Embodiment
The invention will be further described with reference to the accompanying drawings and examples.
As shown in the figure, the present invention includes robot body, the surface drive 1 arranged on robot body bottom, is arranged onControl interactive device 5, path safety automation judgment means 6, function executor 4,3 and of positioning navigation device on robot bodyEnergy storage power supply device 2, controls and surface drive 1, path safety automation judgment means 6 is connected on interactive device 5, are determinedPosition guider 3, function executor 4 and energy storage power supply device 2, surface drive 1, path safety automation judgment means 6, work(Energy actuator 4, positioning navigation device 3, control interactive device 5 are powered by energy storage power supply device 2.
The surface drive 1 includes drive control module, DC brushless motor, Live roller, accident brake,Drive control module is connected with DC brushless motor, accident brake, and DC brushless motor is connected with Live roller, emergency brakingDevice is connected with DC brushless motor shaft, and drive control module receives the control instruction of control interactive device 7, and is controlled by instructionSurface drive 1 processed acts or starts accident brake braking by DC brushless motor shaft locking.Accident brake is electricityMagnetic brake.
Surface drive 1 drives process：After drive control module receives control signal, driving DC brushless motor turnsIt is dynamic, rotated by driven by Brush-Less DC motor Live roller, so as to drive the automatic patrol robot of road to be filled by mechanical guide8 are put to advance along the mechanical path 7 being manually laid with（Advance to 7 designated position of mechanical path of the setting of positioning navigation device 3）.RoadThe automatic patrol robot in road, according to positional information set in advance, can also rely in the case of without mechanical guiding device 8Positioning navigation device 3, control interactive device 5 drive surface drive 1 to be gone on patrol in road or ground.
The control interactive device 7 includes interactive controlling processing module, wireless transceiver, signal adapter, man-machine friendshipMutual terminal;Interactive controlling processing module is connected with wireless transceiver, signal adapter, human-computer interaction terminal；Interactive controlling processingModule receives and processing is from surface drive 1, path safety automation judgment means 6, function executor 4, location navigation dressThe 3, signal of energy storage power supply device 2 is put, the signal after processing is conveyed to signal adapter and changes into wireless signal, then by wirelessly receivingHair device is sent to background control center processing.The signal of background control center processing is sent to signal by wireless transceiver and changesDevice；Signal adapter is sent to interactive controlling processing module after received wireless signal is changed；Interactive controlling processing module pairAfter signal is handled, surface drive 1, path safety automation judgment means 6, function executor 4, location navigation are sent toDevice 3, energy storage power supply device 2, so as to fulfill the action of the automatic patrol robot of the remote operation road.Human-computer interaction terminal is usedIn the periphery personnel of the automatic patrol robot of the road call or video intercommunication online are carried out with robot or background control center.
The path safety automation judgment means 6 include housing, Path Recognition sensor and obstacle in housingThing identification sensor, housing 16 are installed on robot body.The Path Recognition sensor is two groups, every group of Path RecognitionSensor includes two laser type photoelectric sensors, inside housings forward direction and backward directions respectively one group of installation；ForwardsTo laser type photoelectric sensor 62, laser type photoelectric sensor 63 in housing left and right installation, the laser type photoelectric transfer of left part63 angle Right deviation of sensor, 62 angle of laser type photoelectric sensor of right part is left-leaning, so that the two beam laser launched are handed in frontFork 66；Similarly two laser type photoelectric sensors of backward directions left and right installation inside housings, the laser type photoelectricity of left part64 angle Right deviation of sensor, 65 angle of laser type photoelectric sensor of right part is left-leaning, so that the two beam laser launched are in frontIntersect.The obstacle recognition sensor is ultrasonic sensor, shares two groups, and one is respectively installed in the front and rear of housingGroup, every group of obstacle recognition sensor include ultrasonic probe 61 8.Path safety automation judgment means 6 are to travel pathSituation carries out safety automation judgement and judgement information is sent to control interactive device 5.
The operation principle of laser type photoelectric sensor is：When the laser of transmitting is irradiated to the mechanical path 7 in front, occurReflection, such as without mechanical path 7, does not then reflect, and thus judging mechanical path 7, whether safety is intact.
The operation principle of obstacle recognition sensor：Ultrasonic echo positioning principle, its ultrasonic probe 61 is with most flood120 degree of vertical 70 degree of range of radiation are equalled, searching target, when there is barrier, sends signal up and down.
The function executor 4 includes control process module, data memory, humidity sensor, temperature sensor, energyDegree of opinion sensor, thermal imaging system, mobile speed measurement instrument, video camera, ultrasonic sensor, lamps for environmental illumination, buzzer, warning lamp,Sample collection case 14.Data memory, humidity sensor, temperature sensor, visibility are connected in control process moduleSensor, thermal imaging system, mobile speed measurement instrument, video camera, ultrasonic sensor, lamps for environmental illumination, buzzer, warning lamp, sampleVasculum 14；The sample collection case 14 includes babinet, the gas collecting storehouse 17 in babinet, solid material taking hand 16 and liquidBody pick-up arm 15.Control process module, data memory, humidity sensor, temperature sensor, visibility sensor, thermal imagingInstrument, mobile speed measurement instrument, video camera, ultrasonic sensor, sample collection case 14 are arranged in robot body, lamps for environmental illumination, beeDevice, warning lamp ring outside robot（Do not indicated on figure）.Function executor 6 by humidity sensor, temperature sensor,Visibility sensor, thermal imaging system, mobile speed measurement instrument, video camera, ultrasonic sensor, sample collection case 14 patrol road automaticallyThe relevant information data for patrolling robot is acquired.The information data of collection, the position data of relevant information data（Obtained by positioning navigation device 4）It is stored on data memory and is sent to control process module, control process module rootRelevant treatment is carried out according to the order of control interactive device 5.Data after processing are by controlling interactive device 5 to be sent to Background controlCenter；The sending function that interactive device 5 is sent to background control center is such as controlled to break down, then the data after handling are stored inOn data storage.Deng being then forwarded to background control center after troubleshooting.
Control process module analyzes the data of collection compared with the data value set, abnormal if any data exceptionData-signal is through controlling interactive device 5 to be prompted to background control center；Interactive device 5 is controlled to signal to ground driving dress at the same time1 is put, stops robot movement, and signals to function executor 4 at the same time, makes video camera alignment abnormal environment position, starts beeRing device and warning lamp carries out live acousto-optic hint, when light is too dark if also automatically turn on lamps for environmental illumination and carry out light filling；Meet ringThe uncomfortable pleasant place gone in border, background control center by controlling interactive device 5 to assign drive command to surface drive 1,The automatic patrol robot of road is marched into designated position, starts 14 collection site sample of sample collection case, after the completion of collection underUp to return command.
The positioning navigation device 3 includes signal management and control mainboard, GPS/GIS locators, signal management and control mainboard and GPS/GIS locators connect；Signal management and control mainboard receives background control center by controlling the order that interactive device 5 is issued, and passes throughThe position signal positioning current location that GPS/GIS locators provide, and compared with the target location of background control center setting, it is defeatedGo out control signal and give control interactive device 5, then surface drive 1 is signaled to by control interactive device 5, so that ground is drivenDynamic device 1 is advanced by setting travel path.
The energy storage power supply device 2 include control mainboard, storage battery, charger, control mainboard respectively with storage battery, fillElectric appliance connects, and the function of control mainboard is that accumulator electric-quantity height is detected automatically, and testing result is sent to controlInteractive device 5, to decide whether to charge.When not enough power supply, control mainboard, which signals to, controls interactive device 5, then by5 order surface drive 1 of interactive device is controlled to pass through the location information Automatic-searching of positioning navigation device 3 to nearest chargingStake is charged.
The back of the robot body is equipped with mechanical guiding device 8, which includes flute profile directive wheel8th, directive wheel 9, directive wheel 10, directive wheel 11 8,13 1 groups swivel bearing 16, connecting shaft 12 8, installation of retaining frame, instituteThe flute profile directive wheel 11 stated is installed on the swivel bearing of the connecting shaft 12, and connecting shaft 12 is installed in retaining frame 13, retaining frame 13It is installed on robot body.Flute profile directive wheel, for one group, is divided into upper directive wheel group and lower guide wheel group, upper directive wheel with fourGroup and lower guide wheel group are respectively arranged on robot body back the upper side and lower side.
The automatic patrol robot of the road is oriented in the case where walking along the mechanical path 7 being manually laid with by flute profileWheel is fastened with the mechanical path 7 being manually laid with, and is driven and advanced by surface drive 1.
The path safety automation judgment means 6, function executor 4, positioning navigation device 3, energy storage power supply device 2 are alsoIt is connected with the drive module of surface drive 1；When surface drive 1 does not receive the normal work of control interactive device 5During signal or when controlling interactive device 5 to fail, drive module voluntarily starts work, directly receives and sentences from path safety automationDisconnected device 6, function executor 4, positioning navigation device 3,2 signal of energy storage power supply device simultaneously handle and send dependent instruction, make itPerform relevant action.At this moment surface drive 1 replaces the part control process function of control interactive device 5, plays pairControl centre acts on, it is ensured that the automatic patrol robot of road is safe for operation.
Present invention additionally comprises also external background control center and charging pile.