CN114458909A - Cable trench inspection system based on cable channel robot - Google Patents

Abstract

A cable trench inspection system based on a ropeway robot, comprising a track, a track arranged in the cable trench and extending along the cable arrangement direction, the track comprising at least one flexible cable synchronous belt, and a micro-robot sliding along the track , the micro-robot is provided with a micro-detection pan/tilt, a communication module, a walking module, a jacking module, an anti-falling module, and a power module; the walking module includes a drive wheel and a guide wheel that are engaged with the soft cable synchronous belt, The driving wheel is driven to rotate by the power module, the jacking module is used to clamp the robot on the track, the anti-fall module is used to lock the robot and the track in an accident, and the micro detection The PTZ has a camera and an infrared detector. The invention can perform patrol inspection on the cable trench well, and is less affected by the environment of the cable trench.

Description

A cable trench inspection system based on ropeway robot

technical field

The invention belongs to the technical field of cable trench inspection, in particular to a cable trench inspection system based on a ropeway robot.

Background technique

At present, the application of distribution network cable trenches is more and more extensive, and safe operation and maintenance is very important. Due to the narrow space of the distribution network cable trench, the complex environment, the high temperature in summer, and the presence of toxic and flammable gases in the trench, the inspectors need to carry a variety of infrared thermometers, gas detectors, flashlights and cameras when working in the trenches. Tools, labor-intensive, low operating efficiency, frequent missed detection and false detection; when emergency events such as fire, smoke or power outage for unknown reasons occur in the cable trench, it is difficult for emergency repair personnel to accurately find the fault point and approach the accident site for the first time. Emergency treatment, and emergency repairs in the ditch are prone to personal danger. In addition, with the continuous advancement of the urbanization process, the construction of roads and high-rise buildings has been carried out on a large scale, and incidents such as ditch wall collapse and cable damage caused by infrastructure construction have occurred from time to time. Judgments are often caused by power outages before they are inspected and dealt with, resulting in large economic losses.

Using robots to inspect cable trenches is an effective means to ensure the safe operation of cable trenches. There are reports of cable trench inspection robots at home and abroad, but they are all ground-walking types. The ground environment of cable trenches is complex and there are many obstacles, making it difficult for robots to work normally. Practical The performance is poor and cannot be popularized and applied, but the ropeway-type inspection robot is used. Since the robot runs on the flexible ropeway, it is easy to fall over during the operation process, causing the robot to fall. The robot directly falls from the ropeway to the ground. major damage.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a cable trench inspection system based on a ropeway robot, which can inspect the cable trench well and is less affected by the cable trench environment.

The present invention provides a cable trench inspection system based on a ropeway robot. The technical solution for solving the technical problem includes a track, a track arranged in the cable trench and extending along the cable arrangement direction, the track including at least one soft cable synchronous belt , and also includes a micro-robot sliding along the track, the micro-robot is provided with a micro-detection pan/tilt, a communication module, a walking module, a jacking module, an anti-falling module, and a power module; the walking module includes and the soft The driving wheel and guide wheel that the cable timing belt engages, the driving wheel is driven to rotate by the power module, the clamping module is used to clamp the robot on the track, and the anti-fall module is used for the robot to be in an accidental situation. For the locking of the track, the micro-detection pan/tilt has a camera and an infrared detector.

Preferably, the pressing module includes a driven wheel set, the driven wheel set moves synchronously with the driving wheel, the driven wheel set includes two pressing wheels, and the two pressing wheels are arranged in parallel.

Preferably, the pressing module further includes a tension spring, the micro robot includes a frame, one end of the tension spring is fixed on the frame, and the other end of the tension spring is connected to the pressing wheel.

Preferably, the number of the guide wheels is two and located on both sides of the drive wheel, the guide wheels and the drive wheels are arranged in parallel and on the same plane, and the guide wheels are installed on the frame in a free rotation manner.

Preferably, the micro robot is further provided with an obstacle avoidance module, and the obstacle avoidance module includes an obstacle avoidance radar located on the front side of the micro robot.

Preferably, the micro-detection pan/tilt can realize pitch, lift, and circumferential rotation.

Preferably, it also includes mounting plates on both sides of the track, the anti-falling device includes a guide rod, a push plate, and a hydraulic cylinder, the guide rod is bridged between the two mounting plates, and the guide rod is on the track. The upper part and the lower part of the guide rod are respectively provided with one, and push plates located on both sides of the track are slidably installed on the guide rod. A hydraulic drive device, the pressure sensor is connected in communication with the hydraulic drive device.

Preferably, the distance between the guide rod and the track is 5-8mm, and the distance between the push plate and the side of the track is 2-5cm.

To sum up, using the technical solution of the present invention at least has the following beneficial effects:

1. Through the detection device with camera and infrared dual image, the inspection of the cable trench can be well realized, and the accurate perception of the cable in the trench and the surrounding environment can be realized;

2. By designing an anti-fall device, it can avoid the robot falling from the ropeway in the event of an accident, causing heavy losses;

3. The micro-detection pan/tilt can realize three-dimensional adjustment, and can inspect the cable trench in all directions;

4. The present invention realizes the patrol inspection of the robot in the cable trench by using the cableway structure of the soft cable synchronous belt and the pulley structure of the driving wheel, and the operation is stable and less affected by the environmental factors of the cable trench.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort.

Fig. 1 is the distribution schematic diagram of the drive wheel, the guide wheel and the pressing wheel on the track of the present invention;

Fig. 2 is the schematic front view of the present invention;

3 is a schematic structural diagram of a walking module and a power module of the present invention;

Fig. 4 is the structure diagram of soft cable synchronous belt of the present invention;

Fig. 5 is the schematic diagram of the anti-fall device of the present invention;

FIG. 6 is a schematic diagram of the anti-falling device in the inclined state of the present invention.

In the picture: 1. Track; 2. Driving wheel; 3. Micro-detection pan/tilt; 4. Guide wheel; 5. Pressure wheel; 6. Tension spring; 7. Frame; 8. Mounting plate; 9. Guide rod; 10 , push plate; 11, hydraulic cylinder; 12, pressure sensor.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The present invention provides a cable trench inspection system based on a ropeway robot, as shown in Figures 1-6, comprising a track 1, a track 1 arranged in the cable trench and extending along the cable arrangement direction, the track 1 including at least one flexible For cable timing belts, in the early stage of cable laying construction, track 1 is laid above the cables in the cable trench for later inspection. During inspection, the cables are detected by the movement of the micro-robot along the track 1, among which the micro-robot There is a micro-detection pan/tilt 3, a communication module, a walking module, a jacking module, an anti-falling module, and a power module; the walking module includes a drive wheel 2 and a guide wheel 4 that are engaged with the soft cable synchronous belt, and the drive wheel 2 Both the guide wheel 4 and the guide wheel 4 are pulley structures, which are engaged with the flexible cable timing belt in an arc shape, so that the robot can move along the flexible cable timing belt more effectively. The driving wheel 2 is driven and rotated by the power module. There are two and are located on both sides of the drive wheel 2. The guide wheel 4 is arranged in parallel with the drive wheel 2 and is located on the same plane. The guide wheel 4 is installed on the frame 7 in a free rotation manner, and the guide wheel 4 is driven without power. , it follows and rotates during the operation of the robot, and plays a guiding role; in this way, the drive wheel 2 and the guide wheel 4 form at least three points of support with the track 1, making the whole more stable.

In the present invention, the robot is further provided with a jacking module, wherein the jacking module includes a jacking module including a driven wheel set, the driven wheel set moves synchronously with the driving wheel 2, and the driven wheel set includes two pressing wheels 5, The two pressing wheels 5 are arranged in parallel; the pressing module further includes a tension spring 6, the micro robot includes a frame 7, one end of the tension spring 6 is fixed on the frame 7, and the other end of the tension spring 6 is connected to the frame 7. The pressure roller 5 is connected. During the actual operation, the driving wheel 2 and the guide wheel 4 are located at the upper part of the track 1, and the pressure roller 5 is located at the lower part of the track 1. The large friction force makes the drive wheel 2 better engage with the soft cable timing belt.

The present invention also includes a micro-detection pan-tilt 3 arranged at the lower part of the robot, and the micro-detection pan-tilt 3 includes a camera and an infrared detector, which can realize accurate perception of the cables in the trench and the surrounding environment; wherein the micro-detection pan-tilt 3 can Realize the three-dimensional rotation adjustment of X, Y, and Z, making the inspection range more comprehensive and extensive.

The present invention is also provided with an anti-falling module; it is used for locking the robot and the track 1 in case of an accident, so as to prevent the robot from falling off the track 1 directly and falling into the cable trench when an accident is encountered during the inspection process of the robot, causing Serious damage to the robot. The anti-falling device includes mounting plates 8 on both sides of the track 1 , the anti-falling device includes a guide rod 9 , a push plate 10 , and a hydraulic cylinder 11 , and the guide rod 9 is bridged between the two mounting plates 8 . During the time, one of the guide rods 9 is provided on the upper part and the lower part of the track 1 respectively. The guide rods 9 are slidably installed by push plates 10 located on both sides of the track 1, and the push plates 10 face the end face of the track 1. There is a pressure sensor 12 on it, the other end of each push plate 10 is provided with a hydraulic drive device, the pressure sensor 12 is connected with the hydraulic drive device in communication; when the robot is running normally, the distance between the guide rod 9 and the track 1 is 5-8mm, the distance between the push plate 10 and the side of the track 1 is 2-5cm. During the working process, the fluctuation of the robot is within the allowable range, and the push plate 10 and the guide rod 9 are not in contact with the track 1 at this time; this When the anti-fall device does not work, when the robot falls, as shown in Figure 6; one side of the track 1 will be in contact with the inner end face of the push plate 10, so that the pressure sensor 12 on the push plate 10 will feel the pressure and send out The control signal can control the action of the hydraulic drive device, so that the push plate 10 goes deep inside, and the push plate 10 pushes against the track 1 to drive the robot to move in the opposite direction, so that there is a certain probability that the robot can return to normal operation. , even if the robot cannot return to the normal state, at this time, under the action of the airtight structure formed by the push plate 10 and the guide rod 9, the robot will be suspended on the ropeway as a whole, and will not fall directly on the ground to avoid causing large losses. In the actual design, in order to better ensure the anti-fall effect, two sets of anti-fall devices can be installed on the frame 7, and the two sets of anti-fall devices are distributed along the main part of the robot at intervals, which can play the role of multi-point support for anti-fall effect, avoiding the effectiveness of fall prevention after one of them fails.

In order to ensure better operation of the robot, the present invention is further provided with an obstacle avoidance module, and the obstacle avoidance module includes an obstacle avoidance radar located on the front side of the micro-robot.

By designing an anti-falling device, the present invention can prevent the robot from falling from the ropeway when an accident occurs, causing heavy losses.

The above are the preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, without departing from the principles of the present invention, several improvements and modifications can be made, and these improvements and modifications may also be regarded as It is the protection scope of the present invention.

Claims (8)

1. A cable trench inspection system based on a ropeway robot is characterized in that, comprising a track, being arranged in the cable trench and extending along the cable arrangement direction, the track comprises at least one soft cable timing belt, and also comprises The track-sliding micro-robot is provided with a micro-detection pan/tilt, a communication module, a walking module, a jacking module, an anti-falling module, and a power module; the walking module includes a A driving wheel and a guide wheel, the driving wheel is driven and rotated by the power module, the jacking module is used to clamp the robot on the track, and the anti-fall module is used to lock the robot and the track in an accident Tightly, the micro-detection pan/tilt has a camera and an infrared detector. 2 . The cable trench inspection system based on a ropeway robot according to claim 1 , wherein the jacking module comprises a driven wheel set, the driven wheel set and the driving wheel move synchronously, and the driven wheel set moves synchronously with the drive wheel. 3 . The moving wheel set includes two pressing wheels, and the two pressing wheels are arranged in parallel. 3. A cable trench inspection system based on a ropeway robot according to claim 2, wherein the jacking module further comprises a tension spring, the micro-robot comprises a frame, and one end of the tension spring is fixed on the machine. On the frame, the other end of the tension spring is connected with the pressing wheel. 4 . The cable trench inspection system based on a ropeway robot according to claim 3 , wherein the number of the guide wheels is two and located on both sides of the drive wheel, and the guide wheel is parallel to the drive wheel. 5 . Arranged and on the same plane, the guide wheels are mounted on the frame in a free-rotating manner. 5 . The cable trench inspection system based on a ropeway robot according to claim 1 , wherein the micro robot is further provided with an obstacle avoidance module, and the obstacle avoidance module comprises an obstacle avoidance radar located on the front side of the micro robot. 6 . . 6 . The cable trench inspection system based on a ropeway robot according to claim 1 , wherein the micro-detection pan/tilt can realize pitch, lift, and circumferential rotation. 7 . 7 . The cable trench inspection system based on a ropeway robot according to claim 1 , further comprising mounting plates located on both sides of the track, and the anti-fall device comprises a guide rod, a push plate, a hydraulic cylinder, and a hydraulic cylinder. 8 . , the guide rod is bridged between two mounting plates, the guide rod is provided with one at the upper part and the lower part of the track, and the guide rod is slidably installed by the push plates located on both sides of the track, the A pressure sensor is provided on the end face of the push plate facing the track, and the other end of each push plate is provided with a hydraulic drive device, and the pressure sensor is connected in communication with the hydraulic drive device. 8. The cable trench inspection system based on a ropeway robot according to claim 7, wherein the distance between the guide rod and the track is 5-8mm, and the distance between the push plate and the side of the track is 2 mm. -5cm.

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