CN112917514A - Cable temperature detection device based on snake-shaped robot - Google Patents
Cable temperature detection device based on snake-shaped robot Download PDFInfo
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- CN112917514A CN112917514A CN202110085011.4A CN202110085011A CN112917514A CN 112917514 A CN112917514 A CN 112917514A CN 202110085011 A CN202110085011 A CN 202110085011A CN 112917514 A CN112917514 A CN 112917514A
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- snake
- robot
- cable
- temperature
- shaped robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K7/00—Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat ; Power supply therefor, e.g. using thermoelectric elements
- G01K7/16—Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat ; Power supply therefor, e.g. using thermoelectric elements using resistive elements
- G01K7/22—Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat ; Power supply therefor, e.g. using thermoelectric elements using resistive elements the element being a non-linear resistance, e.g. thermistor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S10/00—Systems supporting electrical power generation, transmission or distribution
- Y04S10/50—Systems or methods supporting the power network operation or management, involving a certain degree of interaction with the load-side end user applications
- Y04S10/52—Outage or fault management, e.g. fault detection or location
Abstract
The invention relates to a cable temperature detection device based on a snake-shaped robot, which comprises the snake-shaped robot, a temperature acquisition controller and a plurality of temperature sensor arrays, wherein the snake-shaped robot is connected with the temperature acquisition controller through a cable temperature sensor; the plurality of temperature sensor arrays are arranged on each moving joint of the snake-shaped robot, when the snake-shaped robot rotates around the cable to move forward, the temperature sensor arrays are used for carrying out contact continuous temperature measurement on the cable, and the temperature acquisition controller is used for calculating and storing temperature signals acquired by the temperature sensor arrays. According to the invention, the temperature sensor array is integrated on the moving joint of the snake-shaped robot, and the robot is controlled to rotate around the cable to move forward, so that the temperature of the whole outer wall surface of the cable is detected in the moving process of the robot, the flexible moving capability of the snake-shaped robot is fully utilized, the dynamic circulating detection of the temperature of the whole cable is realized, the temperature detection dead angle is avoided, and the snake-shaped robot is suitable for cable arrangement dense occasions such as cable ditches, cable tunnels and the like.
Description
Technical Field
The application relates to the technical field of temperature detection, in particular to a cable temperature detection device based on a snake-shaped robot.
Background
For the power industry, since the equipment or the cable is usually in a high-voltage live operation state, many common faults can be distinguished only by the operation temperature of the equipment or the cable. Therefore, in the routine power inspection process, the temperature of the equipment and the cable needs to be detected regularly or irregularly, which is one of the important criteria for determining whether the operation state of the equipment and the cable is normal or not.
For the temperature detection of the high-voltage transmission cable, an infrared thermometer and an infrared thermal imager are mainly used at present. For the temporary inspection work, a hand-held portable infrared thermometer can be selected, and the operation and maintenance personnel can manually detect the temporary inspection work. For the scenes with relatively fixed environments, such as cable tunnels, transformer substations, converter stations and the like, the robot can be used for carrying the infrared thermal imager to carry out periodic detection, so that the inspection efficiency is improved.
However, the above method still has certain disadvantages, mainly including the following aspects: although the handheld portable infrared thermometer can realize temperature detection at a short distance and at multiple angles, the detection precision is not high, the handheld portable infrared thermometer is easily influenced by human operation factors, manual intervention is needed, and the inspection efficiency is low; although the infrared thermal imager carried by the robot can reduce manual intervention, the detection result is easily influenced by environmental conditions, so that the precision is insufficient, a movement dead angle exists in the running process of the robot, the whole cable cannot be completely covered by detection operation, particularly, the detection dead angle is larger for the cables densely arranged in a cable tunnel, the cable surface close to one side of the tunnel wall cannot be effectively detected, the blind area of inspection work is caused, and the potential safety hazard exists.
Disclosure of Invention
The application provides a cable temperature detection device based on snake-shaped robot realizes that the dynamic cycle of whole cable temperature detects, avoids appearing the temperature and detects the dead angle, and the cable intensive occasions of arranging such as specially adapted cable pit, cable tunnel.
The technical scheme adopted by the application is as follows:
the application provides a cable temperature detection device based on a snake-shaped robot, which comprises the snake-shaped robot, a plurality of temperature acquisition controllers and a plurality of temperature sensor arrays;
wherein, it is a plurality of the temperature sensor array is arranged on each motion joint of snake robot, and a plurality of temperature acquisition controllers set up in each motion joint of snake robot, the temperature sensor array with the temperature acquisition controller is connected, and when the snake robot advanced around the cable rotation, the temperature sensor array was used for carrying out the continuous temperature measurement of contact to the cable, the temperature acquisition controller was used for calculating and the storage to the temperature signal that each temperature sensor array gathered.
Furthermore, the snake-shaped robot adopts a snake-shaped design, the snake-shaped robot comprises a plurality of moving joints, the adjacent moving joints are movably connected to realize power transmission, and the robot snake-shaped robot can rotate around the cable to move forwards.
Furthermore, the temperature acquisition controller is arranged in a motion joint of the snake-shaped robot and comprises a single chip microcomputer, an analog-to-digital conversion circuit and a power circuit;
the analog-to-digital conversion circuit is used for converting analog signals acquired by the temperature sensor array into digital signals for the singlechip to calculate and process; the power supply circuit supplies electric energy to the single chip microcomputer and the analog-digital conversion circuit through the snake-shaped robot.
Further, a plurality of the temperature sensor arrays are respectively arranged on each moving joint of the snake-shaped robot;
each temperature sensor array comprises 8-16 temperature detection units, is uniformly arranged along the circumferential direction of the shell of the snake-shaped robot, and is symmetrically positioned in the middle of the moving joint.
Furthermore, the temperature detection unit comprises a heat conduction shell, a thermistor and a lead, wherein the heat conduction shell is made of pure copper;
the heat conduction shell is circumferentially provided with external threads, each moving joint of the snake-shaped robot is circumferentially provided with 8-16 screw holes, and the heat conduction shell is screwed in the screw holes through the external threads;
the thermistor is fixed inside the heat-conducting shell through heat-conducting silica gel, and the thermistor is connected with an analog-to-digital conversion circuit in the temperature acquisition controller through a lead, so that the transmission of analog electric signals is realized.
Furthermore, the top of the heat conduction shell and the outer side of the motion joint are provided with circular arc-shaped protruding structures.
The technical scheme of the application has the following beneficial effects:
according to the cable temperature detection device based on the snake-shaped robot, the temperature sensor array is integrated on the moving joint of the snake-shaped robot, the robot is controlled to rotate around the cable to move forward, the temperature of the whole outer wall surface of the cable is detected in the moving process of the robot, the flexible moving capability of the snake-shaped robot is fully utilized, the dynamic circulation detection of the temperature of the whole cable is realized, the temperature detection dead angle is avoided, and the cable temperature detection device is particularly suitable for occasions with dense cable arrangement, such as cable ditches, cable tunnels and the like.
Drawings
In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic block diagram of a cable temperature detection device based on a snake-shaped robot;
FIG. 2 is a schematic diagram of a snake-shaped robot structure in a snake-shaped robot-based cable temperature detection device;
FIG. 3 is a schematic diagram of the arrangement of temperature sensor arrays in a snake robot-based cable temperature detection device;
FIG. 4 is a schematic structural diagram of a temperature detection unit in a snake-shaped robot-based cable temperature detection device;
illustration of the drawings:
the device comprises a motion joint 1, a motion joint 2, a temperature detection unit 3, a temperature acquisition controller 4, a lead 5, a heat conduction shell 6 and a thermistor.
Detailed Description
Reference will now be made in detail to embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following examples do not represent all embodiments consistent with the present application. But merely as exemplifications of systems and methods consistent with certain aspects of the application, as recited in the claims.
See fig. 1-4.
The cable temperature detection device based on the snake-shaped robot comprises the snake-shaped robot, a plurality of temperature acquisition controllers 3 and a plurality of temperature sensor arrays; wherein, it is a plurality of the temperature sensor array is arranged on each moving joint 1 of snake robot, and a plurality of temperature acquisition controllers 3 set up in each moving joint 1 of snake robot, on every moving joint 1 the temperature sensor array with in every moving joint 1 temperature acquisition controller 3 is connected, and when the snake robot advances around the cable rotation, the temperature sensor array is used for carrying out the continuous temperature measurement of contact to the cable, temperature acquisition controller 3 is used for calculating and the storage to the temperature signal that each temperature sensor array gathered.
As shown in figure 2, in particular, the snake-shaped robot adopts a snake-like design, the snake-shaped robot comprises a plurality of moving joints 1, the adjacent moving joints 1 are movably connected to realize power transmission, and the robot snake-shaped robot can rotate and advance around a cable.
The temperature acquisition controller 3 is arranged in the motion joint 1 of the snake-shaped robot, and the temperature acquisition controller 3 comprises a single chip microcomputer, an analog-to-digital conversion circuit and a power circuit; the analog-to-digital conversion circuit is used for converting analog signals acquired by the temperature sensor array into digital signals for calculation and processing of the single chip microcomputer; the power supply circuit supplies electric energy through the snake-shaped robot, the power supply voltage is 12V-24V, and the input voltage can be converted into 3.3V direct current voltage for output so as to supply power for the single chip microcomputer and the analog-to-digital conversion circuit.
As shown in fig. 3, a plurality of temperature sensor arrays are respectively arranged on each moving joint 1 of the snake-shaped robot, and the structure and arrangement of the temperature sensor arrays on each moving joint 1 are consistent; each temperature sensor array comprises 8-16 temperature detection units 2 which are uniformly arranged along the circumferential direction of the shell of the snake-shaped robot and are symmetrically arranged along the middle of the moving joint 1.
As shown in fig. 4, each of the temperature detecting units 2 includes a heat-conducting casing 5, a thermistor 6 and a wire 4, and the heat-conducting casing 5 is made of pure copper; the heat conduction shell 5 is circumferentially provided with external threads, each moving joint 1 of the snake-shaped robot is circumferentially provided with 8-16 screw holes, and the heat conduction shell 5 is screwed in the screw holes through the external threads; the thermistor 6 is fixed inside the heat-conducting shell 5 through heat-conducting silica gel, and the thermistor 6 is connected with an analog-to-digital conversion circuit in the temperature acquisition controller 3 through a lead 4, so that the transmission of analog electric signals is realized.
The top of the heat conduction shell 5 and the outer side of the motion joint 1 are provided with arc-shaped protruding structures so as to be in contact with an external cable.
According to the cable temperature detection device based on the snake-shaped robot, the temperature sensor array is integrated on the moving joint 1 of the snake-shaped robot, the robot is controlled to rotate around the cable to move forward, the temperature of the whole outer wall surface of the cable is detected in the moving process of the robot, the flexible moving capability of the snake-shaped robot is fully utilized, the dynamic circulation detection of the temperature of the whole cable is realized, the temperature detection dead angle is avoided, and the cable temperature detection device is particularly suitable for occasions with dense cable arrangement, such as cable ditches, cable tunnels and the like.
The embodiments provided in the present application are only a few examples of the general concept of the present application, and do not limit the scope of the present application. Any other embodiments extended according to the scheme of the present application without inventive efforts will be within the scope of protection of the present application for a person skilled in the art.
Claims (6)
1. The utility model provides a cable temperature detection device based on snake-shaped robot which characterized in that: the cable temperature detection device comprises a snake-shaped robot, a plurality of temperature acquisition controllers and a plurality of temperature sensor arrays;
wherein, it is a plurality of the temperature sensor array is arranged on each motion joint of snake robot, and a plurality of temperature acquisition controllers set up in each motion joint of snake robot, the temperature sensor array with the temperature acquisition controller is connected, and when the snake robot advanced around the cable rotation, the temperature sensor array was used for carrying out the continuous temperature measurement of contact to the cable, the temperature acquisition controller was used for calculating and the storage to the temperature signal that each temperature sensor array gathered.
2. The serpentine robot-based cable temperature detection apparatus according to claim 1, wherein: the snake-shaped robot adopts a snake-shaped design, the snake-shaped robot comprises a plurality of moving joints, the adjacent moving joints are movably connected to realize power transmission, and the robot snake-shaped robot can rotate around on a cable to move forwards.
3. The serpentine robot-based cable temperature detection apparatus as set forth in claim 2, wherein: the temperature acquisition controller is arranged in a motion joint of the snake-shaped robot and comprises a single chip microcomputer, an analog-digital conversion circuit and a power circuit;
the analog-to-digital conversion circuit is used for converting analog signals acquired by the temperature sensor array into digital signals for the singlechip to calculate and process; the power supply circuit supplies electric energy to the single chip microcomputer and the analog-digital conversion circuit through the snake-shaped robot.
4. The snake-shaped robot-based cable temperature detection device according to claim 3, wherein: a plurality of temperature sensor arrays are respectively arranged on each motion joint of the snake-shaped robot;
each temperature sensor array comprises 8-16 temperature detection units, is uniformly arranged along the circumferential direction of the shell of the snake-shaped robot, and is symmetrically positioned in the middle of the moving joint.
5. The serpentine robot-based cable temperature detection apparatus as set forth in claim 4, wherein: the temperature detection unit comprises a heat conduction shell, a thermistor and a lead, wherein the heat conduction shell is made of pure copper;
the heat conduction shell is circumferentially provided with external threads, each moving joint of the snake-shaped robot is circumferentially provided with 8-16 screw holes, and the heat conduction shell is screwed in the screw holes through the external threads;
the thermistor is fixed inside the heat-conducting shell through heat-conducting silica gel, and the thermistor is connected with an analog-to-digital conversion circuit in the temperature acquisition controller through a lead, so that the transmission of analog electric signals is realized.
6. The serpentine robot-based cable temperature detection apparatus as set forth in claim 5, wherein: and a circular arc-shaped protruding structure is arranged at the top of the heat conduction shell and faces the outer side of the motion joint.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110085011.4A CN112917514B (en) | 2021-01-20 | 2021-01-20 | Cable temperature detection device based on snake-shaped robot |
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| CN202110085011.4A CN112917514B (en) | 2021-01-20 | 2021-01-20 | Cable temperature detection device based on snake-shaped robot |
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| CN112917514B CN112917514B (en) | 2023-03-31 |
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| CN112917514B (en) | 2023-03-31 |
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