CN107910806B - Cable tunnel inspection robot and navigation method - Google Patents
Cable tunnel inspection robot and navigation method Download PDFInfo
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- CN107910806B CN107910806B CN201710854534.4A CN201710854534A CN107910806B CN 107910806 B CN107910806 B CN 107910806B CN 201710854534 A CN201710854534 A CN 201710854534A CN 107910806 B CN107910806 B CN 107910806B
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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
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/125—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction for tilting and rolling
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
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- F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
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Abstract
The invention provides a cable tunnel inspection robot and a navigation method. The moving body comprises a motion executing mechanism and a control system, and a motor power supply terminal of the motion executing mechanism is connected with the control system. The motion executing mechanism comprises a holder, a base, a lifting mechanism, a hinged seat and a walking mechanism. The design of a double-track movable walking mechanism is adopted, the robot can stretch up and down, can rotate and adjust, can be designed into a holder with a 360-degree dead angle-free range, has a small integral structure, a large adjustable range and no dead angle in monitoring, adopts a four-drive and track design, adopts an aluminum alloy material with light weight for the whole base, has stronger driving capability, increases the obstacle crossing capability and the environment adaptability of the robot, adopts various detection sensors and a radio frequency card identification device, and realizes the automatic detection and the automatic navigation functions of the robot.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a cable tunnel inspection robot.
Background
The total length of the tunnel pipe network of the present transformer substation is increased day by day. Therefore, the stable operation of the tunnel cable is directly related to the safety and the reliability of the transformer substation.
In a tunnel with a relatively complex environment, the cable runs for a long time, the problems of aging, strand breakage, abrasion, corrosion or bite of small animals and the like often occur, and in addition, the tunnel environment is severe, flammable and toxic gases are deposited all the year round, if measures are not taken in time, fire and explosion accidents are likely to happen, and the loss is heavy. Therefore, the cable in the tunnel must be regularly checked and maintained, the running condition and the surrounding environment of the cable can be known at any time, the hidden danger can be found and eliminated in time, and the power supply safety can be ensured. Because the traditional manual inspection method is low in efficiency and has many unsafe factors, the tunnel cable is patrolled and examined by the mobile tracked robot carrying the infrared equipment, so that the safe transmission of electric energy is guaranteed and the construction of the intelligent power grid is promoted.
In the underground cable trench of the transformer substation, the accident that the cable line is overheated and inflammable gas in the tunnel is ignited often occurs. At the root, there are two main categories of causes-self and external. The reasons for this are: aging, strand breakage and abrasion of the cable line caused by long-term operation; the external causes are: bite of small animals, erosion of gases, and the like. For the line problem, manual work such as repair, update and the like is usually required. A large amount of manpower and material resources are consumed each time, and the body of a maintenance worker is easily damaged. Therefore, the requirement on the monitoring strength of the cable trench is increased day by day, however, similar to the problem of repair, monitoring personnel also need to face the problems of high temperature, toxic gas, narrow and small space occlusion and the like, great obstacles are caused to the implementation of monitoring work, and the personal safety of the staff also has great hidden dangers.
At present, the routing inspection work of a cable trench of a transformer substation generally moves at least 4 people to drill the trench, a large pile of tools such as an infrared thermometer, a toxic gas detector, a flashlight and a camera must be carried in the trench, the highest temperature in summer can reach more than fifty degrees, and the inspection device is a great test for physical strength and endurance of workers. Once the cable trench has an emergency, such as fire, smoke or power failure due to unknown reasons, the worker must wear the cable trench completely, and the cable trench is detected immediately, so that the cable trench has great danger and is very easy to cause personal injury. The old time patrol is time-consuming and labor-consuming, not only is the efficiency low, but also the personal injury of the staff is often caused, the human body needs metabolism, and the working mode also needs.
In summary, the defects of the traditional manual working mode are obvious. The labor intensity is high, the operation efficiency is low, the operation quality is unstable, serious personal safety hidden dangers exist, and the development requirements of the modern society cannot be met more and more. With the gradual maturity of the robot technology, the intelligent robot equipment becomes an important component of an intelligent power grid, the cable tunnel inspection robot has great development potential and market prospect, the economy of China is continuously developed, the construction of the comprehensive well-off society can greatly increase the demand of electricity consumption of people, the dependence of production and life of people on electric power is higher and higher, and higher requirements are provided for the power supply capacity and the power supply quality of a transformer substation.
The intelligent robot is patrolled and examined by the cable tunnel of Hangzhou city electric power office and Zhejiang university research and development jointly 2012, this robot has independently patrols and examines, emergency treatment, remote monitoring function, duration reaches 4 hours, be furnished with high definition visible light and infrared camera, harmful gas detection device, can realize cable deformation in the tunnel, temperature and harmful gas's monitoring, and with the real-time condition in the tunnel transmit to transmission line state monitoring center through tunnel integrated monitoring system, in order to replace artifical the patrolling and examining, realize that full route is independently patrolled and examined in the tunnel, can effectively solve the high tension cable tunnel and patrol and examine the degree of difficulty big, the artifical danger coefficient scheduling problem. The line operation personnel can master the operation condition of the internal equipment of the cable tunnel without going out of home, and the integrated management and control of comprehensive intelligent monitoring and intelligent logic linkage is realized. However, the robot adopts a wheel type moving structure, has poor obstacle crossing capability, and can only work in a large-scale cable tunnel with relatively gentle ground.
At present, the robot adopting a track moving mode still has a large structural design volume, and the function of adjusting the design structure of the holder cannot meet the inspection task of a small-sized cable pipeline.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides a cable tunnel inspection robot and a navigation method, wherein a double-track mobile traveling mechanism is adopted for design, the double-track mobile traveling mechanism can stretch up and down, can rotate and adjust, and has a pan-tilt design with a 360-degree dead angle-free range, so that the whole robot is small in overall structure volume, large in adjustable range and free of dead angle in monitoring, a four-drive and track-added design is adopted, the whole base is made of aluminum alloy materials with light weight, the driving capability is stronger, the obstacle crossing capability and the environment adaptability of the robot are improved, and various detection sensors and radio frequency card identification devices are adopted to realize the automatic detection and automatic navigation functions of the robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
a cable tunnel inspection robot comprises a moving body, a communication network and a remote terminal, wherein the moving body is connected with the remote terminal through the communication network.
The moving body comprises a motion executing mechanism and a control system, and a motor power supply terminal of the motion executing mechanism is connected with the control system.
The motion executing mechanism comprises a holder, a base, a lifting mechanism, a hinged seat and a walking mechanism; the walking mechanism is arranged on two sides of the base, the hinged seat is arranged on the upper portion of the base, one end of the lifting mechanism is arranged on the holder, and the other end of the lifting mechanism is hinged to the base through the hinged seat.
The control system comprises a core controller, a cable detection device, a gas detection device, a navigation positioning device, a communication device and a driving device, wherein the cable detection device, the gas detection device, the navigation positioning device, the communication device and the driving device are all connected with the core controller, and the core controller comprises a DSP control panel and a single chip microcomputer which are mutually connected.
The walking mechanism is of a double-crawler type structure and comprises a walking motor, a front driving wheel, a rear driving wheel and a crawler, wherein the front driving wheel is connected with the rear driving wheel through the crawler, and the walking motor is connected with the driving wheel through two bevel gears; the crawler belt is provided with bulges which are distributed at equal intervals and are made of rubber materials.
The lifting mechanism comprises a screw rod seat, a screw rod, a threaded seat and a connecting arm; the screw thread seat is fixed on the cloud deck, a screw rod nut corresponding to the screw rod is arranged in the screw thread seat, and one end of the screw rod is arranged in the screw thread hole; the other end of the screw rod motor is connected with a screw rod motor, the screw rod motor is arranged on a screw rod seat, and the screw rod seat is hinged on the base through a hinge seat; one end of the connecting arm is hinged on the pan-tilt, and the other end is hinged on the hinged seat.
The tripod head comprises a rotating mechanism and a tripod head lens arranged on the rotating mechanism, the rotating mechanism comprises a steering engine, the rotating mechanism realizes the left-right rotation of the tripod head lens part through the positive-negative rotation of the steering engine arranged at the rear part in the tripod head, the tripod head lens comprises an inner layer of arc-shaped structure and an outer layer of arc-shaped structure, the inner layer of the tripod head lens is of a normal semi-arc structure, and the outer layer of the tripod head lens comprises a.
The base is made of an aluminum alloy material.
The gas detection device comprises a temperature and humidity sensor, an air quality sensor and an audible and visual alarm, and the temperature and humidity sensor, the air quality sensor and the audible and visual alarm are all connected to a single chip microcomputer of the core controller;
the cable detection device comprises a camera, a video card and an infrared temperature measurement device, wherein the camera is connected to the DSP control panel of the core controller through the video card, and the infrared temperature measurement device is connected to the DSP control panel of the core controller;
the navigation positioning device comprises an ultrasonic sensor group, a three-axis gyroscope and a radio frequency card identification device, wherein the ultrasonic sensor group, the three-axis gyroscope and the radio frequency card identification device are all connected to the single chip microcomputer of the core controller;
the driving device comprises a full-bridge driving module and an encoder, the input signal end of the full-bridge driving module is connected with a single chip microcomputer of the core controller, the power output end of the full-bridge driving module is connected with motors of the motion executing mechanisms, the encoder is coaxially connected with the motors, and the signal wire of the encoder is connected to the single chip microcomputer of the core controller.
The communication device comprises a power carrier cable, a power carrier modem and a single WIFI module; the power carrier cable is connected with the power carrier modem, the power carrier modem is connected with the single WIFI module, and the single WIFI module is connected with the DSP control panel and the external network interface of the core controller through the mobile wireless WIFI module.
A navigation method of a cable tunnel inspection robot uses a radio frequency card as a 'guideboard', the radio frequency card is arranged at the ground surface of each road section of an intersection, the information of the road section where the radio frequency card is located is stored in the radio frequency card, a navigation positioning device uses a radio frequency card reading device as the 'eye' of the robot, when the robot moves to the intersection, the position of the robot is judged by reading the information of the card, and a given path is combined to make a correct steering action.
Compared with the prior art, the invention has the beneficial effects that:
1. the cable tunnel inspection robot adopts a double-crawler type structure, and the whole base is made of aluminum alloy materials. The working condition of the cable tunnel robot is analyzed, the robot is required to complete low-speed forward movement and left-right pivot steering, and the robot can adapt to the slope ground. In order to meet the requirements, a four-wheel drive structure is adopted, and a full-bridge motor driving module is used for controlling the direct-current speed reducing motor, so that the low-speed forward and reverse rotation of the motor is realized. The track is provided with protruding rubber structures distributed at equal intervals, so that the obstacle crossing capability and the environment adaptability of the robot are further improved.
2. According to the cable tunnel inspection robot, the rotating mechanism of the holder realizes the left-right rotation of the lens part of the holder by means of the forward-backward rotation of the steering engine at the rear part in the holder, the whole lens part is composed of an inner arc structure and an outer arc structure, the inner layer is of a normal semi-arc structure, the outer layer is composed of a semi-arc and a straight baffle, and the baffle part has no radian, so that the problem of the rotation boundary threshold value of the holder lens is solved on the mechanical level. When the camera lens rotates to a set position, the outer layer structure is changed into interference fit from original clearance fit, the rotation is blocked, and the steering engine stops running.
3. The cable tunnel inspection robot uses the radio frequency card as a road sign and uses the radio frequency card reading device as the eyes of the robot. And laying a radio frequency card on the surface of each intersection to serve as a 'guideboard' of the intersection. When the robot moves to the intersection, the position of the robot is judged by reading the card information, and a correct steering action is performed by combining a given path.
Drawings
FIG. 1 is a perspective view of the motion mechanism of the present invention;
FIG. 2 is a schematic view of another angle stage of the moving mechanism of the present invention after the cradle head is raised;
FIG. 3 is a schematic view of the running gear of the invention;
FIG. 4 is a schematic view of a camera and pan/tilt head mounting structure of the present invention;
FIG. 5 is a schematic diagram of the control system of the present invention;
FIG. 6 is a schematic diagram of the control system of the present invention;
FIG. 7 is a schematic view of the walking position determination of the present invention;
FIG. 8 is a single bus timing diagram for a temperature sensor employed in the present invention.
In the figure: the method comprises the steps of 1, a tripod head 2, a base 3, a lifting mechanism 4, a hinged seat 5, a walking mechanism 6, a walking motor 7, a front driving wheel 8, a rear driving wheel 9, a crawler belt 10, a screw rod seat 11, a screw rod 12, a threaded seat 13, a connecting arm 14, a screw rod motor 15, a rotating mechanism 16 and a tripod head lens.
Detailed Description
The following detailed description of the present invention will be made with reference to the accompanying drawings.
The cable tunnel inspection robot is characterized by comprising a moving body, a communication network and a remote terminal, wherein the moving body is connected with the remote terminal through the communication network.
The moving body comprises a motion executing mechanism and a control system, and a motor power supply terminal of the motion executing mechanism is connected with the control system.
As shown in fig. 1 and 2, the motion executing mechanism includes a pan-tilt 1, a base 2, a lifting mechanism 3, a hinged seat 4, and a traveling mechanism 5; the walking mechanism 5 is arranged at two sides of the base 2, the hinged seat 4 is arranged at the upper part of the base 2, one end of the lifting mechanism 3 is arranged on the holder 1, and the other end is hinged on the base 2 through the hinged seat 4.
The walking mechanism 5 is of a double-crawler structure and comprises a walking motor 6, a front driving wheel 7, a rear driving wheel 8 and a crawler 9, wherein the front driving wheel 7 is connected with the rear driving wheel 8 through the crawler 9, and the walking motor 6 is connected with the front driving wheel 7 through two bevel gears 17. The crawler belt 9 is provided with bulges distributed at equal intervals, and the bulges are made of rubber materials.
The cable tunnel inspection robot replaces manual work to enter tunnel operation, and due to the fact that the environment of the cable tunnel where the robot is located is complex, ground depressions are uneven, and obstacles such as accumulated water and small stones are likely to exist. Therefore, a double crawler type structure is selected. The working condition of the cable tunnel robot is analyzed, the robot is required to complete low-speed forward movement and left-right pivot steering, and the robot can adapt to the slope ground. In order to meet the requirements, a four-wheel drive structure is adopted, and a full-bridge motor driving module is used for controlling the direct-current speed reducing motor, so that the low-speed forward and reverse rotation of the motor is realized. The track 9 is provided with protruding rubber structures distributed at equal intervals, so that the obstacle crossing capability and the environment adaptability of the robot are further improved.
As shown in fig. 3, the driving force source of the robot and the dc deceleration traveling motor 6 at the lower part of the body, the traveling motor 6 changes the torque direction through two pairs of bevel gears 17, the power is transmitted to the left and right wheels respectively, and the left and right driving wheels drive the whole track to move.
The base 2 part of the whole device adopts the aluminum alloy with high strength and low density, so that the whole weight of the robot is greatly reduced, the service life of the robot is not influenced, the robot is convenient to process, the efficiency of the walking motor 6 is further improved due to the reduction of the weight, the torque of the rear driving wheel 7 is further increased, and the obstacle crossing capability and the environment adaptive capability of the robot are further improved.
The lifting mechanism 3 comprises a screw rod seat 10, a screw rod 11, a thread seat 12 and a connecting arm 13. The screw seat 12 is fixed on the pan-tilt 1, a screw nut corresponding to the screw rod 11 is arranged in the screw seat 12, one end of the screw rod 11 is installed in the screw hole, the other end of the screw rod is connected with a screw rod motor 14, the screw rod motor 14 is installed on the screw rod seat 10, and the screw rod seat 10 is hinged on the base 2 through a hinge seat 4; one end of the connecting arm 13 is hinged on the pan-tilt 1, and the other end is hinged on the hinged seat 4.
As shown in fig. 4, the pan/tilt head 1 includes a rotating mechanism 15 and a pan/tilt lens 16 installed on the rotating mechanism 15, the rotating mechanism 15 includes a steering engine, the rotating mechanism 15 realizes the left and right rotation of the pan/tilt lens 16 part through the forward and reverse rotation of the steering engine installed in the pan/tilt head, the pan/tilt lens 16 is composed of an inner layer and an outer layer of arc structures, the inner layer is a normal semi-arc structure, and the outer layer is composed of a semi-arc and a straight baffle.
The lifting mechanism 3 of the pan-tilt 1 realizes the lifting function of the device by adjusting the shrinkage of the central screw 11, and two ends of a pair of connecting arms 13 are respectively connected with the pan-tilt 1 and the base 2 to jointly form a stable link mechanism. The tail end of the lead screw 11 is provided with a group of lead screw motors 14, the lead screw motors 14 are controlled to rotate clockwise through a wireless remote controller, so that the lead screw rotates clockwise, the screw nut screwing part of the lead screw 11 is increased, and the lead screw 11 part of the connecting rod mechanism is shortened. According to the mechanical principle of the link mechanism, as the connecting arm 13 of the device is of a fixed length, in order to keep the structure stable, the included angle between the connecting arm 13 and the base is increased, and the tripod head 1 is lifted; on the contrary, the screw motor 14 rotates counterclockwise, the screw 11 of the link mechanism will decrease its included angle, and the pan/tilt head 1 will descend. The lead screw nut can provide stable working speed for the lifting of the device, and the high-precision lead screw nut ensures the stability and reliability of the lifting mechanism 3 of the holder 1 in the lifting process. The connecting arm 13 is made of a high-strength aluminum alloy material, and the connecting arm 13 is perforated to ensure high strength and light weight on the premise of ensuring mechanical strength.
The rotating mechanism 15 of the holder 1 realizes the left-right rotation of the lens 16 part of the holder by the positive-negative rotation of the steering engine at the rear part in the holder, and the whole lens part consists of an inner layer of arc structure and an outer layer of arc structure. The inlayer is normal semicircle structure, and the skin comprises semicircle and straight baffle, and the baffle part does not have the radian, and this has just solved the rotatory boundary threshold value problem of cloud platform camera lens 16 on the aspect of machinery. When the camera lens rotates to a set position, the outer layer structure is changed into interference fit from original clearance fit, the rotation is blocked, and the steering engine stops running. In order to enable the device to operate more accurately, two limit switches are installed on the ground of the holder, when a set angle is reached, the limit switches are touched, and the movement stops. Similar to the lifting mechanism, the rotating mechanism 15 is made of aluminum alloy, so that the device is light, firm, energy-saving and environment-friendly.
The base is made of an aluminum alloy material.
As shown in fig. 5 and 6, the control system includes a core controller, a cable detection device, a gas detection device, a navigation positioning device, a communication device and a driving device, the cable detection device, the gas detection device, the navigation positioning device, the communication device and the driving device are all connected with the core controller, and the core controller includes a DSP control board and a single chip microcomputer which are connected with each other.
The gas detection device comprises a temperature and humidity sensor, an air quality sensor and an audible and visual alarm, and the temperature and humidity sensor, the air quality sensor and the audible and visual alarm are all connected to a single chip microcomputer of the core controller;
the cable detection device comprises a camera, a video card and an infrared temperature measurement device, wherein the camera is connected to the DSP control panel of the core controller through the video card, and the infrared temperature measurement device is connected to the DSP control panel of the core controller;
the navigation positioning device comprises an ultrasonic sensor group, a three-axis gyroscope and a radio frequency card identification device, wherein the ultrasonic sensor group, the three-axis gyroscope and the radio frequency card identification device are all connected to the single chip microcomputer of the core controller;
the driving device comprises a full-bridge driving module and an encoder, the input signal end of the full-bridge driving module is connected with a single chip microcomputer of the core controller, the power output end of the full-bridge driving module is connected with motors of the motion executing mechanisms, the encoder is coaxially connected with the motors, and the signal wire of the encoder is connected to the single chip microcomputer of the core controller.
The communication device comprises a power carrier cable, a power carrier modem and a single WIFI module; the power carrier cable is connected with the power carrier modem, the power carrier modem is connected with the single WIFI module, and the single WIFI module is connected with the DSP control panel and the external network interface of the core controller through the mobile wireless WIFI module.
As shown in fig. 7, there are many intersections inside the tunnel, and it is necessary to set a travel route of the robot to complete the inspection work of each road section. If the robot has a path recognizing function, the tunnel traversing work can be smoothly finished. If the road signs are arranged at each road junction in the tunnel, the robot can refer to the road signs to position the robot. However, the road sign is a character, and the robot is difficult to realize the character learning function. Here we use the rf card to act as a "guideboard" and the rf card reader to act as the "eye" of the robot. The radio frequency card stores the information of the road section where the radio frequency card is located, the navigation positioning device uses the radio frequency card reading device as the 'eye' of the robot, when the robot moves to the intersection, the position of the robot is judged by reading the information of the card, and the robot makes correct steering action by combining a given path.
The gas detection device contains a plurality of air quality sensors, and comprises: hydrogen sulfide sensors, carbon monoxide sensors, hydrogen sensors, temperature and humidity sensors, smoke sensors, methane sensors and the like.
The temperature and humidity sensor DHT11 device adopts simplified single bus communication. The single bus is only one data line, and the data exchange and control in the system are completed by the single bus. The device (master or slave) is connected to the data line through an open drain or tri-state port to allow the device to free the bus when it is not sending data, and let other devices use the bus; fig. 8 shows a timing diagram of a single bus.
The gas detection sensors all output analog voltage quantity, and the voltage value is in direct proportion to the detected gas content. The gas sensor converts an analog quantity into a digital quantity. More sensors are required for ADC conversion.
Cable detection device is used for in time discovering the cable damage and carries out the maintenance change, is patrolling and examining the key point of workman's work. Carry on high definition digtal camera and infrared temperature measuring device on the robot, take the picture of the inside cable in tunnel in real time, detect the cable temperature to with data storage on the storage card, upload control terminal through wireless network at the robot charging position, show at host computer software interface.
The cable image acquisition of the camera in the cable detection device adopts a color CMOS type image acquisition integrated chip, high-performance single small-volume packaging is provided, the resolution can reach 640X480, and the transmission rate is 30 frames. The data format comprises YUV, YCrCb and RGB, and can meet the requirements of a common image acquisition system. The control of OV7620 uses SCCB (SeriaICamera control bus) protocol. SCCB is a simplified I2C protocol, sio.l is a serial clock input line, sio.o is a serial bidirectional data line, corresponding to SCL and SDA, respectively, of the I2C protocol.
The cable temperature measurement adopts an infrared non-contact thermometer, and the detection visual field is not a point but an included angle plane. The temperature measured by the sensor is the average of the temperatures of all objects in the field of view. By using the characteristic, the integral temperature of the cable in a certain area in the tunnel can be measured.
The above embodiments are implemented on the premise of the technical solution of the present invention, and detailed embodiments and specific operation procedures are given, but the scope of the present invention is not limited to the above embodiments. The methods used in the above examples are conventional methods unless otherwise specified.
Claims (9)
1. A cable tunnel inspection robot is characterized by comprising a moving body, a communication network and a remote terminal, wherein the moving body is connected with the remote terminal through the communication network;
the moving body comprises a motion executing mechanism and a control system, and a motor power supply terminal of the motion executing mechanism is connected with the control system;
the motion executing mechanism comprises a holder, a base, a lifting mechanism, a hinged seat and a walking mechanism; the walking mechanism is arranged on two sides of the base, the hinge seats are arranged on the upper part of the base, one end of the lifting mechanism is arranged on the pan-tilt, and the other end of the lifting mechanism is hinged on the base through the hinge seats;
the control system comprises a core controller, a cable detection device, a gas detection device, a navigation positioning device, a communication device and a driving device, wherein the cable detection device, the gas detection device, the navigation positioning device, the communication device and the driving device are all connected with the core controller, and the core controller comprises a DSP control panel and a single chip microcomputer which are connected with each other;
the lifting mechanism comprises a screw rod seat, a screw rod, a threaded seat and a connecting arm; the screw thread seat is fixed on the cloud deck, a screw rod nut corresponding to the screw rod is arranged in the screw thread seat, and one end of the screw rod is arranged in the screw thread hole; the other end of the screw rod motor is connected with a screw rod motor, the screw rod motor is arranged on a screw rod seat, and the screw rod seat is hinged on the base through a hinge seat; one end of the connecting arm is hinged on the pan-tilt, and the other end is hinged on the hinged seat.
2. The cable tunnel inspection robot according to claim 1, wherein the travelling mechanism is of a double-crawler type structure and comprises a travelling motor, a front driving wheel, a rear driving wheel and a crawler, the front driving wheel is connected with the rear driving wheel through the crawler, and the travelling motor is connected with the driving wheel through two bevel gears; the crawler belt is provided with bulges which are distributed at equal intervals and are made of rubber materials.
3. The cable tunnel inspection robot according to claim 1, wherein the cradle head comprises a rotating mechanism and a cradle head lens mounted on the rotating mechanism, the rotating mechanism comprises a steering engine, the rotating mechanism realizes left-right rotation of the cradle head lens part through forward and backward rotation of the steering engine mounted at the rear part in the cradle head, the cradle head lens is composed of an inner arc structure and an outer arc structure, the inner arc structure is a normal semi-arc structure, and the outer arc structure is composed of a semi-arc and a straight baffle.
4. The cable tunnel inspection robot according to claim 1, wherein the base is made of an aluminum alloy material.
5. The cable tunnel inspection robot according to claim 1, wherein the gas detection device comprises a temperature and humidity sensor, an air quality sensor and an audible and visual alarm, and the temperature and humidity sensor, the air quality sensor and the audible and visual alarm are all connected to a single chip microcomputer of the core controller.
6. The cable tunnel inspection robot according to claim 1, wherein the cable detection device comprises a camera, a video card and an infrared temperature measurement device, the camera is connected to the DSP control board of the core controller through the video card, and the infrared temperature measurement device is connected to the DSP control board of the core controller.
7. The cable tunnel inspection robot according to claim 1, wherein the navigation and positioning device comprises an ultrasonic sensor group, a three-axis gyroscope and a radio frequency card identification device, and the ultrasonic sensor group, the three-axis gyroscope and the radio frequency card identification device are all connected to a single chip microcomputer of the core controller.
8. The robot is patrolled and examined in cable tunnel according to claim 1, characterized in that, drive arrangement includes full-bridge drive module and encoder, full-bridge drive module input signal end connection core controller's singlechip, and power take off end connects each motion actuating mechanism's motor, encoder and motor coaxial coupling, and the encoder signal line is connected to core controller's singlechip.
9. The navigation method of the cable tunnel inspection robot as claimed in claim 1, wherein the radio frequency card is used as a "guideboard", the radio frequency card is installed at the ground surface of each road section of the intersection, the information of the road section where the radio frequency card is located is stored in the radio frequency card, the navigation positioning device uses the radio frequency card reading device to serve as the "eye" of the robot, when the robot moves to the intersection, the position of the robot is determined by reading the information of the card, and a correct turning action is made by combining a given path.
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