequency tag is arranged on the track line of the pipe rack robot, and the fault location (rough positioning) of the fault robot can be preliminarily determined according to the radio frequency tag information.

3. According to the rescue robot of the comprehensive pipe rack rail-mounted robot, the rescue robot judges whether a fault robot exists and measures the distance (fine positioning) by combining image recognition and infrared distance measurement.

4. The rescue robot of the comprehensive pipe gallery rail-mounted robot is provided with an electromagnet, the electromagnet has electromagnetic adsorption capacity after being electrified and adsorbs a fault robot, and the fault robot is simultaneously provided with the electromagnet or a permanent magnet device and is a matched specific adsorbed object.

5. According to the rescue robot of the comprehensive pipe gallery rail-mounted robot, the mechanical arms are arranged on the two sides of the rail-mounted rescue robot, and the suckers are arranged on the mechanical arms; adsorb trouble robot through the sucking disc on the arm, pull and leave the utility tunnel scene.

Drawings

Fig. 1 is a schematic side view of a rescue robot of a utility tunnel rail-mounted robot according to an embodiment of the present invention;

fig. 2 is a front schematic view of a rescue robot of the utility tunnel rail-mounted robot according to the embodiment of the invention;

FIG. 3 is a schematic diagram of a rescue robot of the comprehensive pipe gallery rail-mounted robot in the rescue approaching process;

fig. 4 is a schematic diagram of a rescue robot of the comprehensive pipe gallery rail-mounted robot in the embodiment of the invention when rescue is dragged.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other. The present invention will be described in further detail with reference to specific embodiments.

As a preferred embodiment of the present invention, as shown in fig. 1 to 4, the present invention provides a rescue robot for a comprehensive pipe rack rail-hanging robot, wherein both the rescue robot and a fault robot are comprehensive pipe rack rail-hanging robots and travel on rails in a pipe rack. The rescue robot can realize the function of frequency conversion and speed regulation during operation.

As shown in fig. 3, a plurality of RFID radio frequency tags 5 are sequentially provided at intervals along the track, and the fault robot carries a radio frequency tag identifier for feeding back the position thereof when passing through the RFID radio frequency tags.

As shown in fig. 1-2, the rescue robot comprises an obstacle recognition device, a distance measuring device, an anti-collision slow-connection device and a dragging device which are arranged on a rescue robot body 1.

The obstacle recognition device detects whether an obstacle exists in the front of the robot or not, and distinguishes whether the robot is a fault robot or other obstacles through a light reflecting mark on the recognition robot, the distance measuring device measures the distance between the rescue robot and the fault robot or other obstacles, the anti-collision buffer device is used for buffering and rough butt joint, and the dragging device is used for dragging the rescue robot back.

As shown in fig. 2, the obstacle recognition device preferably employs an image recognition device 4. Preferably, the image recognition device 4 is installed at an intermediate position below the front end of the rescue robot body 1.

As shown in fig. 2, the distance measuring device preferably employs an infrared distance measuring device 7. Preferably, the infrared distance measuring devices 7 are installed at two sides of the middle part of the front end of the rescue robot body 1. And adjusting the travelling speed of the rescue robot according to the distance.

Preferably, the anti-collision buffer device comprises an electromagnetic spring 2 which is arranged at the front end of the rescue robot body 1; in the first state, the electromagnetic spring 2 does not pop out to keep a retracted state; the first state is that the obstacle recognition device detects that no fault robot exists in front; in the second state, the electromagnetic spring 2 extends out to play a role in buffering and protect the robot; the second state is that the obstacle recognition device detects a faulty robot ahead.

Preferably, the collision avoidance and buffering device further comprises an electromagnet 3 which is arranged at the front end of the electromagnetic spring 2; in the first state, the electromagnet 3 is not energized; in the second state, the electromagnet 3 is energized for attracting the faulty robot.

Preferably, the dragging means employs a robotic arm 6. Preferably, the front end of the robot arm 6 has a suction cup 61, as shown in fig. 4.

As shown in fig. 3-4, the rescue method of the rescue robot of the comprehensive pipe gallery rail-hung robot comprises the following steps:

s1, when the rescue robot receives the instruction of the robot with the fault in the pipe gallery, entering the pipe gallery environment for rescue;

s2, fault location interval and mileage estimation:

determining the fault section according to the RFID radio frequency tag which is passed by the fault robot for the last time and the section fed back by the adjacent RFID radio frequency tag which is not passed, and preliminarily estimating the mileage of the rescue robot from the fault robot;

s3, determining the speed of the rescue robot driving to the fault section according to the mileage;

s4, in the process of driving to the fault section, whether the fault robot exists in the front is detected according to the obstacle recognition device, and whether the rescue robot performs the deceleration operation is determined; if the obstacle recognition device detects that the fault robot exists in front of the robot, the rescue robot decelerates, otherwise does not decelerate or even accelerates, namely, the robot approaches safely at a higher speed in the early stage and decelerates and slowly moves safely when detecting that the robot is at present;

s5, if the obstacle recognition device detects that the fault robot exists in front of the robot, the distance measurement device is started at the same time, and the distance between the rescue robot and the fault robot is measured;

s6, if the obstacle recognition device detects that the fault robot exists in front, the electromagnetic spring 2 included in the anti-collision buffer device is extended out at the same time;

s7, when the distance measured by the distance measuring device reaches the adsorption range of the electromagnet 3 included by the anti-collision buffer device, the electromagnet 3 is electrified, the electromagnet of the rescue robot generates electromagnetic adsorption force to attract the permanent magnet 8 behind the fault robot, and the two robots are adsorbed and attached to each other front and back; the rear end of the rescue robot is also provided with a permanent magnet 8 so that the rescue robot can be rescued by other rescue robots;

s8, the rescue robot stretches out of the dragging device, grabs the rescue robot and drags the rescue robot back; specifically, the rescue robot stretches out the mechanical arm 6 for rescue, adsorbs and clamps the fault robot through the sucking disc 61 on the mechanical arm 6, and drags out of the pipeline.

In summary, compared with the prior art, the scheme of the invention has the following significant characteristics and advantages:

according to the rescue robot for the comprehensive pipe rack rail-hung type robot, after the rail-hung type robot breaks down in a pipe rack, the rail-hung type rescue robot drags the broken-down robot to the broken-down place, so that the influence of the robot failure on the inspection efficiency of the pipe rack is avoided.

According to the rescue robot for the comprehensive pipe rack rail-hung type robot, the RFID radio frequency tag is arranged on the track line of the pipe rack robot, and the fault location (rough positioning) of the fault robot can be preliminarily determined according to the radio frequency tag information.

According to the rescue robot of the comprehensive pipe rack rail-mounted robot, the rescue robot judges whether a fault robot exists and measures the distance (fine positioning) by combining image recognition and infrared distance measurement.

The rescue robot of the comprehensive pipe gallery rail-mounted robot is provided with an electromagnet, the electromagnet has electromagnetic adsorption capacity after being electrified and adsorbs a fault robot, and the fault robot is simultaneously provided with the electromagnet or a permanent magnet device and is a matched specific adsorbed object.

According to the rescue robot of the comprehensive pipe gallery rail-mounted robot, the mechanical arms are arranged on the two sides of the rail-mounted rescue robot, and the suckers are arranged on the mechanical arms; adsorb trouble robot through the sucking disc on the arm, pull and leave the utility tunnel scene.

It will be appreciated that the embodiments of the system described above are merely illustrative, in that elements illustrated as separate components may or may not be physically separate, may be located in one place, or may be distributed over different network elements. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

In addition, it should be understood by those skilled in the art that in the specification of the embodiments of the present invention, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

In the description of the embodiments of the invention, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description. Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the embodiments of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects.

However, the disclosed method should not be interpreted as reflecting an intention that: that is, the claimed embodiments of the invention require more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of an embodiment of this invention.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention, and not to limit the same; although embodiments of the present invention have been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the spirit and scope of the technical solutions of the embodiments of the present invention.