CN109765457A - The intelligent apparatus that a kind of tunnel cable failure inspection and insulation fault are automatically repaired - Google Patents
The intelligent apparatus that a kind of tunnel cable failure inspection and insulation fault are automatically repaired Download PDFInfo
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- CN109765457A CN109765457A CN201811543417.7A CN201811543417A CN109765457A CN 109765457 A CN109765457 A CN 109765457A CN 201811543417 A CN201811543417 A CN 201811543417A CN 109765457 A CN109765457 A CN 109765457A
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Abstract
The present invention relates to the intelligent apparatus that a kind of tunnel cable failure inspection and insulation fault are automatically repaired, and belong to tunnel cable technical field.Including device car body, travel wheel, 360 ° of full-view cameras, thermal infrared imaging instrument, support rod, LED illumination lamp, air monitering module, pedestal, repair control arm, support arm, execution arm, insulation rebuilt component and cable reparation piece the storage box；Invention increases insulation repair modules, can be repaired in time to insulation fault.The present invention specifically using mechanical arm heating cable repair piece package insulation fault point by the way of, while the equipment can automatically by cable reparation piece press from both sides to mechanical arm, do not need artificial Replacement and Repair piece, an inspection can repair multiple fault points.Simultaneously can satisfy tunnel internal gaseous environment monitoring and real-time transmission data to the cable tunnels inspection devices such as mobile terminal basic function.
Description
Technical field
The invention belongs to tunnel cable technical field, it is related to a kind of tunnel cable failure inspection and insulation fault is automatically repaired
Intelligent apparatus.
Background technique
The development boosting of the urban modernization pace of construction in buried cable tunnel, in megapolis, underground distribution net
Network has tended to be perfect, and large- and-medium size cities are also in the construction progress for accelerating cable tunnel.It is a since situation is complicated in cable tunnel
There is ponding in other location, and there are also the toys as mouse one kind, and cable is made to be easy to drop because of natural aging, burn into improper ventilation
Its low insulation performance, when the insulation performance of cable reduces to a certain extent, just it is easy to appear failures, or even cause fire.Electricity
Cable needs long-term safety to run, if cannot find early security risk and take measures, it will cause serious power outage,
Consequence is extremely serious, and repair is also highly difficult, and directly or indirectly economic loss is huge.Therefore, development can grasp tunnel in time
Cable operating condition, and the equipment that can be repaired after the failure occurred for insulation fault have most important theories meaning with it is practical
Value.
Currently, patent CN105945895B discloses a kind of cable tunnel intelligent inspection robot.CN108110673A is public
A kind of cable tunnel environment detection device and method are opened.CN108226402A discloses a kind of electricity based on tunnel ceiling track
Automatically make an inspection tour and monitor system in power tunnel.Prior art is able to detect the ambient conditions in cable tunnel.But it is above existing
Technical solution not can be carried out and timely be automatically repaired after finding failure.There is still a need for be accomplished manually.Therefore the present invention proposes one
Kind can carry out the intelligent apparatus of inspection and repair of insulating in cable tunnel.
Summary of the invention
In view of this, be automatically repaired the purpose of the present invention is to provide a kind of tunnel cable failure inspection and insulation fault
Intelligent apparatus.The present apparatus is able to achieve grasps tunnel cable operating condition in time, effectively avoids potential faults, and after the failure occurred
Can quickly, accurately determine fault type and position of failure point, while being able to carry out timely reparation for insulation fault.
In order to achieve the above objectives, the invention provides the following technical scheme:
The intelligent apparatus that a kind of tunnel cable failure inspection and insulation fault are automatically repaired, including device car body, travel wheel,
360 ° of full-view cameras, support rod, LED illumination lamp, air monitering module, pedestal, repair control arm, branch at thermal infrared imaging instrument
Brace executes arm, insulation rebuilt component and cable reparation piece the storage box；
It include controller, power module, communication module, drive module and RFID locating module in described device car body；Control
Device processed respectively with communication module, drive module, RFID locating module, 360 ° of full-view cameras, thermal infrared imaging instrument, air monitering
Module, reparation control arm are connected with insulation rebuilt component；
The controller is also connected with mobile terminal by WiFi communication module, for present apparatus current location, camera shooting
Head realtime graphic, Infrared Thermogram, air monitering data and insulation repair situation and are sent to mobile terminal；
The power module is electrically connected with the controller；
The controller is used to receiving and handling camera, thermal infrared imaging instrument, air monitering module data collected,
Control instruction transmitted by mobile terminal is received, to insulation rebuilt component and repairs control arm transmission instruction；
The travel wheel is driven by driving motor, is connect with drive module；
360 ° of full-view cameras and thermal infrared imaging instrument for being monitored to the case where cable tunnel inner cable, respectively with
Controller is connected, and controller controls the spinning movement of 360 ° of full-view cameras and thermal infrared imaging instrument；
The support rod is hollow structure, inside for connection infrared video camera, 360 ° of full-view cameras 3 and processor company
Wiring；
The reparation control arm is arranged on pedestal 8, repairs control arm 9, support arm 10 and executes the composition repair machine of arm 11
Tool arm is connected with insulation rebuilt component 12；
The cable repairs piece the storage box and is provided with cable reparation piece, repairs piece for placing cable；
The insulation rebuilt component is made of heating sheet and manipulator, the reparation for insulation fault；
The present apparatus carries out figure to ambient enviroment simultaneously during traveling, by 360 ° of full-view cameras and thermal infrared imaging instrument
As acquisition, and real-time transmission to controller carries out data processing；
Image-detection process are as follows:
Firstly for the image of thermal infrared imaging instrument, the fault point wherein to generate heat is identified, and send alarm to mobile terminal；
The situation that mobile terminal passes through the specific part of 360 ° of full-view cameras of manipulation；If fault point is located on cable, further pass through
360 ° of panoramic shooting head units amplify shooting processing；
The first step carries out gray proces to 360 ° of full-view camera acquired images；
Second step determines screening areas, carries out cable detection, and group becomes band the part of black pixel point in identification region, really
It is set to cable area；
Tri- Walk carries out breaking point detection processing, and after recognizing breaking point, processor is according to RFID location information by failure
The position of point is sent to mobile terminal；Simultaneous processor sends to insulation rebuilt component and repairs order, starts to carry out insulation reparation；
Insulation fault repair process are as follows: cable is repaired piece and is placed in cable reparation piece the storage box；It is former when monitoring to insulate
When barrier, processor, which is sent, repairs order, repairs control arm control support arm and executes arm and first repairs piece the storage box inner clip from cable
Cable is repaired in piece to manipulator out, then close to insulation fault point；When reaching abort situation, manipulator is opened, will be mechanical
Cable inside hand is repaired piece and is wrapped at damage in insulation；Heating sheet is heated, and cable repairs piece heat shrinkable, is tightly wrapped up
On damaged cable；Complete repair.
Further, it includes carrying out gray proces to obtained image that the controller, which is used to receive data collected, really
Determine screening areas, cable detection, breaking point detection judges cable insulation situation；
When damage in insulation occurs, controller can control reparation control arm and insulation rebuilt component repairs fault point
It is multiple；Controller identifies the heating accident point in the image of thermal infrared imaging instrument, and sends alarm to mobile terminal；
The data that controller obtains air monitering module are handled, and when threshold value is more than regulation, are sent out to mobile terminal
Alarm out.
Further, the travel wheel is made of rubber material, is set as herringbone structure or the roller type with inner concave
Structure；Its traveling is controlled by controller.
Further, the support rod is used to 360 ° of full-view cameras and thermal infrared imaging instrument rising to certain altitude, so as to
Monitor cable tunnel inner case.
Further, the LED illumination lamp is used for cable tunnel interior lighting, opens when entering cable tunnel.
Further, the air monitering module includes methane gas sensor, carbon dioxide gas sensor and volatility
Organic matter VOC gas sensor；It is connected with controller, the data monitored is sent to controller；For to tunnel internal
Gaseous environment is monitored.
Further, the cable repairs piece and selects the dedicated high temperature resistant plastic material of wire and cable.
Further, it is open type heat shrinking sheet that the cable, which repairs piece, and material is EP rubbers.
The beneficial effects of the present invention are: invention increases insulation repair modules, can carry out to insulation fault timely
It repairs.The present invention specifically using mechanical arm heating cable repair piece package insulation fault point by the way of, while the equipment can from
It is dynamic to press from both sides cable reparation piece to mechanical arm, artificial Replacement and Repair piece is not needed, an inspection can repair multiple fault points.Together
When can satisfy tunnel internal gaseous environment monitoring and real-time transmission data to cable tunnels inspection devices such as mobile terminals
Basic function.
Detailed description of the invention
In order to keep the purpose of the present invention, technical scheme and beneficial effects clearer, the present invention provides following attached drawing and carries out
Illustrate:
Fig. 1 is schematic structural view of the invention；
Fig. 2 is circuit connection diagram of the present invention；
Fig. 3 is that mouth formula cable repairs piece schematic diagram.
Appended drawing reference: 1- device car body；2- travel wheel；3-360 ° of full-view camera；4- thermal infrared imaging instrument；5- support
Bar；6-LED headlamp；7- air monitering module；8- pedestal；9- repairs control arm；10- support arm；11- executes arm；12- insulation
Rebuilt component；13- cable repairs piece the storage box.
Specific embodiment
Below in conjunction with attached drawing, a preferred embodiment of the present invention will be described in detail.
As shown in Figure 1, the present invention include device car body 1,2,360 ° of full-view cameras 3 of travel wheel, thermal infrared imaging instrument 4,
Support rod 5, air monitering module 7, pedestal 8, repairs control arm 9, support arm 10, executes arm 11, insulation reparation at LED illumination lamp 6
Component 12 and cable repair piece the storage box 13.
As shown in Fig. 2, including controller in described device car body 1, power module, communication module, drive module, RFID is fixed
Position module.Controller respectively with communication module, drive module, RFID locating module, 360 ° of full-view cameras 3, thermal infrared imagings
Instrument 4, air monitering module 7, reparation control arm 9 and insulation rebuilt component 12 are connected.Controller passes through with mobile terminal simultaneously
WiFi communication module is connected, and transmits current location, the camera realtime graphic, Infrared Thermogram, air monitering number of inspection device
Situation is repaired to mobile terminal according to insulation.Power module is electrically connected with the controller.
Controller connects for receiving and handling camera, thermal infrared imaging instrument 4, the data collected of air monitering module 7
Control instruction transmitted by mobile terminal is received, to insulation rebuilt component 12 and repairs the transmission instruction of control arm 9.Controller is to camera shooting
The data processing of head includes carrying out gray proces to obtained image, determines screening areas, cable detection, and breaking point detection is sentenced
Disconnected cable insulation situation.When damage in insulation occurs, controller, which can control, repairs the 12 pairs of events of control arm 9 and insulation rebuilt component
Barrier point is repaired.Controller identifies the fault point wherein to generate heat to the image of thermal infrared imaging instrument 4, and sends out to mobile terminal
Send alarm.The data that controller obtains air monitering module 7 are handled, and when threshold value is more than regulation, are sent out to mobile terminal
Alarm out.
Travel wheel 2 is driven by driving motor, is connect with drive module.The travel wheel 2 is made of rubber material, is arranged
For herringbone structure or with the scroll wheel structure of inner concave.Its traveling is controlled by controller.
360 ° of full-view cameras 3, thermal infrared imaging instrument 4 are used to be monitored the case where cable tunnel inner cable, with
Controller is connected, and controller controls the movement such as its rotation.
Support rod 5 is hollow structure, inside for connection infrared video camera, 360 ° of full-view cameras 3 and processor connection
Line.Support rod 5 is used to facilitate it to monitor in cable tunnel to certain altitude 360 ° of full-view cameras 3 and thermal infrared imaging instrument 4
Portion's situation.
LED illumination lamp 6 is used for cable tunnel interior lighting.When into cable tunnel, it is turned on.
Air monitering module 7 includes methane gas sensor, carbon dioxide gas sensor, volatile organic matter VOC gas
Body sensor.It is connected with controller.The data monitored are sent to controller.It is carried out for the gaseous environment to tunnel internal
Monitoring.Emphasis monitors toxic gas.
It repairs control arm 9 to be arranged on pedestal 8, reparation control arm 9, support arm 10 and the execution composition of arm 11 are repaired mechanical
Arm is connected with insulation rebuilt component 12.
Rebuilt component 12 insulate by heating sheet, manipulator composition.Reparation for insulation fault.
Cable repairs piece the storage box 13 and is provided with cable reparation piece, and cable repairs piece and selects the dedicated high temperature resistant of wire and cable
Plastic material.Piece is repaired for placing cable.
Embodiment 1
(1) device carries out Image Acquisition to ambient enviroment simultaneously by camera and thermal infrared imaging instrument during traveling,
And real-time transmission to controller carries out data processing.
Image-detection process are as follows:
Firstly for the image of thermal infrared imaging instrument, the fault point wherein to generate heat is identified, and send alarm to mobile terminal.
Mobile terminal can be by manipulating the case where camera specifically observes the position.If fault point is located on cable, further pass through
Camera unit amplifies shooting processing.
For camera acquired image: the first step carries out gray proces.Since the picture taken is Integral cable
Tunnel internal situation, needing to choose has the part of cable to be further processed, so second step determines screening areas, carries out electricity
Cable detection, group becomes band the part of black pixel point in identification region, is determined as cable area.Tri- Walk carries out breaking point detection
Processing, after recognizing breaking point, the position of fault point is sent to mobile terminal according to RFID location information by processor.Locate simultaneously
It manages device and sends reparation order to insulation rebuilt component, start to carry out insulation reparation.The process can also be manipulated by mobile terminal
It completes.
(2) insulation fault repair process: the cable of the present embodiment repairs piece and selects a kind of open type heat shrinking sheet, and material is second
Third rubber has good resistance to ag(e)ing.It is as shown in Figure 3 that the cable repairs piece.Cable reparation piece is placed in cable reparation piece and deposits
In storage box.Several can be placed.
When monitoring insulation fault, processor sends to repair and order, and repairs control arm control support arm and executes arm elder generation
Piece the storage box inner clip is repaired from cable to go out in cable reparation piece to manipulator.Later close to insulation fault point.When arrival fault bit
When setting, manipulator is opened, and the cable inside manipulator is repaired piece and is wrapped at damage in insulation.Heating sheet is heated, cable
Piece heat shrinkable is repaired, is tightly wrapped on damaged cable.Complete repair.
Embodiment 2
Air monitering module includes methane gas sensor, carbon dioxide gas sensor, volatile organic matter VOC gas
Sensor.It is connected with controller.Device is in real time monitored the gas station of ambient enviroment during traveling, and will prison
The data measured are sent to controller.Mobile terminal is sent to by controller.
Finally, it is stated that preferred embodiment above is only used to illustrate the technical scheme of the present invention and not to limit it, although logical
It crosses above preferred embodiment the present invention is described in detail, however, those skilled in the art should understand that, can be
Various changes are made to it in form and in details, without departing from claims of the present invention limited range.
Claims (8)
1. the intelligent apparatus that a kind of tunnel cable failure inspection and insulation fault are automatically repaired, it is characterised in that: including device vehicle
Body, travel wheel, 360 ° of full-view cameras, thermal infrared imaging instrument, support rod, LED illumination lamp, air monitering module, pedestal, reparation
Control arm, support arm execute arm, insulation rebuilt component and cable reparation piece the storage box；
It include controller, power module, communication module, drive module and RFID locating module in described device car body；Controller
Respectively with communication module, drive module, RFID locating module, 360 ° of full-view cameras, thermal infrared imaging instrument, air monitering mould
Block, reparation control arm are connected with insulation rebuilt component；
The controller is also connected with mobile terminal by WiFi communication module, for present apparatus current location, camera is real
When image, Infrared Thermogram, air monitering data and insulation repair situation be sent to mobile terminal；
The power module is electrically connected with the controller；
The controller is received for receiving and handling camera, thermal infrared imaging instrument, air monitering module data collected
Control instruction transmitted by mobile terminal to insulation rebuilt component and repairs control arm transmission instruction；
The travel wheel is driven by driving motor, is connect with drive module；
360 ° of full-view cameras and thermal infrared imaging instrument for being monitored to the case where cable tunnel inner cable, respectively with control
Device is connected, and controller controls the spinning movement of 360 ° of full-view cameras and thermal infrared imaging instrument；
The support rod is hollow structure, inside for connection infrared video camera, 360 ° of full-view cameras 3 and processor connection
Line；
The reparation control arm is arranged on pedestal 8, repairs control arm 9, support arm 10 and executes the composition of arm 11 and repairs mechanical arm,
It is connected with insulation rebuilt component 12；
The cable repairs piece the storage box and is provided with cable reparation piece, repairs piece for placing cable；
The insulation rebuilt component is made of heating sheet and manipulator, the reparation for insulation fault；
The present apparatus carries out image to ambient enviroment simultaneously with thermal infrared imaging instrument by 360 ° of full-view cameras and adopts during traveling
Collection, and real-time transmission to controller carries out data processing；
Image-detection process are as follows:
Firstly for the image of thermal infrared imaging instrument, the fault point wherein to generate heat is identified, and send alarm to mobile terminal；It is mobile
The situation that terminal passes through the specific part of 360 ° of full-view cameras of manipulation；It is further complete by 360 ° if fault point is located on cable
Scape camera unit amplifies shooting processing；
The first step carries out gray proces to 360 ° of full-view camera acquired images；
Second step determines screening areas, carries out cable detection, and group becomes band the part of black pixel point in identification region, is determined as
Cable area；
Tri- Walk carries out breaking point detection processing, and after recognizing breaking point, processor is according to RFID location information by fault point
Position is sent to mobile terminal；Simultaneous processor sends to insulation rebuilt component and repairs order, starts to carry out insulation reparation；
Insulation fault repair process are as follows: cable is repaired piece and is placed in cable reparation piece the storage box；When monitoring insulation fault,
Processor, which is sent, repairs order, and reparation control arm, which controls support arm and executes arm, first goes out cable from cable reparation piece the storage box inner clip
It repairs in piece to manipulator, then close to insulation fault point；When reaching abort situation, manipulator is opened, inside manipulator
Cable repair piece be wrapped at damage in insulation；Heating sheet is heated, and cable repairs piece heat shrinkable, is tightly wrapped in breakage
Cable on；Complete repair.
2. the intelligent apparatus that a kind of tunnel cable failure inspection according to claim 1 and insulation fault are automatically repaired,
Be characterized in that: it includes carrying out gray proces to obtained image that the controller, which is used to receive data collected, determines screening
Region, cable detection, breaking point detection judge cable insulation situation；
When damage in insulation occurs, controller can control reparation control arm and insulation rebuilt component repairs fault point；
Controller identifies the heating accident point in the image of thermal infrared imaging instrument, and sends alarm to mobile terminal；
The data that controller obtains air monitering module are handled, and when threshold value is more than regulation, is issued and are warned to mobile terminal
Report.
3. the intelligent apparatus that a kind of tunnel cable failure inspection according to claim 1 and insulation fault are automatically repaired,
Be characterized in that: the travel wheel is made of rubber material, is set as herringbone structure or the scroll wheel structure with inner concave；By
Controller controls its traveling.
4. the intelligent apparatus that a kind of tunnel cable failure inspection according to claim 1 and insulation fault are automatically repaired,
Be characterized in that: the support rod is used to 360 ° of full-view cameras and thermal infrared imaging instrument rising to certain altitude, to monitor electricity
Cable tunnel internal situation.
5. the intelligent apparatus that a kind of tunnel cable failure inspection according to claim 1 and insulation fault are automatically repaired,
Be characterized in that: the LED illumination lamp is used for cable tunnel interior lighting, opens when entering cable tunnel.
6. the intelligent apparatus that a kind of tunnel cable failure inspection according to claim 1 and insulation fault are automatically repaired,
Be characterized in that: the air monitering module includes methane gas sensor, carbon dioxide gas sensor and volatile organic matter
VOC gas sensor；It is connected with controller, the data monitored is sent to controller；For the Ring to tunnel internal
Border is monitored.
7. the intelligent apparatus that a kind of tunnel cable failure inspection according to claim 1 and insulation fault are automatically repaired,
Be characterized in that: the cable repairs piece and selects the dedicated high temperature resistant plastic material of wire and cable.
8. the intelligent apparatus that a kind of tunnel cable failure inspection according to claim 1 and insulation fault are automatically repaired,
Be characterized in that: it is open type heat shrinking sheet that the cable, which repairs piece, and material is EP rubbers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811543417.7A CN109765457A (en) | 2018-12-17 | 2018-12-17 | The intelligent apparatus that a kind of tunnel cable failure inspection and insulation fault are automatically repaired |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811543417.7A CN109765457A (en) | 2018-12-17 | 2018-12-17 | The intelligent apparatus that a kind of tunnel cable failure inspection and insulation fault are automatically repaired |
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| Publication Number | Publication Date |
|---|---|
| CN109765457A true CN109765457A (en) | 2019-05-17 |
Family
ID=66451932
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811543417.7A Pending CN109765457A (en) | 2018-12-17 | 2018-12-17 | The intelligent apparatus that a kind of tunnel cable failure inspection and insulation fault are automatically repaired |
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| CN111665456A (en) * | 2020-05-29 | 2020-09-15 | 中国南方电网有限责任公司超高压输电公司昆明局 | Control method for self safety of unmanned aerial vehicle and safety of converter station equipment |
| CN112563962A (en) * | 2020-11-17 | 2021-03-26 | 国网山东省电力公司济南供电公司 | Unmanned aerial vehicle intelligence system of patrolling and examining in cable tunnel |
| CN112683911A (en) * | 2020-11-17 | 2021-04-20 | 国网山东省电力公司济南供电公司 | Cable tunnel intelligence unmanned aerial vehicle inspection check out test set with high stability |
| CN113085923A (en) * | 2021-04-15 | 2021-07-09 | 北京智川科技发展有限公司 | Track detection method and device, automatic track detection vehicle and storage medium |
| CN113466610A (en) * | 2021-05-26 | 2021-10-01 | 国网山西省电力公司吕梁供电公司 | Cable tunnel obstacle removing device and cable tunnel obstacle removing method |
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Application publication date: 20190517 |