CN107046252A - A kind of conduit line intelligent inspection robot - Google Patents
A kind of conduit line intelligent inspection robot Download PDFInfo
- Publication number
- CN107046252A CN107046252A CN201710241857.6A CN201710241857A CN107046252A CN 107046252 A CN107046252 A CN 107046252A CN 201710241857 A CN201710241857 A CN 201710241857A CN 107046252 A CN107046252 A CN 107046252A
- Authority
- CN
- China
- Prior art keywords
- mobile vehicle
- conduit line
- inspection robot
- intelligent inspection
- line intelligent
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
Abstract
The invention discloses a kind of conduit line intelligent inspection robot, including mobile vehicle, the front end of the mobile vehicle is provided with infrared ray sensor and illuminating lamp, the mobile vehicle top is provided with Temperature Humidity Sensor, video camera, power supply, Microwave Nondestructive Testing instrument, thermal imaging system, data storage cell and control unit, wherein, the Microwave Nondestructive Testing instrument and thermal imaging system are fixedly installed in mounting seat, the mounting seat can be pitched and horizontal revolving motion on mobile vehicle, the infrared ray sensor, illuminating lamp, Temperature Humidity Sensor, video camera, power supply, Microwave Nondestructive Testing instrument thermal imaging system and data storage cell are connected with control unit.The conduit line intelligent inspection robot is safe and reliable, efficient convenient, complete function, can automatic detecting conduit line, and in real time the humiture of monitoring conduit line, heat distribution, aerial image and equipment physical imperfection situations such as.
Description
Technical field
The invention belongs to power system power transmission line maintenance field, a kind of conduit line intelligent inspection machine is specifically provided
People.
Background technology
Cable is the important carrier of transformer station's electric energy transmission and information transfer, and cable is mainly laid in cable duct, cable
Cover plate is laid on ditch and carries out cable protection.Conduit line is indispensable infrastructure in power plant, power network and transformer station, its
The cable laid is used for relay protection, the equipment such as automatically controls, communicates, measuring, measuring.Project of transmitting and converting electricity is mostly real at this stage
Row unattended operation transformer station, and cable duct is located underground, narrow closing space, and difficulty is brought to operations staff's regular visit.It is right
The hidden danger occurred in cable in fire or running is difficult timely finds.Comprehensive analysis show that conduit line is mainly deposited
In following potential safety hazard：1st, equipment and cable operation heating cause space temperature to rise in cable duct, and closing space is not fugitive
Heat, cable material easy aging when temperature is too high produces disaster hidden-trouble；2nd, it is dark moist in buried cable raceway groove, after cable makes moist
Cause its decreasing insulating, produce the hidden danger of insulation breakdown；3rd, conduit line narrow space, stock size is 1.0m*0.8m,
Very big difficulty is brought to manual inspection, inspection worker workload is big and task is heavy, and conventional human inspection inefficiency.
Therefore, a kind of intelligent inspection robot is developed, to improve buried cable raceway groove inspection quality and efficiency, as people
Urgent problem to be solved.
The content of the invention
In consideration of it, it is an object of the invention to provide a kind of conduit line intelligent inspection robot, at least to solve underground
Conduit line routing inspection efficiency is low, of poor quality, it is impossible to the problems such as finding accident potential in time.
The technical scheme that the present invention is provided is：A kind of conduit line intelligent inspection robot, including mobile vehicle, the shifting
The front end of dynamic load body is provided with infrared ray sensor and illuminating lamp, and the mobile vehicle top is provided with Temperature Humidity Sensor, taken the photograph
Camera, power supply, Microwave Nondestructive Testing instrument, thermal imaging system, data storage cell and control unit, wherein, the Microwave Nondestructive Testing instrument and heat
Imager is fixedly installed in mounting seat, and the mounting seat can be pitched and horizontal revolving motion on mobile vehicle, described red
Outside line sensor, illuminating lamp, Temperature Humidity Sensor, video camera, power supply, Microwave Nondestructive Testing instrument, thermal imaging system and data storage cell
It is connected with control unit.
It is preferred that, the mobile vehicle top is provided with above horizontal support platform, the horizontal support platform and is provided with branch
Support, support frame as described above includes horizonal base plate and is fixedly connected on the vertical side plate of the horizonal base plate both sides, the level branch
The first motor is provided with support platform, the output shaft of first motor is vertically arranged and rotates company with the horizonal base plate of support frame
Connect, for driving support frame as described above to horizontally rotate, the mounting seat be connected between two vertical side plates of support frame as described above and
It is driven to rotate by the second motor being arranged on vertical side plate.
Further preferably, the Upper vertical of the mobile vehicle is provided with telescopic electric pushrod, the electric pushrod
Bottom be fixed on the mobile vehicle, the top of the electric pushrod is fixedly connected with the horizontal support platform.
Further preferably, be additionally provided with the wireless transport module being connected with control unit on the mobile vehicle, for
Base station radio communicates.
Further preferably, it is additionally provided with the GPS module being connected with control unit on the mobile vehicle.
Further preferably, the infrared ray sensor is arranged at the center of the mobile vehicle front end, the illumination
Lamp is two, is respectively arranged at the both sides of the infrared ray sensor.
Further preferably, the mobile vehicle is crawler type dolly.
The conduit line intelligent inspection robot that the present invention is provided can automatic detecting conduit line, infrared ray can be passed through
Barrier in front of sensor detection mobile vehicle, can pass through Temperature Humidity Sensor, thermal imaging system, video camera, Microwave Nondestructive Testing
Situations such as instrument monitors humiture, heat distribution, aerial image and the equipment physical imperfection of conduit line in real time, it is possible to pass through data
Memory cell carries out data storage to the data of monitoring, in order to which the later stage is analyzed and compared to the data collected, is formed
Data repository, reaches the long-term supervision to conduit line situation, wherein, Microwave Nondestructive Testing instrument and thermal imaging system are fixedly installed on peace
Fill on seat, according to actual monitoring needs, by adjusting the angle of mounting seat, can be achieved to supervise Microwave Nondestructive Testing instrument and thermal imaging system
The synchronous adjustment of interception.
The conduit line intelligent inspection robot that the present invention is provided is safe and reliable, efficient convenient, complete function, saves artificial
Routing inspection cost, can effectively prevent the generation of cable fault hidden danger, improve power automation level, accelerate power network intelligent development.
Brief description of the drawings
Below in conjunction with the accompanying drawings and embodiment the present invention is further detailed explanation：
Fig. 1 is the front view of conduit line intelligent inspection robot；
Fig. 2 is the side view of conduit line intelligent inspection robot.
Embodiment
The present invention is further explained below in conjunction with specific embodiment, but does not limit to the present invention.
As shown in Figure 1 and Figure 2, the invention provides a kind of conduit line intelligent inspection robot, including mobile vehicle 1, institute
The front end for stating mobile vehicle 1 is provided with infrared ray sensor 2 and illuminating lamp 3, and the top of mobile vehicle 1 is provided with humiture biography
Sensor 4, video camera 5, power supply 6, Microwave Nondestructive Testing instrument 7, thermal imaging system 8, data storage cell (not shown) and control unit
(not shown), wherein, the Microwave Nondestructive Testing instrument 7 and thermal imaging system 8 are fixedly installed in mounting seat 9, and the mounting seat 9 can
Pitch and horizontal revolving motion, the infrared ray sensor 2, illuminating lamp 3, Temperature Humidity Sensor 4, take the photograph on mobile vehicle 1
Camera 5, power supply 6, Microwave Nondestructive Testing instrument 7, thermal imaging system 8 and data storage cell are connected with control unit, it is preferable that described infrared
Line sensor 2 is arranged at the center of the front end of mobile vehicle 1, and the illuminating lamp 3 is two, is respectively arranged at described red
The both sides of outside line sensor 2, the mobile vehicle 1 is preferably crawler type dolly..
The conduit line intelligent inspection robot can automatic detecting conduit line, can be detected by infrared ray sensor
Barrier in front of mobile vehicle, can in real time be monitored by Temperature Humidity Sensor, thermal imaging system, video camera, Microwave Nondestructive Testing instrument
Situations such as humiture of conduit line, heat distribution, aerial image and equipment physical imperfection, it is possible to pass through data storage cell pair
The data of monitoring carry out data storage, in order to which the later stage is analyzed and compared to the data collected, form data repository,
The long-term supervision to conduit line situation is reached, wherein, Microwave Nondestructive Testing instrument and thermal imaging system are fixedly installed in mounting seat, according to
Actual monitoring needs, by adjusting the angle of mounting seat, can be achieved to monitor the same of orientation to Microwave Nondestructive Testing instrument and thermal imaging system
Successive step.
Wherein, mounting seat can realize that the structure for pitching and horizontally rotating has much on mobile vehicle, do not do have here
Body is limited, as long as above-mentioned motion can be realized, a kind of preferred structure is given below：As depicted in figs. 1 and 2, the movement
The top of carrier 1 is provided with horizontal support platform 10, and the top of horizontal support platform 10 is provided with support frame 11, support frame as described above
11 include horizonal base plate 111 and are fixedly connected on the vertical side plate 112 of the both sides of horizonal base plate 111, and the horizontal support is put down
Be provided with the first motor (not shown) on platform 10, the output shaft of first motor be vertically arranged and with the water of support frame 11
Flat underside 111 rotates connection, and for driving support frame as described above 11 to horizontally rotate, the mounting seat 9 is connected to support frame as described above 11
Two vertical side plates 112 between and drive it to revolve by the second motor (not shown) being arranged on vertical side plate 112
Turn.
In order to realize the regulation to mounting seat height, to adapt to different monitorings height, as the improvement of technical scheme, such as
Shown in Fig. 1 and Fig. 2, the Upper vertical of the mobile vehicle 1 is provided with telescopic electric pushrod 12, the electric pushrod 12
Bottom is fixed on the mobile vehicle 1, and the top of the electric pushrod 12 is fixedly connected with the horizontal support platform 10, is led to
Cross the flexible regulation that can be achieved to mounting seat height of control electric pushrod.
In order to which the information monitored is sent into base station in real time, in order to which staff is to conduit line inner cable and sets
Standby running status is analyzed, judged and predicted, as the improvement of technical scheme, be additionally provided with the mobile vehicle 1 with
The wireless transport module (not shown) of control unit connection, for being communicated with base station radio.
In order to realize the positioning to the position of fault, as the improvement of technical scheme, be additionally provided with the mobile vehicle 1 with
The GPS module (not shown) of control unit connection.
The embodiment of the present invention is write according to progressive mode, highlights each embodiment
Difference, its similar portion can be with cross-reference.
Embodiments of the present invention are elaborated above in conjunction with accompanying drawing, but the present invention is not limited to above-mentioned implementation
Mode, can also be on the premise of present inventive concept not be departed from the knowledge that those of ordinary skill in the art possess
Make a variety of changes.
Claims (7)
1. a kind of conduit line intelligent inspection robot, it is characterised in that including mobile vehicle (1), the mobile vehicle (1)
Front end is provided with infrared ray sensor (2) and illuminating lamp (3), and mobile vehicle (1) top is provided with Temperature Humidity Sensor
(4), video camera (5), power supply (6), Microwave Nondestructive Testing instrument (7), thermal imaging system (8), data storage cell and control unit, wherein,
The Microwave Nondestructive Testing instrument (7) and thermal imaging system (8) are fixedly installed in mounting seat (9), and the mounting seat (9) can be in mobile vehicle
(1) pitched on and horizontal revolving motion, the infrared ray sensor (2), illuminating lamp (3), Temperature Humidity Sensor (4), shooting
Machine (5), power supply (6), Microwave Nondestructive Testing instrument (7), thermal imaging system (8) and data storage cell are connected with control unit.
2. according to the conduit line intelligent inspection robot described in claim 1, it is characterised in that：On the mobile vehicle (1)
Portion is provided with above horizontal support platform (10), the horizontal support platform (10) and is provided with support frame (11), support frame as described above
(11) include horizonal base plate (111) and be fixedly connected on the vertical side plate (112) of the horizonal base plate (111) both sides, the water
Be provided with the first motor on flat support platform (10), the output shaft of first motor be vertically arranged and with the water of support frame (11)
Flat underside (111) rotates connection, and for driving support frame as described above (11) to horizontally rotate, the mounting seat (9) is connected to the branch
Between the vertical side plate (112) of two of support (11) and it is driven to revolve by the second motor being arranged on vertical side plate (112)
Turn.
3. according to the conduit line intelligent inspection robot described in claim 2, it is characterised in that：The mobile vehicle (1)
Upper vertical is provided with telescopic electric pushrod (12), and the mobile vehicle is fixed in the bottom of the electric pushrod (12)
(1) on, the top of the electric pushrod (12) is fixedly connected with the horizontal support platform (10).
4. according to the conduit line intelligent inspection robot described in claim 1, it is characterised in that：On the mobile vehicle (1)
The wireless transport module being connected with control unit is additionally provided with, for being communicated with base station radio.
5. according to the conduit line intelligent inspection robot described in claim 1, it is characterised in that：On the mobile vehicle (1)
It is additionally provided with the GPS module being connected with control unit.
6. according to the conduit line intelligent inspection robot described in claim 1, it is characterised in that：The infrared ray sensor
(2) center of the mobile vehicle (1) front end is arranged at, the illuminating lamp (3) is two, is respectively arranged at described infrared
The both sides of line sensor (2).
7. according to the conduit line intelligent inspection robot any one of claim 1 to 6, it is characterised in that：It is described to move
Dynamic load body (1) is crawler type dolly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710241857.6A CN107046252A (en) | 2017-04-14 | 2017-04-14 | A kind of conduit line intelligent inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710241857.6A CN107046252A (en) | 2017-04-14 | 2017-04-14 | A kind of conduit line intelligent inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107046252A true CN107046252A (en) | 2017-08-15 |
Family
ID=59545731
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710241857.6A Pending CN107046252A (en) | 2017-04-14 | 2017-04-14 | A kind of conduit line intelligent inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107046252A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107910806A (en) * | 2017-09-20 | 2018-04-13 | 国网辽宁省电力有限公司检修分公司 | A kind of cable tunnel inspection robot and air navigation aid |
| CN110941233A (en) * | 2019-12-04 | 2020-03-31 | 奚小忠 | Inspection robot inspection and supervision system based on VR technology |
| CN110954163A (en) * | 2019-11-25 | 2020-04-03 | 国网山西省电力公司大同供电公司 | Patrol and examine cable temperature and humidity measurement system based on built-in temperature and humidity sensor robot |
| CN111490488A (en) * | 2020-05-25 | 2020-08-04 | 安徽省飞龙新型材料有限公司 | Device and method for overhauling damaged cable in cable groove |
| CN111915759A (en) * | 2020-08-03 | 2020-11-10 | 国网安徽省电力有限公司铜陵供电公司 | Automatic inspection method for cable work well |
| CN111998186A (en) * | 2020-08-17 | 2020-11-27 | 贵州电网有限责任公司 | Cable trench inspection robot |
| CN112134206A (en) * | 2019-07-03 | 2020-12-25 | 苏州力佳达电子科技有限公司 | Inspection robot capable of surmounting obstacles |
| CN113459113A (en) * | 2020-03-31 | 2021-10-01 | 南京瑞蓝世光电传感技术研究院有限公司 | Intelligent inspection robot with object-shaped recognition photoelectric sensor |
| CN114347053A (en) * | 2021-12-28 | 2022-04-15 | 国网新疆电力有限公司吐鲁番供电公司 | Narrow corridor inspection robot for cable duct |
| CN114843927A (en) * | 2022-02-18 | 2022-08-02 | 华能新疆能源开发有限公司新能源东疆分公司 | Cable channel inspection robot |
| US11731280B2 (en) | 2020-06-23 | 2023-08-22 | State Grid Anhui Electric Power Research Institute | Cable trench inspection robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102354925A (en) * | 2011-09-09 | 2012-02-15 | 内蒙古电力科学研究院 | Miniature crawler-type cable tunnel patrol robot |
| US20140208976A1 (en) * | 2013-01-29 | 2014-07-31 | Korea Institute Of Science And Technology | Driving wheel of robot moving along the wire and robot having the same |
| CN104991558A (en) * | 2015-07-03 | 2015-10-21 | 国家电网公司 | Cable trench automatic inspection device |
| CN106197862A (en) * | 2016-07-19 | 2016-12-07 | 洪明 | A kind of pipeline opening that is used for detects alarm set automatically |
-
2017
- 2017-04-14 CN CN201710241857.6A patent/CN107046252A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102354925A (en) * | 2011-09-09 | 2012-02-15 | 内蒙古电力科学研究院 | Miniature crawler-type cable tunnel patrol robot |
| US20140208976A1 (en) * | 2013-01-29 | 2014-07-31 | Korea Institute Of Science And Technology | Driving wheel of robot moving along the wire and robot having the same |
| CN104991558A (en) * | 2015-07-03 | 2015-10-21 | 国家电网公司 | Cable trench automatic inspection device |
| CN106197862A (en) * | 2016-07-19 | 2016-12-07 | 洪明 | A kind of pipeline opening that is used for detects alarm set automatically |
Non-Patent Citations (2)
| Title |
|---|
| 吴伟: "《高压电缆隧道智能巡检机器人控制系统研发》", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
| 杜益刚: "《电缆隧道巡检机器人的研制》", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107910806A (en) * | 2017-09-20 | 2018-04-13 | 国网辽宁省电力有限公司检修分公司 | A kind of cable tunnel inspection robot and air navigation aid |
| CN112134206A (en) * | 2019-07-03 | 2020-12-25 | 苏州力佳达电子科技有限公司 | Inspection robot capable of surmounting obstacles |
| CN110954163A (en) * | 2019-11-25 | 2020-04-03 | 国网山西省电力公司大同供电公司 | Patrol and examine cable temperature and humidity measurement system based on built-in temperature and humidity sensor robot |
| CN110941233A (en) * | 2019-12-04 | 2020-03-31 | 奚小忠 | Inspection robot inspection and supervision system based on VR technology |
| CN113459113A (en) * | 2020-03-31 | 2021-10-01 | 南京瑞蓝世光电传感技术研究院有限公司 | Intelligent inspection robot with object-shaped recognition photoelectric sensor |
| CN111490488A (en) * | 2020-05-25 | 2020-08-04 | 安徽省飞龙新型材料有限公司 | Device and method for overhauling damaged cable in cable groove |
| US11731280B2 (en) | 2020-06-23 | 2023-08-22 | State Grid Anhui Electric Power Research Institute | Cable trench inspection robot |
| CN111915759A (en) * | 2020-08-03 | 2020-11-10 | 国网安徽省电力有限公司铜陵供电公司 | Automatic inspection method for cable work well |
| CN111998186A (en) * | 2020-08-17 | 2020-11-27 | 贵州电网有限责任公司 | Cable trench inspection robot |
| CN111998186B (en) * | 2020-08-17 | 2022-05-06 | 贵州电网有限责任公司 | Cable trench inspection robot |
| CN114347053A (en) * | 2021-12-28 | 2022-04-15 | 国网新疆电力有限公司吐鲁番供电公司 | Narrow corridor inspection robot for cable duct |
| CN114843927A (en) * | 2022-02-18 | 2022-08-02 | 华能新疆能源开发有限公司新能源东疆分公司 | Cable channel inspection robot |
| CN114843927B (en) * | 2022-02-18 | 2023-12-26 | 华能新疆能源开发有限公司新能源东疆分公司 | Cable channel inspection robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107046252A (en) | A kind of conduit line intelligent inspection robot | |
| CN205377160U (en) | Inspection robot for cable tunnel | |
| CN202735798U (en) | Cable channel intelligent inspection robot monitoring application system | |
| CN109447157B (en) | Movable power grid operation inspection system | |
| CN201674162U (en) | Electric power maintenance helicopter | |
| CN107671831B (en) | A kind of power station subregion intelligent inspection system and method | |
| CN106239515A (en) | A kind of power distribution station intelligent inspection robot | |
| CN102063746B (en) | Program-controlled patrol machine and program-controlled patrol method for transformer station | |
| CN110866993A (en) | Intelligent track inspection machine and method thereof | |
| CN109193462B (en) | Three-dimensional power grid operation inspection system | |
| CN106197294A (en) | A kind of optically-based overhead transmission line ice covering thickness monitoring device and method | |
| CN104539879A (en) | Patrol device for infrared probe in remote control zone of unattended substation | |
| CN103686073A (en) | Unattended transformer station remote control inspection device | |
| CN108539858A (en) | It is a kind of for automation of transformation substations intelligent patrol detection device | |
| CN111311778A (en) | Application system and method based on unmanned aerial vehicle honeycomb technology | |
| CN108183423A (en) | A kind of mobile inspection tour system and method for Electric Power Patrol | |
| CN109765457A (en) | The intelligent apparatus that a kind of tunnel cable failure inspection and insulation fault are automatically repaired | |
| CN113606437A (en) | All-weather inspection device for computer room | |
| CN108759932B (en) | Gridding atmospheric environment monitoring data acquisition device | |
| CN204895854U (en) | Aircraft is patrolled and examined to high pressure overhead wire intelligence | |
| CN207677341U (en) | Intelligent babinet substation " prison-inspection-dimension " integral system based on robot | |
| CN216372238U (en) | Transformer substation inspection robot | |
| CN205582221U (en) | Overheated real -time on -line measuring system of substation equipment | |
| CN107255988B (en) | Intelligent urban heating monitoring system | |
| CN210074876U (en) | Monitoring equipment for traction substation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170815 |