CN112356038B - Cable trench inspection robot - Google Patents
Cable trench inspection robot Download PDFInfo
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- CN112356038B CN112356038B CN202011032828.7A CN202011032828A CN112356038B CN 112356038 B CN112356038 B CN 112356038B CN 202011032828 A CN202011032828 A CN 202011032828A CN 112356038 B CN112356038 B CN 112356038B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
Abstract
The utility model relates to a robot is patrolled and examined to cable pit, including cable inspection equipment, head main part, two at least can rolling annular main parts and cylinder type main part, a head main part is connected to the at least one end of cylinder type main part, and equipment fixing is patrolled and examined in the one end that the head main part deviates from the cylinder type main part to the cable, and the annular main part sets up in the cylinder type main part. Because the cable pit inspection robot structure in this method is provided with the annular main part that can roll, its mode of marcing is that head main part rolls for control annular main part and then the cable pit inspection robot removes, the structure and the mode that wheel drive marched in the traditional mode have been replaced, the mode that annular main part rolled in order to drive the robot that patrols and examines removal, can wide application in complicated cable pit terrain environment, there can not be because the passageway road conditions of cable pit are complicated or bumpy, lead to patrolling and examining the condition that the robot can't march and lead to unable completion and patrolling and examining the task, the efficiency of patrolling and examining is improved and the effect of patrolling and examining.
Description
Technical Field
The application relates to the technical field of cable pit inspection, in particular to a cable pit inspection robot.
Background
With the development of economy, electric power facilities become indispensable infrastructure for production and life of people, and in order to guarantee the safe operation of electric power cables, the cables need to be regularly inspected. Generally, the inspection of a cable includes checking whether a joint portion of the cable is aged or not, whether an outer layer of the cable is damaged or not, and whether a water leakage or a water accumulation phenomenon occurs in a cable trench or not.
The passageway of cable pit is narrow and the air is dirty, and the staff is difficult to get into the cable pit and carries out patrolling and examining of cable, patrols and examines in order to realize the cable, and improves and patrols and examines efficiency, and the cable is patrolled and examined the robot and is produced by oneself. The structure of the existing cable trench inspection robot adopts a wheel type driving structure, the cable trench inspection robot is arranged in a cable trench, the wheels are driven by a motor to finish advancing, and the cable inspection of the cable trench inspection robot is realized.
However, because the passageway road conditions of cable pit are complicated and the frustration, adopt wheeled drive to advance and receive the barrier easily and hinder and lead to can't accomplishing the task of patrolling and examining, it is inefficient and it is not good to patrol and examine the effect.
Disclosure of Invention
In view of the above, it is necessary to provide a cable trench inspection robot without a track or a rail support.
A cable trench inspection robot comprises cable inspection equipment, a head main body, at least two rollable annular main bodies and a cylindrical main body;
at least one end of the cylindrical main body is connected with a head main body; the cable inspection equipment is arranged at one end of the head main body, which is far away from the cylindrical main body; the annular main body is arranged on the cylindrical main body;
the head main body is used for controlling the annular main body to roll so as to drive the cable trench inspection robot to move.
In one embodiment, the ring-shaped body comprises a plurality of rolling balls, a plurality of connecting means, a driving means, and a transmission shaft; the driving device is positioned in the inner cavity of the cylindrical main body and is connected with the central point of the transmission shaft; one end of the transmission shaft deviating from the central point is connected with the connecting device; the rolling balls are connected with each other through a connecting device; the rolling ball and the connecting device form an annular structure which is wound outside the cylindrical main body;
the driving device rotates according to the control instruction of the head main body to drive the transmission shaft to rotate; the transmission shaft rotates to drive the connecting device and the rolling ball to rotate.
In one embodiment, the driving device comprises a driving gear and a driving motor; the driving gear is connected with the transmission shaft, and the driving motor is connected with the head main body and the driving gear;
the driving motor rotates the driving gear according to the control instruction of the head main body, so that the driving gear drives the transmission shaft to rotate.
In one embodiment, the coupling device comprises a gear and a connector; the rolling ball is connected with the gear through a connector; the gear is connected with one end of the transmission shaft, which is deviated from the central point.
In one embodiment, the connector is a gimbal; the connector is provided with a protective housing.
In one embodiment, the connector comprises a plurality of metal skeletons which are mutually rotatably connected;
the metal framework is provided with a mounting hole for fixing the miniature monitoring equipment; the monitoring equipment is used for acquiring road condition information of an area where the connector is located.
In one embodiment, the ring body further comprises a battery; the battery supplies power to the connector.
In one embodiment, the head body includes: the device comprises a detector, a main control device and a head driving device; the detector is electrically connected with the main control device; the main control device is electrically connected with the head driving device;
the detector is used for acquiring parameter information of the obstacles in the target area;
the main control device is used for generating a first control instruction and a second control instruction according to the parameter information of the barrier and sending the first control instruction to the head driving device;
the head driving device is used for driving the head body to move according to the first control instruction; the first control instruction comprises a rotation angle of a horizontal plane and a rotation angle of a vertical plane;
the main control device is also used for sending a second control instruction to the annular main body;
the annular main body is used for rotating according to a second control instruction so as to drive the cable trench inspection robot to move; the second control command includes a rotation angle and a rotation speed.
In one embodiment, the head driving means comprises a horizontal motion control means and a vertical motion control means; the horizontal motion control device and the vertical motion control device are respectively and electrically connected with the main control device;
the horizontal motion control device is used for receiving the first control instruction and controlling the rotation of the head body in the horizontal plane according to the rotation angle in the horizontal plane in the first control instruction;
and the vertical motion control device is used for receiving the first control instruction and controlling the rotation of the head body in the vertical plane according to the rotation angle in the vertical plane in the first control instruction.
In one embodiment, the head body further comprises a motion state sensor; the motion state sensor is electrically connected with the main control device;
the motion state sensor is used for acquiring current motion data of the cable trench inspection robot, determining the motion type of the cable trench inspection robot according to the motion data and sending the motion type to the main control device;
the main control device is used for generating a corresponding control instruction according to the motion type; the motion data includes velocity and displacement; the types of motion include stationary and moving.
In one of the embodiments, the head body further comprises a battery; the battery is respectively and electrically connected with the detector, the main control device, the head driving device and the motion state sensor.
In one embodiment, the head body further comprises an image processing device; the image processing equipment is electrically connected with the main control device;
the image processing equipment is used for determining the maximum circle radius of the area where the barrier is located according to the road condition information of the target area and sending the maximum circle radius to the main control device;
the main control device is also used for generating a control instruction according to the maximum circle radius; and the road condition information of the target area is information which is acquired by the cable inspection equipment and is sent to the image processing equipment.
In one embodiment, the front end portion of the head main body is shaped like a cone.
In one embodiment, the cable inspection device includes an infrared camera; the infrared camera is electrically connected with the head main body;
and the infrared camera is used for acquiring road condition information of the target area and sending the road condition information to the head main body.
In one embodiment, the cable inspection device further comprises an infrared thermometer;
and the infrared thermometer is used for acquiring the temperature information of the target area.
Above-mentioned robot is patrolled and examined to cable pit, equipment is patrolled and examined to cable, head main part, two at least rolling annular main parts and cylinder type main parts, and a head main part is connected to the at least one end of cylinder type main part, and equipment is patrolled and examined to cable installs in the one end that the head main part deviates from cylinder type main part, and annular main part sets up in cylinder type main part. Wherein, the head main part is used for controlling annular main part roll to drive the cable pit and patrol and examine the robot and remove. Because the rolling annular main body is arranged in the cable trench inspection robot structure in the method, the head main body is controlled to roll in a running mode, and then the cable trench inspection robot moves, the structure and the mode that a wheel drives to run in a traditional mode are replaced, the annular main body rolls to drive the inspection robot to move, the cable trench inspection robot can be widely applied to the complicated cable trench terrain environment, the condition that the inspection task cannot be completed due to the fact that the road condition of a channel of a cable trench is complicated or rugged can not be caused, and the condition that the inspection robot cannot run to cause the inspection task cannot be completed can not be caused, and the inspection efficiency and the inspection effect are improved.
Drawings
FIG. 1 is a schematic structural diagram of a cable trench inspection robot in one embodiment;
FIG. 2 is a schematic structural diagram of a cable trench inspection robot in one embodiment;
FIG. 3 is a schematic structural diagram of a cable trench inspection robot in one embodiment;
FIG. 4 is a schematic structural diagram of a cable trench inspection robot in one embodiment;
FIG. 5 is a schematic structural diagram of a cable trench inspection robot in one embodiment;
FIG. 6 is a schematic structural diagram of a cable trench inspection robot in one embodiment;
FIG. 7 is a schematic structural diagram of a cable trench inspection robot in one embodiment;
FIG. 8 is a schematic diagram of the cable trench inspection robot in one embodiment;
FIG. 9 is a schematic diagram of the cable trench inspection robot in one embodiment;
fig. 10 is a schematic structural diagram of the cable trench inspection robot in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The application provides a robot is patrolled and examined to cable pit, its structure is shown in fig. 1, and the robot is patrolled and examined to cable pit includes head main part 10, cable inspection equipment 20, at least two can rolling annular main part 30 and cylinder type main part 40. Wherein, at least one end of the cylindrical body 40 is connected with a head body 10; the cable inspection equipment 20 is installed at one end of the head main body 10 away from the cylindrical main body 40; the ring body 30 is disposed on the cylindrical body 40. The head main body 10 is used for controlling the annular main body 30 to roll so as to drive the cable trench inspection robot to move.
In this embodiment, the cable inspection device 20 is configured to collect traffic information of the cable trench tunnel, transmit the traffic information to the head main body 10, analyze the environment of the cable trench tunnel based on the traffic information, determine the advancing direction, generate a corresponding control command, and control the ring main body 30 to perform an advancing action according to the content in the control command. Illustratively, the road condition information may include size information of an area of a cable trench in which the inspection robot is located, that is, based on information collected by the cable inspection device 20, a reference coordinate system of the current area in which the cable inspection robot is located may be constructed, so that the head body 10 determines a travel direction based on the road condition information and image information of the cable trench collected by itself, for example, the inspection robot may determine a position of an obstacle in the travel area based on the road condition information, so as to determine a corresponding travel direction according to the position of the obstacle, at this time, the head body 10 may generate a first control command including a rotation angle in a horizontal or vertical direction and a second control command including a travel direction and a travel speed, the head body 10 controls itself to implement rotation of an angle according to the first control command, transmits the second control command to the ring body 30, so that the ring body 30 can perform a traveling operation according to a traveling direction and a traveling speed, thereby realizing the movement of the inspection robot.
Optionally, the head body 10 may also detect obstacle information in the cable trench tunnel in real time, and generate a corresponding control command by analyzing the size and position of the obstacle. Illustratively, the head main body 10 detects that an obstacle exists in front of the travel, analyzes and acquires the size and position information of the obstacle, determines a rotation angle required for continuing the travel at this time, for example, a rotation angle in a horizontal direction, at this time, the head main body 10 generates a first control command including the rotation angle in the horizontal direction, controls the rotation of the head main body according to the first control command, and generates a second control command including the travel direction and the travel speed, and sends the second control command to the ring main body 30, so that the ring main body 30 can perform a travel operation according to the travel direction and the travel speed to realize the movement of the inspection robot, which is not limited in this embodiment.
Above-mentioned robot is patrolled and examined to cable pit, equipment is patrolled and examined to cable, head main part, two at least rolling annular main parts and cylinder type main parts, and a head main part is connected to the at least one end of cylinder type main part, and equipment fixing is patrolled and examined to cable deviates from the one end of cylinder type main part in the head main part, and the annular main part sets up in cylinder type main part. Wherein, the head main part is used for controlling annular main part roll to drive the cable pit and patrol and examine the robot and remove. Because the rolling annular main body is arranged in the cable trench inspection robot structure in the method, the head main body is controlled to roll in a running mode, and then the cable trench inspection robot moves, the structure and the mode that a wheel drives to run in a traditional mode are replaced, the annular main body rolls to drive the inspection robot to move, the cable trench inspection robot can be widely applied to the complicated cable trench terrain environment, the condition that the inspection task cannot be completed due to the fact that the road condition of a channel of a cable trench is complicated or rugged can not be caused, and the condition that the inspection robot cannot run to cause the inspection task cannot be completed can not be caused, and the inspection efficiency and the inspection effect are improved.
In one embodiment, as shown in FIG. 2, the ring body 30 includes a plurality of rolling balls 310, a plurality of connecting means 320, a driving means 330, and a drive shaft 340; the driving device 330 is located in the inner cavity of the cylindrical body 40 and connected to the center point of the transmission shaft 340; one end of the transmission shaft 340, which is far away from the central point, is connected with the connecting device 320; the rolling ball 310 is connected with the rolling ball 310 through a connecting device 320; the rolling ball 310 and the connecting device 320 form a ring structure around the cylindrical body 40; the driving device 330 rotates to drive the transmission shaft 340 to rotate according to the control instruction of the head main body 10; the transmission shaft 340 rotates to drive the connecting device 320 and the rolling ball 310 to rotate.
In this embodiment, the ring body 30 may be seen as a circular-like structure of the rolling ball 310 composed of the plurality of rolling balls 310 and the plurality of connection devices 320, the connection device 320, and the rolling ball 310, which is the core of the motion power source of the entire inspection robot. Alternatively, the driving device 330 receives a control command from the head main body 10, and the driving shaft 340 is rotated according to the control command, so that the driving shaft 340 drives the connecting device 320 and the rolling ball 310 to rotate in the vertical structure and the upright structure. Illustratively, the control command includes a traveling direction and a traveling speed, and the driving device 330 rotates according to the traveling direction and the traveling speed in the control command, and finally rotates each rolling ball 310 according to the traveling direction and the traveling speed, so as to realize the movement of the inspection robot.
Alternatively, if the road ahead is flat, the cable trench inspection robot may advance straight in a straight plane, and the ring body 30 may keep rolling forward in a straight line. Wherein, including connecting device 320 and drive arrangement 330 in the annular main part 30, connecting device 320 is through keeping sinusoidal change to realize the straight line of cable pit inspection robot, its algorithm formula is:
φi(s)＝-2a0sin(Knπ/n)·sin(2Knπ/LS+2Knπ/ni)+Kll
wherein phii(s) is the pitch angle rotated about the Y-axis; i represents a plurality; k isnIs a constant; a is a0Is the angle of rotation about the Y axis; l is the pitch; n is the number of nodes; s is the sectional area of the joint; l is the length of each section.
If the obstacle in front is detected, the vehicle can move forwards in a mode of avoiding the obstacle or crossing the obstacle in a side direction. Wherein the driving means 330 can maintain a sinusoidal variation by controlling the connecting means 320 of both the horizontal and vertical axes in the ring-shaped body 30 to achieve the lateral movement. The driving means 330 can also maintain sinusoidal variation by controlling the horizontal axis connection means 320 in the ring body 30 while the vertical axis connection means 320 is maintained straight to achieve telescopic motion. Wherein, there is a phase difference between two curves of lateral motion, and the algorithm formula of lateral motion is:
φi(s)＝-2aφ0sin(Knπ/nφ)·sin(2Knπ/LφS+2Knπ/nφi+δφ)+Kll
wherein, the first and the second end of the pipe are connected with each other,
is a pitch angle of rotation about the X-axis; phi is ai(s) is the pitch angle rotated about the Y-axis; i represents a plurality; k isnIs a constant;
is the angle of rotation about the X axis; a is aφ0Is the angle of rotation about the Y axis; l is a pitch; n is the number of nodes; s is the sectional area of the joint; l is the length of each section.
The formula of the telescoping motion algorithm is as follows:
wherein the content of the first and second substances,
is a pitch angle of rotation about the X-axis; i represents a plurality; k isnIs a constant;
is the angle of rotation about the X axis; l is the pitch; n is the number of nodes; s is the sectional area of the joint; l is the length of each section.
Optionally, in this embodiment, in order to increase the friction force of the rolling ball 310, a rough texture may be provided on the surface of the rolling ball 310, and optionally, the material of the rolling ball 310 may be a glass fiber reinforced plastic composite material.
In this embodiment, the rolling balls are used as a motion method of the cable trench inspection robot, so that the cable trench inspection robot can adapt to the complex terrain environment of a cable trench, and can slowly crawl on the cable by rolling, so that the cable inspection equipment 20 can detect the condition of the cable more closely, and the application range of the cable trench inspection robot is expanded.
In one embodiment, as shown in fig. 3, the driving device 330 includes a driving gear 3301 and a driving motor 3302; a driving gear 3301 is connected with the driving shaft 340, and a driving motor 3302 is connected with the head body 10 and the driving gear 3301; the driving gear 3302 is rotated by the driving motor 3302 according to a control instruction of the head main body 10, so that the driving gear 3302 rotates the transmission shaft 340.
In this embodiment, the driving device 330 includes a driving gear 3301 and a driving motor 3302, that is, the driving gear 3301 is controlled by the corresponding driving motor 3302 to rotate, the driving motor 3302 receives the control instruction transmitted by the head main body 10, the driving gear 3301 is controlled to rotate according to the control instruction, the driving gear 3301 rotates to drive the transmission shaft 340 to rotate, and then the connecting device 320 is driven to rotate in the vertical structure and the vertical structure direction, finally the rotating direction and the speed of each rolling ball 310 are controlled, and the inspection robot is moved.
In this embodiment, the driving motor 3302 controls the driving gear 3301 to rotate through the received control instruction, and this method can effectively achieve accurate rotation of the driving gear 3301, and achieve accurate movement of the inspection robot.
In one embodiment, as shown in fig. 4, the connection device 320 includes a gear 3201 and a connector 3202; rolling ball 310 is connected to gear 3201 via connector 3202; gear 3201 is connected to an end of drive shaft 340 facing away from the center point.
In the present embodiment, coupling device 320 includes gear 3201 and connector 3202, with ball 310 coupled to gear 3201 by connector 3202, then annular body 30 may be viewed as a quasi-circular structure of ball 310, connector 3202, gear 3201, connector 3202, ball 310, connector 3202, gear 3201, connector 3202, ball 310. Specifically, driving motor 3302 receives the control command that head main part 10 transmitted, and control drive gear 3301 rotates and drives transmission shaft 340 and rotate, and then influences gear 3201 in the rotation of vertical structure and vertical structure direction to control each rolling ball 310's rotation direction and speed, in order to realize patrolling and examining the removal of robot.
In this embodiment, each set of rolling balls 310 is connected to the gear 3201 via a connector 3202, so that 360-degree rotation can be achieved, and a multi-degree-of-freedom movement mechanism is formed.
In one embodiment, the connector is a gimbal; the connector is provided with a protective housing.
In this embodiment, the connector is a universal joint, and the universal joint can swing left and right and can also transmit driving force forwards, so that the rolling ball 310 can rotate in 360 degrees of freedom, a multi-degree-of-freedom movement mechanism is formed, and inspection travelling of the inspection robot in a complex environment terrain is effectively achieved.
In addition, in the embodiment, as sundries such as silt and broken stone may exist in the environment where the cable trench is located, a protective shell can be arranged outside the connector, so that the connector is prevented from being damaged in the advancing process of the inspection robot to influence the rotation.
In one embodiment, the connector 3202 comprises a plurality of metal armatures that are rotatably connected to each other; the metal framework is provided with a mounting hole for fixing the miniature monitoring equipment; the monitoring equipment is used for acquiring road condition information of an area where the connector is located.
In this embodiment, the monitoring device disposed in the connector 3202 may acquire the road condition information of the area where the connector is located in real time or according to a preset period, because the connector 3202 is connected to the rolling ball 310, the monitoring device also acquires the road condition information of the area where the rolling ball 310 is located, optionally, the monitoring device may send the acquired road condition information to the main body head 10 or the server, so that the main body head 10 or the server analyzes the position condition of the inspection robot according to the road condition information, which is not limited in this embodiment.
In this embodiment, the metal framework of the connector is provided with the monitoring device, so that the real-time environment image information of the position where the rolling ball 310 is located can be further acquired, the information of the environment where the inspection robot is located can be more accurately confirmed, and the moving state of the inspection robot can be adjusted.
In one embodiment, the ring body further comprises a battery; the battery supplies power to the connector.
In this embodiment, a battery may be provided inside the ring-shaped body for powering the connector in the connection device.
In this embodiment, since the battery of the ring-shaped main body 30 is an independent battery, that is, the battery is independent of the battery of the head main body 10, in the working process of the inspection robot, the situation that the ring-shaped main body cannot work due to the damage of the battery of the head main body 10 can be avoided, and the inspection efficiency of the inspection robot is improved.
In one embodiment, as shown in fig. 5, the head main body 10 includes: a detector 101, a main control device 102 and a head driving device 103; the detector 101 is electrically connected with the main control device 102; the main control device 102 is electrically connected with the head driving device 103;
the detector 101 is used for acquiring parameter information of an obstacle in a target area; the main control device 102 is configured to generate a first control instruction and a second control instruction according to the parameter information of the obstacle, and send the first control instruction to the head driving device 103; a head driving device 103 for driving the head body to move according to a first control command; the first control instruction comprises a rotation angle of a horizontal plane and a rotation angle of a vertical plane; a control device 102, also for sending second control commands to the annular body 30; the annular main body 30 is used for rotating according to a second control instruction so as to drive the cable trench inspection robot to move; the second control command includes a rotation angle and a rotation speed.
In this embodiment, by providing the obstacle detector 101 in the head body 10, the position and size of an obstacle in a road ahead can be detected and fed back to the main control device 102, the main control device 102 can analyze the received signal to determine whether a collision will occur, and if it is determined that a collision occurs, a first control instruction and a second control instruction are generated and respectively sent to the head driving device 103, and the head driving device 103 can rotate the head body 10 in the horizontal or vertical direction by a certain angle according to the first control instruction so as to avoid or climb over the obstacle to continue to move forward; a second control command is sent to the ring-shaped main body 30, and the ring-shaped main body 30 performs a traveling operation according to the traveling speed and the traveling direction in the second control command, that is, a driving force of the horizontal forward movement of the head body 10 is from the ring-shaped main body 30.
In this embodiment, the cable pit inspection robot can realize snaking and crawl, sideslip, roll, keep away two-dimensional planar motion such as barrier, can also have the climbing step simultaneously, climb the motion ability of lower barrier etc. in three-dimensional space more, can effectively avoid because the problem that barrier or cable pit topography influence and can't advance.
In one embodiment, the head driving means comprises a horizontal motion control means and a vertical motion control means; the horizontal motion control device and the vertical motion control device are respectively and electrically connected with the main control device; the horizontal motion control device is used for receiving the first control instruction and controlling the rotation of the head body in the horizontal plane according to the rotation angle in the horizontal plane in the first control instruction; and the vertical motion control device is used for receiving the first control instruction and controlling the rotation of the head body in the vertical plane according to the rotation angle in the vertical plane in the first control instruction.
In this embodiment, the head driving means includes a horizontal motion control means and a vertical motion control means. The horizontal movement control device is electrically connected to the main control device 102, and is configured to receive a first control instruction and control a rotation angle of the head body 10 in a horizontal plane according to the first control instruction. The vertical motion control device is electrically connected to the main control device 102, and is configured to receive the first control command and control a rotation angle of the head body 10 in a vertical plane according to the first control command.
Optionally, a steering engine is arranged in the horizontal motion control device, and the steering engine is stored in the head body 10, electrically connected with the main control device 102, and configured to receive the first control instruction and control the rotation angle of the head body 10 in the horizontal plane according to the first control instruction. When an obstacle exists in the front and the current movement mode can be avoided, the steering engine can control the head body 10 to rotate in the horizontal plane according to a first control instruction so as to avoid the obstacle.
Optionally, a motor is disposed in the vertical motion control device, and the motor is mechanically connected to the head body 10, and is electrically connected to the main control device 102, and is configured to receive the first control command and control the rotation angle of the head body 10 in the vertical plane according to the first control command. When there is the barrier in the place ahead and current motion mode can't dodge, the motor can be according to first control command, and control head body 10 lifts up at the vertical face to cross the barrier.
In this embodiment, the horizontal motion controlling means and the vertical motion controlling means based on head main part of the cable pit robot of patrolling and examining realize the rotation of the horizontal direction of head main part self and the angle of vertical direction to can realize that the cable pit patrols and examines two-dimensional planar motion such as robot sideslips, rolls, keeps away the barrier, and climb the step, climb the lower barrier of lower barrier etc. the mobility in three-dimensional space.
In one of the embodiments, as shown in fig. 6, the head main body 10 further includes a motion state sensor 104; the motion state sensor 104 is electrically connected with the master control device 102; the motion state sensor 104 is used for acquiring current motion data of the cable trench inspection robot, determining the motion type of the cable trench inspection robot according to the motion data, and sending the motion type to the main control device 102; the main control device 102 is used for generating a corresponding control instruction according to the motion type; the motion data includes velocity and displacement; the types of motion include stationary and moving.
In this embodiment, the motion state sensor 104 is disposed on the head body 10 and electrically connected to the main control device 102, and the motion state sensor 104 may acquire motion data of the current inspection robot in real time or according to a preset period, determine a current motion type of the inspection robot according to the motion data, and send the current motion type to the main control device 120. For example, the motion state sensor 104 transmits the motion speed and the displacement of the inspection robot to the main control device 120, and the main control device 120 may determine the motion type of the inspection robot, that is, whether the inspection robot is in a stationary state or a moving state, by using sensing and pattern recognition technologies, internal posture interaction, distance measurement and determination technologies, and the like.
In this embodiment, the master control device 120 may effectively determine the motion type of the inspection robot according to the motion data of the inspection robot acquired by the motion state sensor 104, so as to implement real-time adjustment of the inspection robot according to the motion type and the road condition information of the cable trench, and further ensure normal traveling of the inspection robot.
In one of the embodiments, as shown in fig. 7, the head main body 10 further includes a battery 105; the battery 105 is electrically connected with the detector 101, the main control device 102, the head driving device 103 and the motion state sensor 104 respectively.
In this embodiment, the head main body 10 further includes a battery 105, and the battery 105 may be electrically connected to the detector 101, the main control device 102, the head driving device 103, and the motion state sensor 104, respectively, for supplying power to the detector 101, the main control device 102, the head driving device 103, and the motion state sensor 104.
In this embodiment, since the battery 105 of the head main body 10 is an independent battery, that is, independent from the battery of the ring main body 30, in the working process of the inspection robot, the situation that the head main body cannot work due to the damage of the battery of the ring main body 30 can be avoided, and the inspection efficiency of the inspection robot is improved.
In one embodiment, as shown in fig. 8, the head body further includes an image processing device 106; the image processing device 106 is electrically connected with the master control apparatus 102; the image processing device 106 is configured to determine a maximum circle radius of an area where the obstacle is located according to the road condition information of the target area, and send the maximum circle radius to the main control device 102; the main control device 102 is further configured to generate a control instruction according to the maximum circle radius; the road condition information of the target area is information collected by the cable inspection equipment and sent to the image processing equipment 106.
In this embodiment, the head main body 10 may transmit the road condition information of the cable trench tunnel collected by the cable inspection device 20 and the image information of the cable trench collected by the head main body 10 to the image processing device 106, the image processing device 106 analyzes and determines that the maximum circle in the area where the cable trench can pass through except the obstacle in the area where the cable trench is located according to the road condition information of the cable trench tunnel and the image information of the cable trench, for example, the radius of the maximum circle is set to R1, the image processing device 106 transmits R1 to the main control device 102, and the main control device 102 determines the current traveling mode of the inspection robot according to the radius of a circle circumscribed by a preset maximum cross-sectional area of the inspection robot, which is R2 and R1. For example, when the main control device 102 determines that R1> k × R2, it issues an advance command, and the tip portion of the head main body 10 adjusts the direction angle to be aligned with the center of the maximum circle, so as to drive the ring main body 30 to move forward, where k >1, k may be determined according to the actual situation of the cable pit environment in order to ensure that the components of the robot are not clamped in the gap. Alternatively, the image processing device 106 may perform the above operations in real time or at a preset cycle.
Specifically, the principle mainly adopted by the image processing device 106 to process image information is hough circle detection in opencv. The hough circle transform function prototype of OpenCV is known as: HoughCircles (image, method, dp, minDist [, circles [, param1[, param2[, minRadius [, maxRadius ] ] ] ]) - > circles. Wherein, the image parameter represents an 8-bit single-channel gray scale input image matrix; the method parameter represents a circle detection method, which may be HOUGH _ GRADIENT; the dp parameter represents an inverse ratio parameter of the resolution of the accumulator compared to the original image; the minDist parameter represents the minimum distance between two detected circle centers; the circles parameter represents the output vector of the detected circle, the first element in the vector is the abscissa of the circle, the second is the ordinate, and the third is the radius; the param1 parameter represents the high threshold for Canny edge detection, and the low threshold would be automatically set to half the high threshold; the param2 parameter represents the accumulation threshold for circle center detection; the minRadius parameter represents the minimum radius of the detected circle; the maxRadius parameter represents the minimum radius of the detected circle.
In this embodiment, the image processing device 106 may analyze and determine that the front of the cable trench can pass through the maximum circle R1 in the area except the obstacle in the area where the cable trench is located according to the road condition information and the cable trench image information of the cable trench tunnel, so that the main control device 102 determines the traveling mode of the current inspection robot according to R1 and the preset R2, thereby implementing real-time adjustment of the inspection robot in the traveling process and ensuring normal traveling of the inspection robot.
In one embodiment, the front end portion of the head main body 10 is shaped like a cone.
In this embodiment, the most front part of the head main body 10 is designed into a cone-like shape by using the bionic principle, so that the robot head can timely complete small-amplitude turning and advancing movement when encountering a avoidable obstacle or a large gap through which the robot can pass. Alternatively, the housing of the head body 10 may be made of room temperature vulcanizing RTV silicone material without corrosion to protect the internal components from wear and even damage in a harsh environment.
Further, in this embodiment, in order to make the inspection robot meet unable current obstacle in, can change the traffic direction at any time, the both ends of the cylindrical main part 40 of inspection robot all can set up head main part 10, in the in-process of the cable pit inspection robot various obstacle avoidance marching modes such as straight advance, lateral motion, bending motion, if the cable pit inspection robot appears and contacts the obstacle or the circumstances that the climbing force is not enough leads to turning on one's side, can not cause serious consequence based on its symmetrical structure and loop configuration. Specifically, the inspection robot can determine the head main body which is in a working state at present according to the relative direction of travel. For example, if the head body at the left end of the cylindrical body 40 is in the working state, the head body at the right end of the cylindrical body 40 is in the dormant state, which is not limited in this embodiment.
In one embodiment, as shown in FIG. 9, the cable inspection device 20 includes an infrared camera 201; the infrared camera 201 is electrically connected with the head main body 10; and the infrared camera 201 is configured to collect road condition information of the target area, and send the road condition information to the head main body 10.
In this embodiment, the cable inspection device 20 includes the infrared camera 201, and the condition that can't gather cable pit environmental information because the illumination is not enough in the cable pit is avoided to the regional road conditions information of target through infrared camera 201 collection. Optionally, the infrared camera 201 adopts a gyroscope principle, and the lens can be always kept parallel to the gravity direction, so that the influence of interference such as vibration caused by the robot during operation can be prevented.
In one embodiment, the cable inspection device 20 further includes an infrared thermometer 202; and the infrared thermometer 202 is used for acquiring temperature information of the target area.
In this embodiment, the cable inspection equipment 20 further includes the infrared thermometer 202, the infrared thermometer 202 is through gathering the temperature information of target area, can transmit this temperature information to the head main part 10, perhaps transmit this temperature information to the server, the environmental aspect of current cable pit can be judged according to this temperature information to head main part 10 or server, exemplarily, the environmental aspect can include that the cable pit is moist, multiple states such as the cable pit freezes, according to temperature information, can further guarantee to patrol and examine the effect of patrolling and examining of robot and patrol and examine the power supply safety of robot.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), for example.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is specific and detailed, but not to be understood as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present patent application shall be subject to the appended claims.
Claims (13)
1. A cable trench inspection robot is characterized by comprising cable inspection equipment, a head main body, at least two rollable annular main bodies and a cylindrical main body; the head main body includes: the device comprises a detector, a main control device and a head driving device; the detector is electrically connected with the main control device; the main control device is electrically connected with the head driving device; the ring-shaped main body comprises a plurality of rolling balls, a plurality of connecting devices, a driving device and a transmission shaft; the driving device is positioned in the inner cavity of the cylindrical main body and is connected with the central point of the transmission shaft; one end of the transmission shaft, which deviates from the central point, is connected with the connecting device; the rolling balls are connected with the rolling balls through the connecting device; the rolling ball and the connecting device form an annular structure which is wound outside the cylindrical main body; the driving device rotates according to the control instruction of the head main body to drive the transmission shaft to rotate; the transmission shaft rotates to drive the connecting device and the rolling ball to rotate;
at least one end of the cylindrical main body is connected with one head main body; the cable inspection equipment is arranged at one end of the head main body, which is far away from the cylindrical main body; the annular main body is arranged on the cylindrical main body;
the cable inspection equipment is used for acquiring road condition information of a cable trench tunnel and transmitting the road condition information to the head main body; the road condition information comprises size information of an area of a cable trench tunnel where the cable trench inspection robot is located;
the main control device generates a first control instruction and a second control instruction based on the road condition information and the parameter information of the obstacles in the target area acquired by the detector, and sends the first control instruction to the head driving device; the head driving device is used for driving the head main body to move according to the first control instruction; the first control instruction comprises a rotation angle of a horizontal plane and a rotation angle of a vertical plane; the main control device is further configured to send the second control instruction to the ring main body; the annular main body is used for rotating according to the second control instruction so as to drive the cable trench inspection robot to move; the second control instruction comprises a rotation angle and a rotation speed.
2. The cable trench inspection robot according to claim 1, wherein the driving device comprises a driving gear and a driving motor; the driving gear is connected with the transmission shaft, and the driving motor is connected with the head main body and the driving gear;
the driving motor rotates the driving gear according to the control instruction of the head main body, so that the driving gear drives the transmission shaft to rotate.
3. The cable trench inspection robot according to claim 1, wherein the connection device includes a gear and a connector; the rolling ball is connected with the gear through the connector; the gear is connected with one end of the transmission shaft deviating from the central point.
4. The trench inspection robot according to claim 3, wherein the connector is a universal joint; the connector is provided with a protective housing.
5. The cable trench inspection robot according to claim 4, wherein the connector includes a plurality of metal frames rotatably coupled to one another;
the metal framework is provided with a mounting hole for fixing miniature monitoring equipment; the monitoring equipment is used for acquiring road condition information of the area where the connector is located.
6. The trench inspection robot according to claim 5, wherein the ring body further includes a battery; the battery supplies power to the connector.
7. The cable trench inspection robot according to claim 1, wherein the head driving device includes a horizontal motion control device and a vertical motion control device; the horizontal motion control device and the vertical motion control device are respectively and electrically connected with the main control device;
the horizontal motion control device is used for receiving the first control instruction and controlling the head main body to rotate in the horizontal plane according to the rotation angle in the horizontal plane in the first control instruction;
and the vertical motion control device is used for receiving the first control instruction and controlling the head main body to rotate in the vertical plane according to the rotating angle in the vertical plane in the first control instruction.
8. The cable trench inspection robot according to claim 1, wherein the head body further includes a motion status sensor; the motion state sensor is electrically connected with the main control device;
the motion state sensor is used for acquiring current motion data of the cable trench inspection robot, determining the motion type of the cable trench inspection robot according to the motion data and sending the motion type to the main control device;
the master control device is used for generating a corresponding control instruction according to the motion type; the motion data comprises velocity and displacement; the types of motion include stationary and moving.
9. The cable trench inspection robot according to claim 8, wherein the head body further includes a battery; the battery is respectively and electrically connected with the detector, the main control device, the head driving device and the motion state sensor.
10. The cable trench inspection robot according to claim 1, wherein the head body further includes an image processing device; the image processing equipment is electrically connected with the main control device;
the image processing device is used for determining the maximum circle radius of the area where the barrier is located according to the road condition information of the target area and sending the maximum circle radius to the main control device;
the main control device is also used for generating a control instruction according to the maximum circle radius; and the road condition information of the target area is information which is acquired by the cable inspection equipment and is sent to the image processing equipment.
11. The cable trench inspection robot according to claim 1, wherein the front end portion of the head main body has a cone-like shape.
12. The cable trench inspection robot according to claim 1, wherein the cable inspection device includes an infrared camera; the infrared camera is electrically connected with the head main body;
the infrared camera is used for collecting road condition information of a target area and sending the road condition information to the head main body.
13. The cable trench inspection robot according to claim 1, wherein the cable inspection equipment further comprises an infrared thermometer;
and the infrared thermometer is used for acquiring the temperature information of the target area.
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