CN107910806B - Cable tunnel inspection robot and navigation method - Google Patents

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

A kind of cable tunnel inspection robot and navigation method

technical field

The invention relates to the technical field of robots, in particular to a cable tunnel inspection robot.

Background technique

At present, the total length of the tunnel network of the substation is increasing day by day. Therefore, the stable operation of the tunnel cable is directly related to the safety and reliability of the substation.

In a tunnel with a relatively complex environment, the cable runs for a long time, and problems such as aging, broken strands, wear, corrosion or small animal bites often occur. In addition, the tunnel environment is harsh, and flammable and toxic gases are deposited all year round. If measures are not taken in time, it will be extremely dangerous. It may lead to fire and explosion accident, causing heavy losses. Therefore, it is necessary to regularly inspect and maintain the cables in the tunnel, keep abreast of the operation of the cables and their surrounding environment, discover and eliminate hidden dangers in time, and ensure the safety of power supply. Due to the low efficiency of traditional manual inspection methods and many unsafe factors, the use of mobile crawler robots equipped with infrared equipment to inspect the tunnel cables not only ensures the safe transmission of electric energy but also promotes the construction of smart grids.

In the underground cable trench of the substation, the accident of overheating the cable line and igniting the flammable gas in the tunnel often occurs. At the root, there are two main categories of reasons—internal reasons and external reasons. Its own reasons include: aging, broken strands, and wear and tear of cables caused by long-term operation of cable lines; while external reasons include: bites by small animals, gas corrosion, and so on. For line problems, it usually needs to be repaired, updated, etc. by humans. It consumes a lot of manpower and material resources every time, and it is very easy to cause physical injury to maintenance personnel. Therefore, the requirements for the monitoring of cable trenches are increasing day by day. However, similar to the maintenance problem, the monitoring personnel also need to face problems such as high temperature, toxic gas, small space and blockage, which have caused huge obstacles to the implementation of monitoring work, and the staff There are also huge hidden dangers for personal safety.

At present, at least 4 people are usually dispatched to "drill the trench" in the inspection work of the cable trenches of the substation, and a large number of tools such as infrared thermometers, toxic gas detectors, flashlights and cameras must be carried during the inspection. The maximum temperature in summer can reach five More than ten degrees is a great test for the physical strength and endurance of the staff. In the event of an emergency in the cable trench, such as fire, smoke or unexplained power failure, the staff must be fully dressed and immediately carry out the cable trench inspection, which is extremely dangerous and can easily cause personal injury. The old inspection was time-consuming and labor-intensive, not only inefficient, but also often caused personal injury to the staff. The human body needs metabolism, and so does the way of working.

To sum up, the traditional manual work method has obvious defects. High labor intensity, low operation efficiency, unstable operation quality, and serious personal safety hazards have become increasingly unable to meet the development needs of modern society. With the maturity of robot technology, intelligent robot equipment will become an important part of smart grid. Cable tunnel inspection robots have great development potential and market prospects. my country's economy continues to develop and the construction of a well-off society in an all-round way will make people consume electricity. The demand for electricity has greatly increased, and the people's production and life are increasingly dependent on electricity, which puts forward higher requirements for the power supply capacity and power quality of substations.

In 2012, the intelligent robot for cable tunnel inspection jointly developed by Hangzhou Electric Power Bureau and Zhejiang University came out. The robot has the functions of autonomous inspection, emergency handling, and remote monitoring. It has a battery life of up to 4 hours and is equipped with high-definition visible light and infrared light. Cameras and harmful gas detection devices can monitor the cable deformation, temperature and harmful gases in the tunnel, and transmit the real-time conditions in the tunnel to the transmission line state monitoring center through the tunnel comprehensive monitoring system to replace manual inspections and realize the realization of the tunnel. The full-path autonomous inspection can effectively solve the problems of difficult inspection of high-voltage cable tunnels and high risk factor of manual inspection. The line inspection personnel can master the operation of the equipment inside the cable tunnel without leaving home, realizing the integration of comprehensive intelligent monitoring and intelligent logic chain management and control. However, the robot adopts a wheeled mobile structure and has poor ability to overcome obstacles, and can only work in large cable tunnels with relatively flat ground.

At present, the structure design volume of the robot using the crawler movement method is still relatively large, and its gimbal design structure adjustment function cannot meet the inspection task of small cable ducts.

SUMMARY OF THE INVENTION

In order to solve the problems mentioned in the background art, the present invention provides a cable tunnel inspection robot and a navigation method, which adopts the design of a double-track mobile traveling mechanism, and can be extended up and down, rotated and adjusted, and has a 360-degree range without dead angle. The overall structure of the robot is small in size, has a large adjustment range, and has no dead ends for monitoring. It adopts four-wheel drive and crawler design. The entire base is made of light-weight aluminum alloy material, which makes the driving ability stronger, and increases the robot's obstacle-surmounting ability and environmental adaptation. It adopts a variety of detection sensors and radio frequency card identification devices to realize the automatic detection and automatic navigation functions of the robot.

In order to achieve the above object, the present invention adopts the following technical solutions to realize:

A cable tunnel inspection robot comprises a mobile body, a communication network and a remote terminal, and the mobile body is connected with the remote terminal through the communication network.

The moving body includes a motion actuator and a control system, and the motor power terminal of the motion actuator is connected with the control system.

The motion actuator includes a pan/tilt, a base, a lifting mechanism, a hinged seat, and a traveling mechanism; the traveling mechanism is installed on both sides of the base, the hinged seat is mounted on the upper part of the base, one end of the lifting mechanism is mounted on the pan/tilt, and the other end passes through the base. The hinged seat is hinged on the base.

The control system includes a core controller, a cable detection device, a gas detection device, a navigation and positioning device, a communication device and a driving device. The cable detection device, the gas detection device, the navigation and positioning device, the communication device and the driving device are all connected to the core controller. , the core controller includes interconnected DSP control boards and single-chip microcomputers.

The running mechanism is a double-track structure, including a running 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 running motor is connected with the driving wheel through two bevel gears. There are protrusions distributed at equal intervals, and the protrusions are made of rubber material.

The lifting mechanism includes a screw seat, a screw, a screw seat and a connecting arm; the screw seat is fixed on the head, the screw seat is provided with a screw nut corresponding to the screw, and one end of the screw is installed in the screw hole The other end is connected with the screw motor, the screw motor is installed on the screw seat, and the screw seat is hinged on the base through the hinge seat; one end of the connecting arm is hinged on the head, and the other end is hinged on the hinge seat.

The pan/tilt includes a rotating mechanism and a pan/tilt lens mounted on the rotary mechanism, the rotary mechanism includes a steering gear, and the rotary mechanism realizes the left and right rotation of the pan/tilt lens part through the forward and reverse rotation of the rear steering gear installed in the pan/tilt. The lens is composed of inner and outer two-layer arc structures, the inner layer is a normal semi-circular arc structure, and the outer layer is composed of a semi-circular arc and a straight baffle.

The base is made of aluminum alloy material.

The gas detection device includes a temperature and humidity sensor, an air quality sensor and a sound and light alarm, and the temperature and humidity sensor, the air quality sensor and the sound and light alarm are all connected to the single-chip microcomputer of the core controller;

The cable detection device includes a camera, a video card and an infrared temperature measuring device, the camera is connected to the DSP control board of the core controller through the video card, and the infrared temperature measuring device is connected to the DSP control board of the core controller;

The navigation and positioning device includes 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 the single chip microcomputer of the core controller;

The drive device includes a full-bridge drive module and an encoder. The input signal end of the full-bridge drive module is connected to the single-chip microcomputer of the core controller, the power output end is connected to the motor of each motion actuator, the encoder and the motor are coaxially connected, and the encoder signal line is connected. A microcontroller connected to the core controller.

The communication device includes a power carrier cable, a power carrier modem and a single WIFI module; the power carrier cable is connected to the power carrier modem, the power carrier modem is connected to the single WIFI module, and the single WIFI module is connected to the core controller through the mobile wireless WIFI module DSP control board and external network interface.

A navigation method for a cable tunnel inspection robot, using a radio frequency card as a "street sign", setting a radio frequency card on the surface of each road section of an intersection, storing the information of the road section in the radio frequency card, and using a radio frequency card reader device as a navigation and positioning device. The "eyes" of the robot, when the robot moves to the intersection, it reads the card information, determines its own position, and makes the correct steering action in combination with the given path.

Compared with the prior art, the beneficial effects of the present invention are:

1. A cable tunnel inspection robot of the present invention adopts a double crawler structure, and the entire base is made of aluminum alloy material. To analyze the working condition of the cable tunnel robot, the robot needs to complete the low-speed forward movement, turn left and right in place, and can adapt to the slope ground. In order to meet the above requirements, the design adopts a four-wheel drive wheel structure, and a full-bridge motor drive module is used to control the DC gear motor to realize the low-speed forward and reverse rotation of the motor. The crawler is designed with raised rubber structures distributed at equal intervals, which further increases the robot's ability to overcome obstacles and adapt to the environment.

2. In a cable tunnel inspection robot of the present invention, the rotating mechanism of the gimbal relies on the forward and reverse rotation of the steering gear at the rear of the gimbal to realize the left and right rotation of the lens part of the gimbal, and the entire lens part is composed of an inner and outer two-layer arc structure , the inner layer is a normal semi-circular arc structure, and the outer layer is composed of a semi-circular arc and a straight baffle, and the baffle part has no radian, which solves the problem of the rotation boundary threshold of the gimbal lens at the mechanical level. When the lens rotates to the set position, the outer structure changes from the original clearance fit to the interference fit, the rotation is blocked, and the servo stops running.

3. A cable tunnel inspection robot of the present invention uses a radio frequency card as a "street sign" and a radio frequency card reader device as the "eye" of the robot. Lay radio frequency cards on the surface of each intersection as a "street sign" for the intersection. When the robot moves to the intersection, it reads the card information, determines its own position, and makes the correct steering action in combination with the given path.

Description of drawings

1 is a schematic diagram of a three-dimensional mechanism of a motion mechanism of the present invention;

Fig. 2 is the schematic diagram of the three-dimensional mechanism after another angle of the movement mechanism of the present invention is raised;

Fig. 3 is the structure schematic diagram of the running mechanism of the present invention;

4 is a schematic diagram of the installation structure of the camera and the pan/tilt of the present invention;

Fig. 5 is the structure schematic diagram of the control system of the present invention;

6 is a schematic diagram of the composition of the control system of the present invention;

Fig. 7 is the walking positioning judgment schematic diagram of the present invention;

FIG. 8 is a single bus timing diagram of the temperature sensor used in the present invention.

In the figure: 1-head 2-base 3-lifting mechanism 4-hinged seat 5-travel mechanism 6-travel motor 7-front drive wheel 8-rear drive wheel 9-track 10-screw seat 11-screw 12 - Thread seat 13 - connecting arm 14 - screw motor 15 - rotating mechanism 16 - pan/tilt lens.

Detailed ways

The specific embodiments provided by the present invention will be described in detail below with reference to the accompanying drawings.

A cable tunnel inspection robot is characterized in that the robot includes a mobile body, a communication network and a remote terminal, and the mobile body is connected with the remote terminal through the communication network.

The moving body includes a motion actuator and a control system, and the motor power terminal of the motion actuator is connected with the control system.

As shown in Figures 1 and 2, the motion actuator includes a pan/tilt 1, a base 2, a lifting mechanism 3, a hinged seat 4, and a traveling mechanism 5; the traveling mechanism 5 is installed on both sides of the base 2, and the hinged seat 4 is installed on the On the upper part of the base 2 , one end of the lifting mechanism 3 is mounted on the head 1 , and the other end is hinged on the base 2 through a hinge seat 4 .

The running mechanism 5 is a double crawler type structure, including a running motor 6, a front driving wheel 7, a rear driving wheel 8, and a crawler belt 9. The front driving wheel 7 and the rear driving wheel 8 are connected by the crawler belt 9, and the running motor 6 passes through two cones. The gear 17 is connected to the front drive wheel 7 . The crawler belt 9 is provided with protrusions distributed at equal intervals, and the protrusions are made of rubber material.

The cable tunnel inspection robot replaces manual entry into the tunnel. Due to the complex environment of the cable tunnel where the robot is located, the ground is uneven, and there may be obstacles such as stagnant water and small rocks. Therefore, a double crawler structure was chosen. To analyze the working condition of the cable tunnel robot, the robot needs to complete the low-speed forward movement, turn left and right in place, and can adapt to the slope ground. In order to meet the above requirements, the design adopts a four-wheel drive wheel structure, and a full-bridge motor drive module is used to control the DC gear motor to realize the low-speed forward and reverse rotation of the motor. The crawler 9 is designed with raised rubber structures distributed at equal intervals, which further increases the robot's ability to overcome obstacles and adapt to the environment.

As shown in Figure 3, the driving force source of the robot is 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, and transmits the power to the left and right wheels respectively, and the left and right driving wheels drive the entire track. sports.

The base 2 of the whole device is made of aluminum alloy with high strength and low density, which greatly reduces the overall weight of the robot, does not affect its service life, and is easy to process, and the reduction in weight further improves the travel motor 6. Efficiency, the torque of the rear drive wheel 7 is further increased, which further improves the robot's ability to overcome obstacles and adapt to the environment.

The lifting mechanism 3 includes a screw base 10 , a screw 11 , a screw base 12 and a connecting arm 13 . The threaded seat 12 is fixed on the pan/tilt 1. The threaded seat 12 is provided with a lead screw nut corresponding to the lead screw 11. One end of the lead screw 11 is installed in the threaded hole, and the other end is connected to the lead screw motor 14. The lead screw motor 14 is installed on the screw seat 10, which is hinged on the base 2 through the hinge seat 4; one end of the connecting arm 13 is hinged on the head 1, and the other end is hinged on the hinge seat 4.

As shown in FIG. 4 , the gimbal 1 includes a rotating mechanism 15 and a gimbal lens 16 mounted on the rotating mechanism 15. The rotating mechanism 15 includes a steering gear, and the rotating mechanism 15 is realized by the forward and reverse rotation of the rear steering gear installed in the gimbal. The left and right rotation of the pan/tilt lens 16, the pan/tilt lens 16 is composed of an inner and outer two-layer arc structure, the inner layer is a normal semi-circular arc structure, and the outer layer is composed of a semi-circular arc and a straight baffle.

The lift mechanism 3 of the pan/tilt head 1 realizes the lift function of the device by adjusting the shrinkage of the central screw 11. The two ends of a pair of connecting arms 13 are respectively connected to the pan/tilt head 1 and the base 2 to form a stable link mechanism. The end of the lead screw 11 is equipped with a set of lead screw motors 14, and the lead screw motor 14 is controlled by the wireless remote control to rotate clockwise, so that the lead screw rotates clockwise, and the screw nut part of the lead screw 11 is increased, so that the lead screw of the link mechanism is increased. 11 parts are shortened. According to the analysis of the mechanical principle of the link mechanism, since the connecting arm 13 of the device has a fixed length, in order to maintain the structural stability, the angle between the connecting arm 13 and the base will become larger, and the pan/tilt 1 will rise; When the rod motor 14 rotates counterclockwise, the included angle of the lead screw 11 of the link mechanism will become smaller, and the pan/tilt head 1 will descend. The lead screw nut can provide a stable working speed for the lifting and lowering of the device, and the high-precision lead screw nut ensures the stability and reliability of the lifting mechanism 3 of the pan/tilt 1 during the lifting process. The connecting arm 13 is made of high-strength aluminum alloy material. On the premise of ensuring the mechanical strength, the connecting arm 13 is made of holes so that the whole is not only high in strength but also light in weight.

The rotation mechanism 15 of the gimbal 1 relies on the forward and reverse rotation of the steering gear at the rear of the gimbal to realize the left and right rotation of the lens 16 of the gimbal. The entire lens part is composed of an inner and outer arc structure. The inner layer is a normal semi-circular arc structure, while the outer layer is composed of a semi-circular arc and a straight baffle, and the baffle part has no radian, which solves the problem of the rotation boundary threshold of the gimbal lens 16 on the mechanical level. When the lens rotates to the set position, the outer structure changes from the original clearance fit to the interference fit, the rotation is blocked, and the servo stops running. In order to make the device run more accurately, two limit switches are installed at the level of the head. When the set angle is reached, the limit switches are touched and the movement stops. Similar to the lifting mechanism, the rotating mechanism 15 also uses aluminum alloy as the material, which is light, strong, energy-saving and environmentally friendly.

The base is made of aluminum alloy material.

As shown in Figures 5 and 6, the control system includes a core controller, a cable detection device, a gas detection device, a navigation and positioning device, a communication device and a driving device, a cable detection device, a gas detection device, a navigation and positioning device, a communication device and a The driving devices are all connected with the core controller, and the core controller includes a DSP control board and a single-chip microcomputer connected to each other.

The gas detection device includes a temperature and humidity sensor, an air quality sensor and a sound and light alarm, and the temperature and humidity sensor, the air quality sensor and the sound and light alarm are all connected to the single-chip microcomputer of the core controller;

The cable detection device includes a camera, a video card and an infrared temperature measuring device, the camera is connected to the DSP control board of the core controller through the video card, and the infrared temperature measuring device is connected to the DSP control board of the core controller;

The navigation and positioning device includes 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 the single chip microcomputer of the core controller;

The drive device includes a full-bridge drive module and an encoder. The input signal end of the full-bridge drive module is connected to the single-chip microcomputer of the core controller, the power output end is connected to the motor of each motion actuator, the encoder and the motor are coaxially connected, and the encoder signal line is connected. A microcontroller connected to the core controller.

The communication device includes a power carrier cable, a power carrier modem and a single WIFI module; the power carrier cable is connected to the power carrier modem, the power carrier modem is connected to the single WIFI module, and the single WIFI module is connected to the core controller through the mobile wireless WIFI module DSP control board and external network interface.

As shown in Figure 7, there are many intersections inside the tunnel. To complete the inspection work of each road section, it is necessary to set the travel route of the robot. If the robot has the function of "recognizing the way", then the tunnel traversal work can be completed smoothly. Think of the road signs set at highway intersections, if "street signs" are also set at each intersection inside the tunnel, then the robot can refer to the "street signs" to locate itself. However, road signs are text, and it is difficult for robots to realize the function of literacy. Here, we use the radio frequency card as the "street sign", and use the radio frequency card reader device as the "eye" of the robot. The radio frequency card stores the information of the road section where it is located. The navigation and positioning device uses the radio frequency card reader device to act as the "eyes" of the robot. When the robot moves to the intersection, it reads the card information to determine its own position, and makes a decision based on the given path. Correct steering action.

The gas detection device includes a variety of air quality sensors, including: hydrogen sulfide sensor, carbon monoxide sensor, hydrogen sensor, temperature and humidity sensor, smoke sensor, methane sensor, etc.

Among them, the temperature and humidity sensor DHT11 device adopts simplified single bus communication. A single bus means that there 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 this data line through an open-drain or tri-state port to allow the device to release the bus when not sending data and let other devices use the bus; as shown in Figure 8, it is a single bus Timing diagram.

The gas detection sensors all output an analog voltage, and the voltage value is proportional to the detected gas content. Gas sensors convert analog to digital. There are many sensors that require ADC conversion.

The cable detection device is used for timely detection of cable breakage and maintenance and replacement, which is the focus of inspection workers' work. The robot is equipped with a high-definition camera and an infrared temperature measurement device to capture the picture of the cable inside the tunnel in real time, detect the cable temperature, and store the data on the memory card. The software interface is displayed.

The cable image acquisition of the camera in the cable detection device adopts a color CMOS type image acquisition integrated chip, which provides a high-performance single small-volume package with a resolution of 640X480 and a transmission rate of 30 frames. The data formats include YUV, YCrCb, and RGB, which can meet the requirements of general image acquisition systems. The control of OV7620 adopts SCCB (SeriaICamera ControlBus) protocol. SCCB is a simplified I2C protocol, SIO.l is a serial clock input line, and SIO.O is a serial bidirectional data line, which are equivalent to SCL and SDA of the I2C protocol, respectively.

The temperature measurement of the cable adopts an infrared non-contact thermometer, and the detection field of view is not a point, but an angle plane. The temperature measured by the sensor is the average temperature of all objects in the field of view. Using this feature, the overall temperature of the cable in a certain area of the tunnel can be measured.

The above embodiments are implemented on the premise of the technical solutions of the present invention, and provide detailed embodiments and specific operation processes, but the protection scope of the present invention is not limited to the above-mentioned embodiments. The methods used in the above embodiments are conventional methods unless otherwise specified.

Claims (9)

1. a cable tunnel inspection robot is characterized in that, the robot comprises a mobile body, a communication network and a remote terminal, and the mobile body is connected with the remote terminal by the communication network; The moving body includes a motion actuator and a control system, and the motor power terminal of the motion actuator is connected with the control system; The motion actuator includes a pan/tilt, a base, a lifting mechanism, a hinged seat, and a traveling mechanism; the traveling mechanism is installed on both sides of the base, the hinged seat is mounted on the upper part of the base, one end of the lifting mechanism is mounted on the pan/tilt, and the other end passes through the base. The hinge seat is hinged on the base; The control system includes a core controller, a cable detection device, a gas detection device, a navigation and positioning device, a communication device and a driving device. The cable detection device, the gas detection device, the navigation and positioning device, the communication device and the driving device are all connected to the core controller. , the core controller includes the interconnected DSP control board and single-chip microcomputer; The lifting mechanism includes a screw seat, a screw, a screw seat and a connecting arm; the screw seat is fixed on the head, the screw seat is provided with a screw nut corresponding to the screw, and one end of the screw is installed in the screw hole The other end is connected with the screw motor, the screw motor is installed on the screw seat, and the screw seat is hinged on the base through the hinge seat; one end of the connecting arm is hinged on the head, and the other end is hinged on the hinge seat. 2. A cable tunnel inspection robot according to claim 1, characterized in that the traveling mechanism is a double crawler type structure, comprising a traveling motor, a front driving wheel, a rear driving wheel, a crawler, a front driving wheel and a rear driving wheel. The driving wheel is connected by the crawler belt, and the traveling motor is connected with the driving wheel through two bevel gears; the crawler belt is provided with protrusions distributed at equal intervals, and the protrusions are made of rubber material. 3. A cable tunnel inspection robot according to claim 1, characterized in that, the pan/tilt comprises a rotating mechanism and a pan/tilt lens mounted on the rotating mechanism, the rotating mechanism comprises a steering gear, and the rotating mechanism is installed on the rotating mechanism. The forward and reverse rotation of the rear servo in the gimbal realizes the left and right rotation of the gimbal lens. The gimbal lens is composed of an inner and outer arc structure, the inner layer is a normal semi-circular arc structure, and the outer layer is composed of a semi-circular arc and a straight baffle composition. 4. A cable tunnel inspection robot according to claim 1, wherein the base is made of an aluminum alloy material. 5. A kind of cable tunnel inspection robot according to claim 1, is characterized in that, described gas detection device comprises temperature and humidity sensor, air quality sensor and sound and light alarm, temperature and humidity sensor, air quality sensor and sound and light The alarms are connected to the microcontroller of the core controller. 6. A cable tunnel inspection robot according to claim 1, wherein the cable detection device comprises a camera, a video card and an infrared temperature measuring device, and the camera is connected to the DSP control board of the core controller through the video card , The infrared temperature measuring device is connected to the DSP control board of the core controller. 7. A 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, an ultrasonic sensor group, a three-axis gyroscope And set the radio frequency card identification device to be connected to the single chip microcomputer of the core controller. 8 . A cable tunnel inspection robot according to claim 1 , wherein the driving device comprises a full-bridge driving module and an encoder, the input signal end of the full-bridge driving module is connected to the single-chip microcomputer of the core controller, and the power output The end is connected to the motor of each motion actuator, the encoder is coaxially connected to the motor, and the encoder signal line is connected to the single-chip microcomputer of the core controller. 9. the navigation method of a kind of cable tunnel inspection robot according to claim 1, it is characterized in that, use radio frequency card to act as " street sign ", set radio frequency card at each road section surface of intersection, and store its road section in radio frequency card The navigation and positioning device uses the radio frequency card reader device to act as the "eyes" of the robot. When the robot moves to the intersection, it reads the card information to determine its own position, and makes the correct steering action in combination with the given path.

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