CN106329407A - Cable guide apparatus with manual remote control function - Google Patents
Cable guide apparatus with manual remote control function Download PDFInfo
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- CN106329407A CN106329407A CN201610714076.XA CN201610714076A CN106329407A CN 106329407 A CN106329407 A CN 106329407A CN 201610714076 A CN201610714076 A CN 201610714076A CN 106329407 A CN106329407 A CN 106329407A
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- cable
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- processor
- electromagnetic radiation
- gyroscope
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/06—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle
- H02G1/08—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle through tubing or conduit, e.g. rod or draw wire for pushing or pulling
- H02G1/088—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle through tubing or conduit, e.g. rod or draw wire for pushing or pulling using pulling devices movable inside conduits
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a cable guide apparatus with a manual remote control function. The cable guide apparatus comprises a cable guide trolley and a cable winding and unwinding apparatus, wherein the cable guide trolley comprises a trolley body; a trolley shaft is arranged on the trolley body; traveling apparatuses are connected to two ends of the trolley shaft; bearings are arranged at the joints of the trolley shaft and the traveling apparatuses; a differential apparatus is arranged on the trolley shaft; a cable fixing position and a trolley body motor for driving the trolley shaft to run are further arranged on the trolley body; a cable end part is fixed to the cable guide trolley; and the cable guide trolley guides a cable to enter a cable tunnel. Each traveling apparatus has an uneven terrain traveling capability, and can not only travel through driven wheels but also pass through steps and uneven road surfaces through crawler belts. A cable shaft of the cable winding and unwinding apparatus rotates, so that the cable wound on the cable shaft is unwound through the cable guide apparatus; and the cable winding and unwinding apparatus cooperates with the cable guide trolley and is controlled by adopting a control subsystem, so that the operation and the use are convenient. A user sends out a control instruction through a handheld terminal to control the cable guide trolley to run.
Description
Technical field
The present invention relates to cable laying field, particularly relate to a kind of running line device with remote manual control.
Background technology
Cable tunnel or the usual narrow space of cable channel, when laying cable, if cable tunnel or cable tube
Road length is shorter, and inside is the most unimpeded, can complete to lay directly by cable lead-in cable tunnel or cable channel.But
Cable tunnel or cable channel easily enter the foreign material such as mud, stone, glass fragment, the grains of sand, so when laying cable, by nothing
Method is smooth and easy to be completed.If cable tunnel or the bigger needs of cable channel bore are manually laid, so bring to personnel
Potential safety hazard greatly, and inefficiency.
Summary of the invention
In order to overcome above-mentioned deficiency of the prior art, it is an object of the invention to, it is provided that a kind of have remote manual control
Running line device, including: running line car, cable reel installation, the control subsystem being arranged on running line car and with control subsystem
The handheld terminal of communication connection；
Running line car includes: car body, and car body is provided with axletree, and axletree two ends connect running gear, axletree and the knot of running gear
Conjunction portion is provided with bearing, and axletree is provided with differential gear；Cable fixed bit and the car body of axle shaft operation it is additionally provided with on car body
Motor；Car body surrounding is provided with has range sensor；Photographic head it is additionally provided with on car body；
Running gear includes: the driving wheel being connected by bearing with axletree, driving wheel be respectively provided on two sides with driven pulley；Driving wheel
It is connected with driven pulley by V-arrangement girder steel；Described V-arrangement girder steel is provided with crawler belt, two apex of the V-arrangement of described V-arrangement girder steel and V-arrangement
Break at be respectively equipped with guide wheel；It is respectively equipped with bend wheel near the position of driving wheel both sides；It is provided with support inside V-arrangement girder steel
Wheel；Crawler belt is supported by guide wheel, bend wheel, and is arranged on the inside of two V-arrangement girder steels, crawler belt between two bend wheels in ten
Word cross-like；Car body motor drives driving wheel to run, and makes driving wheel drive crawler belt operating；
Cable reel installation includes: cable cabinet, driving motor, motor reducer, cable guide device, cable rolling dish, slip ring group
Part；Cable rolling dish is connected with cable cabinet by cable axle and bearing block；
One end of cable rolling dish cable axle is provided with cable axle sprocket wheel, and cable axle sprocket wheel passes through driving-chain one and is arranged on motor reducer
Motor sprocket on power transmission shaft connects；
Described cable guide device is arranged on the end of described cable cabinet, and described cable guide device is provided with cable guide axle,
Described guidance axis be arranged in parallel with described cable axle.
Described slip ring assembly includes: slip ring, slip ring frame and driving-chain two；Described slip ring is arranged on described electricity by slip ring frame
In cable frame, and described slip ring is in transmission connection with motor sprocket by driving-chain two；
Described control subsystem includes: processor, servo controller, auxiliary reclay one, auxiliary reclay two, display screen,
One bluetooth communication, Distance-sensing receiver module, video reception module；
Servo controller is connected with car body motor by auxiliary reclay one, controls car body walking；
Servo controller is connected with driving motor by auxiliary reclay two, and servo controller controls to drive motor to realize cable laying；
Slip ring assembly, Distance-sensing receiver module, servo controller, display screen, video reception module, the first bluetooth communication
Being connected with processor respectively, processor is run for being controlled driving motor and car body motor respectively by servo controller；
Video reception module is for receiving the cable tunnel interior video image of photographic head shooting, and is shown by display screen；
Distance-sensing receiver module for receiving range sensor sensing running line car in cable tunnel car body and tunnel wall away from
From, and described distance is sent to processor, show at display screen；
Handheld terminal includes: tilt angles detection module, Kalman filtering module, speed displacement mapping block, gyroscope obtain
Module, gyroscope process chip, the second bluetooth communication, environment acquisition module, attitude output module；
Second bluetooth communication and the first bluetooth communication communication connection, be used for making handheld terminal set up with controlling subsystem
Communication connection；
Described tilt angles detection module, for obtaining the acceleration of gravity that user sends, according to trigonometric function algorithm, calculates also
Change out tilt angles；
Described Kalman filtering module, for being filtered tilt angles, obtains absolute angle；
Described speed displacement mapping block, for according to the integral and calculating of described absolute angle Yu time, determines absolute displacement, exhausted
To speed, and by absolute angle, absolute displacement, absolute velocity, by the second bluetooth communication and the first bluetooth communication
Communication connection sends to described processor, and processor sends corresponding control instruction to servo controller, makes running line car perform；
Described gyroscope acquisition module is for obtaining the traveling angle accekeration that user sends；
Described gyroscope processes the chip integral and calculating for the angular acceleration values according to acquisition with time value, obtains handheld terminal
The displacement data of movement, speed data, angle-data on X axle, Y axle, Z axle, and by the second bluetooth communication by position
Moving data, speed data, angle-data transmission to described processor, processor sends corresponding control to servo controller and refers to
Order, makes running line car perform；
Described environment acquisition module is for obtaining the use ambient parameter of handheld terminal, and sends ambient parameter to processor；
Described processor is for receiving absolute angle, absolute displacement, absolute velocity and the top that speed displacement mapping block sends
Spiral shell instrument processes the displacement data of chip transmission, speed data, angle-data, and obtains handheld terminal according to environment acquisition module
Use ambient parameter, it determines choose and perform absolute angle, absolute displacement, the absolute velocity of motion sensor acquisition or choose execution
The displacement data of gyroscope acquisition, speed data, angle-data；
Described attitude output module, for the data action parameter sent according to described processor, performs corresponding attitude action.
Preferably, described environment acquisition module includes: temperature sensor；
Described processor includes: kinetic temperature range setting module, gyroscope temperature range setup unit, temperature are chosen and performed list
Unit；
Described temperature sensor is for sensing the ambient temperature of handheld terminal periphery；
Described kinetic temperature range setting module performs the temperature range of motion sensor acquisition action data for setting；
Described gyroscope temperature range setup unit performs the temperature range of gyroscope acquisition action data for setting；
Described temperature chooses performance element for the ambient temperature when handheld terminal periphery at described kinetic temperature range set list
Time within the temperature range of unit's setting, perform motion sensor and obtain action data, or when the ambient temperature of handheld terminal periphery exists
Time within the temperature range of the setting of described gyroscope temperature range setup unit, perform gyroscope and obtain action data.
Preferably, described environment acquisition module includes: electromagnetic radiation sensor；
Described processor includes: motion amount of electromagnetic radiation setup unit, gyroscope amount of electromagnetic radiation setup unit, amount of electromagnetic radiation
Choose performance element；
Described electromagnetic radiation sensor is for sensing the amount of electromagnetic radiation of handheld terminal surrounding enviroment；
Described motion amount of electromagnetic radiation setup unit performs the amount of electromagnetic radiation of motion sensor acquisition action data for setting
Scope；
Described gyroscope amount of electromagnetic radiation setup unit performs the amount of electromagnetic radiation model of gyroscope acquisition action data for setting
Enclose；
Described amount of electromagnetic radiation chooses performance element for when handheld terminal surrounding enviroment amount of electromagnetic radiation is at described motion electromagnetism
Time in the range of the amount of electromagnetic radiation that amount of radiation setup unit sets, perform motion sensor and obtain action data, or when hand-held end
When end periphery electromagnetic radiation from environment amount is in the range of the amount of electromagnetic radiation that described gyroscope amount of electromagnetic radiation setup unit sets, hold
Row gyroscope obtains action data.
Preferably, described control subsystem also includes: cable laying length setting module, cable laying control module；
Described cable laying length setting module is for setting the length of cable laying；
Cable guide device includes: folding and unfolding cable length metering module；
Described folding and unfolding cable length metering module electrically connects with described processor, for the length measuring cable laying and the length drawn over to one's side,
And by cable laying length and draw over to one's side length transmission to processor；
Described cable laying control module is for when cable laying length is equal to when setting cable laying length, controlling to drive motor and car body motor to stop
Only operating.
Preferably, the bottom of cable reel installation is provided with universal caster wheel.
Preferably, being provided with de-wheel bottom driving wheel, crawler belt walks around de-wheel top.
Preferably, control subsystem also to include: locating module；
Locating module is connected with processor, for positioning the positional information of running line car cable tunnel again, and is shown by display screen.
Preferably, cable reel installation also includes: electric supply installation；
Electric supply installation is powered for the electrical equipment giving running line car and cable reel installation.
Preferably, being formed around LED and control the remote control switch of LED respectively and near-end controls to open of car body
Closing, remote control switch is connected with central controller, controls LED switch for the control signal according to processor.
As can be seen from the above technical solutions, the invention have the advantages that
Cable end is fixed on running line car, and running line car guides cable to enter cable tunnel.Running gear has out-of-flatness landform
Locomotor activity, can not only be walked by driven pulley, additionally it is possible to by crawler belt by step and the different road surface of convex-concave.Make
Running line car guides cable to pass through in cable tunnel.
The cable axle of cable reel installation rotates, and the cable making volume put on cable axle passes through cable guide device cable laying,
It is easy to operate and use that its employing that matches with running line car controls subsystem controls.
User sends control instruction by handheld terminal, controls running line car and runs.
Accompanying drawing explanation
In order to be illustrated more clearly that technical scheme, will the accompanying drawing used required in describing be made simple below
Ground is introduced, it should be apparent that, the accompanying drawing in describing below is only some embodiments of the present invention, for ordinary skill
From the point of view of personnel, on the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the overall schematic of the running line device with remote manual control；
Fig. 2 is the overall structure figure of running line car；
Fig. 3 is the top view of running line car；
Fig. 4 is the running gear structure chart of running line car；
Fig. 5 is running gear schematic front view；
Fig. 6 is the front view of cable reel installation；
Fig. 7 is the top view of cable reel installation；
Fig. 8 is the side view of cable reel installation；
Fig. 9 is the overall schematic of the running line device with remote manual control.
Detailed description of the invention
For making the goal of the invention of the present invention, feature, the advantage can be the most obvious and understandable, concrete by using below
Embodiment and accompanying drawing, be clearly and completely described the technical scheme of present invention protection, it is clear that enforcement disclosed below
Example is only a part of embodiment of the present invention, and not all embodiment.Based on the embodiment in this patent, the common skill in this area
All other embodiments that art personnel are obtained under not making creative work premise, broadly fall into the model of this patent protection
Enclose.
The present embodiment a kind of running line device with remote manual control of offer, as shown in Figure 1 to 9, including: running line car 21, electricity
Cable draw off gear 22, the control subsystem being arranged on running line car 21 and the handheld terminal being connected with control subsystem communication
123；
Running line car 21 includes: car body 1, and car body 1 is provided with axletree 3, and axletree 3 two ends connect running gear 2, axletree 3 and walking
The joint portion of device 2 is provided with bearing 4, and axletree 3 is provided with differential gear 5；It is additionally provided with cable fixed bit 6 on car body 1 and drives
The car body motor that axletree 3 runs；Cable fixed bit 6 is for connecting the cable that needs pull.Car body surrounding is provided with has distance
Sensor；Photographic head 6 it is additionally provided with on car body；
Running gear 2 includes: the driving wheel 7 being connected by bearing 4 with axletree 3, driving wheel 7 be respectively provided on two sides with driven pulley 8；
Driving wheel 7 is connected with driven pulley 8 by V-arrangement girder steel 9；Described V-arrangement girder steel 9 is provided with crawler belt 10, the V-arrangement two of described V-arrangement girder steel 9
Guide wheel 11 it is respectively equipped with at the break of individual apex and V-arrangement；It is respectively equipped with bend wheel 13 near the position of driving wheel 7 both sides；V-arrangement
Girder steel 9 is internal is provided with support wheel 14；Crawler belt 10 is supported by guide wheel 11, bend wheel 13, and is arranged on the interior of two V-arrangement girder steels 9
Portion, crawler belt 10 between two bend wheels in cross-shaped；Car body motor drives driving wheel 7 to run, and makes driving wheel drive and carries out
Band 10 operating；
Cable reel installation 22 includes: cable cabinet 37, driving motor 32, motor reducer, cable guide device 31, cable rolling dish
34, slip ring assembly；Cable rolling dish 34 is connected with cable cabinet 37 by cable axle and bearing block 35；One end of cable rolling dish cable axle sets
Having cable axle sprocket wheel 35, cable axle sprocket wheel 35 is by driving-chain 1 and the motor sprocket being arranged on motor reducer power transmission shaft
33 connect；Cable guide device 31 is arranged on the end of cable cabinet 37, and cable guide device 37 is provided with cable guide axle, guides
Axle be arranged in parallel with cable axle 34.
Slip ring assembly includes: slip ring 40, slip ring frame 41 and driving-chain 2 43；Slip ring 40 is arranged on cable by slip ring frame 41
In frame 37, and slip ring 40 is in transmission connection with motor sprocket 33 by driving-chain 2 43.Slip ring 40 is by driving-chain 2 43 and electricity
Chain wheel 33 is in transmission connection, and cable rolling dish 34 is by driving-chain 1 and the motor sprocket 33 being arranged on motor reducer power transmission shaft
Connecting, when driving motor 32 to operate, drive cable rolling dish 34 and slip ring 40 to rotate simultaneously, slip ring 40 real time record cable rolling dish volume 34 is put
The quantity of cable.Driving-chain 1 and driving-chain 2 43 are provided with chain wheel cover 45.Motor 32 is driven to be provided with motor fixing plate
32.Car body surrounding is provided with has range sensor；Car body 1 is provided with photographic head 6.
Described control subsystem includes: processor 51, servo controller 52, auxiliary reclay 1, auxiliary reclay two
54, display screen the 55, first bluetooth communication 56, Distance-sensing receiver module 58, video reception module 59；
Distance-sensing receiver module 58, servo controller 52, display screen 55, video reception module the 59, first bluetooth communication
56 are connected with processor 51 respectively, and video reception module 59 is used for receiving the cable tunnel interior video image of photographic head 6 shooting,
And shown by display screen 55；
Distance-sensing receiver module 58 is for receiving range sensor sensing running line car car body and tunnel wall in cable tunnel
Distance, and described distance is sent to processor 51, show at display screen 55；
Servo controller 52 is connected with car body motor by auxiliary reclay 1, controls car body walking；Servo controller 52 leads to
Crossing auxiliary reclay 2 54 and be connected with driving motor, servo controller 52 controls to drive motor to realize cable laying；Servo controller 52,
Slip ring assembly electrically connects with processor 51 respectively, described processor 51 for controlled respectively by servo controller to drive motor and
Car body motor runs.
Being fixed on by cable end on running line car, running line car guides cable to enter cable tunnel.Running gear has injustice
Whole landform locomotor activity, can not only be walked by driven pulley, additionally it is possible to by crawler belt by step and the different road of convex-concave
Face.Running line car is made to guide cable to pass through in cable tunnel.The cable axle of cable reel installation rotates, and makes volume put at electricity
Cable on cable axle pass through cable guide device cable laying, its match with running line car employing control subsystem controls convenient to operate and
Use.For the ease of the communication between user, user passes through handheld terminal and the control subsystem being arranged on cable reel installation
System communicates, Dou You two ends, so usual cable tunnel, and subscriber station is at the two ends of cable tunnel, if cable tunnel is longer,
So it is not easy to link up.And use handheld terminal and control subsystem to communicate and achieve communication, it is simple to leading to of payout process
Letter.Make cable laying more convenient.
Handheld terminal 123 includes: tilt angles detection module, Kalman filtering module, speed displacement mapping block, gyro
Instrument acquisition module, gyroscope process chip, the second bluetooth communication, environment acquisition module, attitude output module；
Second bluetooth communication and the first bluetooth communication communication connection, be used for making handheld terminal set up with controlling subsystem
Communication connection；
Described tilt angles detection module, for obtaining the acceleration of gravity that user sends, according to trigonometric function algorithm, calculates also
Change out tilt angles；
Described Kalman filtering module, for being filtered tilt angles, obtains absolute angle；
Described speed displacement mapping block, for according to the integral and calculating of described absolute angle Yu time, determines absolute displacement, exhausted
To speed, and by absolute angle, absolute displacement, absolute velocity, by the second bluetooth communication and the first bluetooth communication
Communication connection sends to described processor, and processor sends corresponding control instruction to servo controller, makes running line car perform；
Described gyroscope acquisition module is for obtaining the traveling angle accekeration that user sends；
Described gyroscope processes the chip integral and calculating for the angular acceleration values according to acquisition with time value, obtains handheld terminal
The displacement data of movement, speed data, angle-data on X axle, Y axle, Z axle, and by the second bluetooth communication by position
Moving data, speed data, angle-data transmission to described processor, processor 51 sends corresponding control to servo controller 52
Instruction, makes running line car perform；
Described environment acquisition module is for obtaining the use ambient parameter of handheld terminal, and sends ambient parameter to processor；
Described processor is for receiving absolute angle, absolute displacement, absolute velocity and the top that speed displacement mapping block sends
Spiral shell instrument processes the displacement data of chip transmission, speed data, angle-data, and obtains handheld terminal according to environment acquisition module
Use ambient parameter, it determines choose and perform absolute angle, absolute displacement, the absolute velocity of motion sensor acquisition or choose execution
The displacement data of gyroscope acquisition, speed data, angle-data；
Described attitude output module, for the data action parameter sent according to described processor, performs corresponding attitude action.
Owing to user uses running line device in cable tunnel or cable channel, such external environment condition is more severe, environment
Performance and accuracy impact on electrical equipment are relatively big, cause control error to increase.Error in order to solve to use is big, and action is prolonged
Slow problem.Environment acquisition module includes: temperature sensor；
Processor includes: kinetic temperature range setting module, gyroscope temperature range setup unit, temperature choose performance element；
Temperature sensor is for sensing the ambient temperature of handheld terminal periphery；Kinetic temperature range setting module is used for setting and performs motion
Sensor obtains the temperature range of action data；
Gyroscope temperature range setup unit performs the temperature range of gyroscope acquisition action data for setting；Temperature is chosen and is held
Row unit is for when the ambient temperature of handheld terminal periphery is within the temperature range of described kinetic temperature range setting unit sets
Time, perform motion sensor and obtain action data, or when the ambient temperature of handheld terminal periphery is in described gyroscope temperature range
Time within the temperature range of setup unit setting, perform gyroscope and obtain action data.
Further, environment acquisition module includes: electromagnetic radiation sensor；Processor includes: motion amount of electromagnetic radiation sets
Cell, gyroscope amount of electromagnetic radiation setup unit, amount of electromagnetic radiation choose performance element；Electromagnetic radiation sensor is used for sensing
The amount of electromagnetic radiation of handheld terminal surrounding enviroment；Motion amount of electromagnetic radiation setup unit is used for setting execution motion sensor and obtains
The electromagnetic radiation weight range of action data；Gyroscope amount of electromagnetic radiation setup unit is used for setting execution gyroscope acquisition action number
According to electromagnetic radiation weight range；Amount of electromagnetic radiation chooses performance element for when handheld terminal surrounding enviroment amount of electromagnetic radiation is in institute
State motion amount of electromagnetic radiation setup unit set amount of electromagnetic radiation in the range of time, perform motion sensor obtain action data,
Or work as the amount of electromagnetic radiation that handheld terminal surrounding enviroment amount of electromagnetic radiation sets at described gyroscope amount of electromagnetic radiation setup unit
In the range of time, perform gyroscope obtain action data.
Processor, for driving motor to run by Frequency Converter Control, controls to drive motor 12 take-up by servo controller
And cable laying.And control subsystem and include: over-voltage protection module, overcurrent protection module, overtemperature protection module, under-voltage protection
Module, soft starting circuit, control subsystem and be arranged in electric cabinet, and electric cabinet is fixed on cable cabinet 7 by electric cabinet support
On, the electrical equipment controlling subsystem is had certain protective measure.Switching Power Supply is used for making control subsystem by switch
Power supply is connected with external power.
Processor includes: cable laying length setting module；Cable laying length setting module is for setting the length of cable laying；Cable is led
Leading-in device 31 includes: folding and unfolding cable length metering module；Folding and unfolding cable length metering module electrically connects with processor, is used for measuring cable laying
Length and the length drawn over to one's side, and by cable laying length with draw over to one's side length transmission to processor.
Processor also includes: cable laying control module；Cable laying control module is for when cable laying length is equal to setting cable laying length
Time, control to drive motor 32 and car body motor to shut down.
Cable drum can be connected with processor by mechanical key, controls to drive motor 32 and car body motor to perform cable laying
Operation, now driven by motor cable rolling dish 34 rotates, cable rolling dish 34 starts cable laying, and running line car 21 moves ahead, and in payout process, cable is led
Leading-in device 31 carry out cable laying length counting and by numerical value by Serial Port Transmission to processor, if cable laying length reach set grow
Degree, then processor controls to drive motor 32 and car body motor to shut down.
Owing to twisted and released of the cable cable have employed slip ring assembly, so during folding and unfolding, controlling subsystem can to cable eventually
End provides a road DC source to power and a road serial communication.So twisted and released of the cable cable achieves automatic payout operation, improves
The automaticity of equipment.The bottom of twisted and released of the cable cable is provided with universal caster wheel 38.
Control subsystem also to include: locating module；Locating module is connected with processor, is used for positioning running line car cable tunnel again
The positional information in road, and shown by display screen.
Cable reel installation also includes: electric supply installation；Electric supply installation is used for giving running line car 21 and cable reel installation 22
Electrical equipment power.
Being formed around LED and control the remote control switch of LED respectively and near-end controls switch, remotely of car body
Control switch to be connected with central controller, control LED switch for the control signal according to central controller.
In this specification, each embodiment uses the mode gone forward one by one to describe, and what each embodiment stressed is and other
The difference of embodiment, identical similar portion reference mutually between each embodiment.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses the present invention.
Multiple amendment to these embodiments will be apparent from for those skilled in the art, as defined herein
General Principle can realize without departing from the spirit or scope of the present invention in other embodiments.Therefore, the present invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein and features of novelty phase one
The widest scope caused.
Claims (9)
1. a running line device with remote manual control, it is characterised in that including: running line car, cable reel installation, be arranged on and draw
On cable car control subsystem and with control the handheld terminal that is connected of subsystem communication；
Running line car includes: car body, and car body is provided with axletree, and axletree two ends connect running gear, axletree and the knot of running gear
Conjunction portion is provided with bearing, and axletree is provided with differential gear；Cable fixed bit and the car body of axle shaft operation it is additionally provided with on car body
Motor；Car body surrounding is provided with has range sensor；Photographic head it is additionally provided with on car body；
Running gear includes: the driving wheel being connected by bearing with axletree, driving wheel be respectively provided on two sides with driven pulley；Driving wheel
It is connected with driven pulley by V-arrangement girder steel；Described V-arrangement girder steel is provided with crawler belt, two apex of the V-arrangement of described V-arrangement girder steel and V-arrangement
Break at be respectively equipped with guide wheel；It is respectively equipped with bend wheel near the position of driving wheel both sides；It is provided with support inside V-arrangement girder steel
Wheel；Crawler belt is supported by guide wheel, bend wheel, and is arranged on the inside of two V-arrangement girder steels, crawler belt between two bend wheels in ten
Word cross-like；Car body motor drives driving wheel to run, and makes driving wheel drive crawler belt operating；
Cable reel installation includes: cable cabinet, driving motor, motor reducer, cable guide device, cable rolling dish, slip ring group
Part；Cable rolling dish is connected with cable cabinet by cable axle and bearing block；
One end of cable rolling dish cable axle is provided with cable axle sprocket wheel, and cable axle sprocket wheel passes through driving-chain one and is arranged on motor reducer
Motor sprocket on power transmission shaft connects；
Described cable guide device is arranged on the end of described cable cabinet, and described cable guide device is provided with cable guide axle,
Described guidance axis be arranged in parallel with described cable axle；
Described slip ring assembly includes: slip ring, slip ring frame and driving-chain two；Described slip ring is arranged on described cable gear by slip ring frame
On frame, and described slip ring is in transmission connection with motor sprocket by driving-chain two；
Described control subsystem includes: processor, servo controller, auxiliary reclay one, auxiliary reclay two, display screen,
One bluetooth communication, Distance-sensing receiver module, video reception module；
Servo controller is connected with car body motor by auxiliary reclay one, controls car body walking；
Servo controller is connected with driving motor by auxiliary reclay two, and servo controller controls to drive motor to realize cable laying；
Slip ring assembly, Distance-sensing receiver module, servo controller, display screen, video reception module, the first bluetooth communication
Being connected with processor respectively, processor is run for being controlled driving motor and car body motor respectively by servo controller；
Video reception module is for receiving the cable tunnel interior video image of photographic head shooting, and is shown by display screen；
Distance-sensing receiver module for receiving range sensor sensing running line car in cable tunnel car body and tunnel wall away from
From, and described distance is sent to processor, show at display screen；
Handheld terminal includes: tilt angles detection module, Kalman filtering module, speed displacement mapping block, gyroscope obtain
Module, gyroscope process chip, the second bluetooth communication, environment acquisition module, attitude output module；
Second bluetooth communication and the first bluetooth communication communication connection, be used for making handheld terminal set up with controlling subsystem
Communication connection；
Described tilt angles detection module, for obtaining the acceleration of gravity that user sends, according to trigonometric function algorithm, calculates also
Change out tilt angles；
Described Kalman filtering module, for being filtered tilt angles, obtains absolute angle；
Described speed displacement mapping block, for according to the integral and calculating of described absolute angle Yu time, determines absolute displacement, exhausted
To speed, and by absolute angle, absolute displacement, absolute velocity, by the second bluetooth communication and the first bluetooth communication
Communication connection sends to described processor, and processor sends corresponding control instruction to servo controller, makes running line car perform；
Described gyroscope acquisition module is for obtaining the traveling angle accekeration that user sends；
Described gyroscope processes the chip integral and calculating for the angular acceleration values according to acquisition with time value, obtains handheld terminal
The displacement data of movement, speed data, angle-data on X axle, Y axle, Z axle, and by the second bluetooth communication by position
Moving data, speed data, angle-data transmission to described processor, processor sends corresponding control to servo controller and refers to
Order, makes running line car perform；
Described environment acquisition module is for obtaining the use ambient parameter of handheld terminal, and sends ambient parameter to processor；
Described processor is for receiving absolute angle, absolute displacement, absolute velocity and the top that speed displacement mapping block sends
Spiral shell instrument processes the displacement data of chip transmission, speed data, angle-data, and obtains handheld terminal according to environment acquisition module
Use ambient parameter, it determines choose and perform absolute angle, absolute displacement, the absolute velocity of motion sensor acquisition or choose execution
The displacement data of gyroscope acquisition, speed data, angle-data；
Described attitude output module, for the data action parameter sent according to described processor, performs corresponding attitude action.
The running line device with remote manual control the most according to claim 1, it is characterised in that
Described environment acquisition module includes: temperature sensor；
Described processor includes: kinetic temperature range setting module, gyroscope temperature range setup unit, temperature are chosen and performed list
Unit；
Described temperature sensor is for sensing the ambient temperature of handheld terminal periphery；
Described kinetic temperature range setting module performs the temperature range of motion sensor acquisition action data for setting；
Described gyroscope temperature range setup unit performs the temperature range of gyroscope acquisition action data for setting；
Described temperature chooses performance element for the ambient temperature when handheld terminal periphery at described kinetic temperature range set list
Time within the temperature range of unit's setting, perform motion sensor and obtain action data, or when the ambient temperature of handheld terminal periphery exists
Time within the temperature range of the setting of described gyroscope temperature range setup unit, perform gyroscope and obtain action data.
The running line device with remote manual control the most according to claim 1, it is characterised in that
Described environment acquisition module includes: electromagnetic radiation sensor；
Described processor includes: motion amount of electromagnetic radiation setup unit, gyroscope amount of electromagnetic radiation setup unit, amount of electromagnetic radiation
Choose performance element；
Described electromagnetic radiation sensor is for sensing the amount of electromagnetic radiation of handheld terminal surrounding enviroment；
Described motion amount of electromagnetic radiation setup unit performs the amount of electromagnetic radiation of motion sensor acquisition action data for setting
Scope；
Described gyroscope amount of electromagnetic radiation setup unit performs the amount of electromagnetic radiation model of gyroscope acquisition action data for setting
Enclose；
Described amount of electromagnetic radiation chooses performance element for when handheld terminal surrounding enviroment amount of electromagnetic radiation is at described motion electromagnetism
Time in the range of the amount of electromagnetic radiation that amount of radiation setup unit sets, perform motion sensor and obtain action data, or when hand-held end
When end periphery electromagnetic radiation from environment amount is in the range of the amount of electromagnetic radiation that described gyroscope amount of electromagnetic radiation setup unit sets, hold
Row gyroscope obtains action data.
The running line device with remote manual control the most according to claim 1, it is characterised in that
Described control subsystem also includes: cable laying length setting module, cable laying control module；
Described cable laying length setting module is for setting the length of cable laying；
Cable guide device includes: folding and unfolding cable length metering module；
Described folding and unfolding cable length metering module electrically connects with described processor, for the length measuring cable laying and the length drawn over to one's side,
And by cable laying length and draw over to one's side length transmission to processor；
Described cable laying control module is for when cable laying length is equal to when setting cable laying length, controlling to drive motor and car body motor to stop
Only operating.
The running line device with remote manual control the most according to claim 1, it is characterised in that
The bottom of cable reel installation is provided with universal caster wheel.
The running line device with remote manual control the most according to claim 1, it is characterised in that
Being provided with de-wheel bottom driving wheel, crawler belt walks around de-wheel top.
The running line device with remote manual control the most according to claim 1, it is characterised in that
Control subsystem also to include: locating module；
Locating module is connected with processor, for positioning the positional information of running line car cable tunnel again, and is shown by display screen.
The running line device with remote manual control the most according to claim 1, it is characterised in that
Cable reel installation also includes: electric supply installation；
Electric supply installation is powered for the electrical equipment giving running line car and cable reel installation.
The running line device with remote manual control the most according to claim 1, it is characterised in that
Being formed around LED and controlling remote control switch and the near-end control switch of LED respectively of car body, remotely controls
Switch is connected with central controller, controls LED switch for the control signal according to processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610714076.XA CN106329407B (en) | 2016-08-24 | 2016-08-24 | A kind of running line device with remote manual control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610714076.XA CN106329407B (en) | 2016-08-24 | 2016-08-24 | A kind of running line device with remote manual control |
Publications (2)
| Publication Number | Publication Date |
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| CN106329407A true CN106329407A (en) | 2017-01-11 |
| CN106329407B CN106329407B (en) | 2017-12-19 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610714076.XA Active CN106329407B (en) | 2016-08-24 | 2016-08-24 | A kind of running line device with remote manual control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106329407B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108963873A (en) * | 2018-06-26 | 2018-12-07 | 国网山东省电力公司滨州市沾化区供电公司 | A kind of power grid construction stretching machine |
| CN108963880A (en) * | 2018-07-17 | 2018-12-07 | 合肥静美图文科技有限公司 | A kind of municipal works cable laying auxiliary device |
| CN111224350A (en) * | 2020-01-09 | 2020-06-02 | 广东电网有限责任公司 | Novel wire towing vehicle |
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| JP2015019446A (en) * | 2013-07-09 | 2015-01-29 | 東日本電信電話株式会社 | Cable passage tool, and cable passage method |
| CN204310749U (en) * | 2014-10-10 | 2015-05-06 | 深圳市德润青华水下工程科技股份有限公司 | A kind of winch monitored control system |
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| CN103231714A (en) * | 2013-04-22 | 2013-08-07 | 西南交通大学 | Traction motor on-line monitoring-based electric locomotive idling slippage identification method |
| JP2015019446A (en) * | 2013-07-09 | 2015-01-29 | 東日本電信電話株式会社 | Cable passage tool, and cable passage method |
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| CN108963880A (en) * | 2018-07-17 | 2018-12-07 | 合肥静美图文科技有限公司 | A kind of municipal works cable laying auxiliary device |
| CN108963880B (en) * | 2018-07-17 | 2020-10-23 | 江苏九城建筑安装工程有限公司 | Municipal works cable laying auxiliary device |
| CN111224350A (en) * | 2020-01-09 | 2020-06-02 | 广东电网有限责任公司 | Novel wire towing vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106329407B (en) | 2017-12-19 |
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