CN1588152A - Hanging method for communication light cable in water drainining pipeline - Google Patents
Hanging method for communication light cable in water drainining pipeline Download PDFInfo
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- CN1588152A CN1588152A CN 200410052619 CN200410052619A CN1588152A CN 1588152 A CN1588152 A CN 1588152A CN 200410052619 CN200410052619 CN 200410052619 CN 200410052619 A CN200410052619 A CN 200410052619A CN 1588152 A CN1588152 A CN 1588152A
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- optical cable
- joint
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- pipeline
- collar
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Abstract
The invention is a method for hanging optical communication cable in water drain pipeline, adding a hanging section on a pipeline robot, arranging two inclined-distributed grooves and a motor-driven top cover on the hanging section, placing the optical fiber in the two grooves and the top cover, using a front-view camera and a main camera arranged on the hanging section to observe and feed back the position of the robot in the pipeline so as to assure the location of the optical cable to the clipping slot of a clipping ring in the pipeline, then using the motor on the hanging section to push the top cover rod to rise so as to make the optical cable in the top cover enter in the clipping slot, thus completing hanging the optical cable. It uses the pipeline robot to complete the hanging of optical cable in the water drain pipeline, simple and convenient and feasible, safe and high-efficiency, and solving the difficulty in laying optical cable in water drain pipeline.
Description
Technical field
The present invention relates to the method that mounts of communication cable in a kind of drainage pipeline, adopt Robotics that optical cable is mounted on the collar of drainage pipeline inwall automatically and accurately, belong to field of special robots.
Background technology
The development of current international mechanics of communication is very fast, has promoted the development of optical networking construction industry.Fiber cable laying mainly contains three kinds of methods: first kind is that underground pipeline lays; Second kind is directly to bury down to lay; The third is built on stilts laying, and promptly aloft lays by pole line.To lay be a kind of method that is widely adopted to underground pipeline in above-mentioned three kinds of methods.
Laying optical cable in drainage pipeline is utilized existing sewerage system, has saved digging operation and has buried special-purpose pipe-line underground, and its advantage is self-evident.Existing fiber cable laying method retrieval is found, Europatent " METHOD FOR LAYING DATA TRANSMISSION CABLES IN PIPES " (laying method of data cable in the pipeline) (application number EP1223446) discloses a kind of method of laying the data transmission optical cable in trunk line, in this method, optical cable is that spirality is placed in inferior pipeline, can avoid the flexural deformation of optical cable when laying like this; Optical cable keeps linear or tangent mode at least along the inwall of trunk line and at the edge that trunk line is connected with time pipeline.But this spiral is placed the control accuracy of optical cable and is difficult to guarantee, mechanism design is also too complicated.
Application number is that 200410025220.6 Chinese invention patent discloses a kind of " localization method of optical cable fixing clamp in the drainage pipeline ", the fixing clamp of an optical cable is installed in drainage pipeline at a certain distance, the inside front of collar has the very little draw-in groove of a plurality of spacings, can tangle optical cable.Can utilize automatic traction device thus, one section optical cable is placed in the drainage pipeline, carry out the operation that mounts of optical cable.But in the process of laying optical cable, the optical cable that how will be with the waterproof cable cover mounts in drainage pipeline, remains problem to be solved in drainage pipeline.Retrieval is found, at present also not about mounting the report of method on the collar of optical cable in drainage pipeline.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, propose the method that mounts of communication cable in a kind of drainage pipeline, that utilizes that pipe robot comes highly effective and safe finishes mounting of optical cable in the drainage pipeline, solves the difficult problem of the interior laying optical cable of narrow drainage pipeline.
For realizing such purpose, in the technical scheme of the present invention, on pipe robot, install a joint additional and mount joint, mount and two grooves that are in tilted layout and one are set on the joint by motor-driven top cover, optical cable is placed in two grooves and the top cover, utilization mounts joint and goes up forward sight camera and the main camera that is provided with, observe and the position of FEEDBACK CONTROL robot in drainage pipeline, guarantee the draw-in groove of collar in the optical cable align with tube, promote top loop bar rising by the motor that mounts on the joint then, optical cable in the top cover is headed in the draw-in groove on the collar, finish mounting of optical cable.
Method concrete steps of the present invention are as follows:
1, pipe robot main driven joint and put into drainage pipeline and connect and mount joint, the front end that mounts joint is provided with a forward sight camera, and top is provided with a main camera, optical cable is placed on mount in last two grooves that are in tilted layout of joint and the top cover.
Mount last two grooves of the joint layout that turns forward, rear end groove and front end groove form certain angle of inclination, can reduce the frictional resistance that optical cable brings in the pipe robot traveling process.
2, the driving tube pipeline robot advances in pipeline, by mounting the situation of the forward sight camera observation tube pipeline robot front on the joint, and the feedback by visual signal, the controlling plumbing fixtures robot moves ahead along the centerline direction of drainage pipeline, in the time of below the collar of in arriving pipeline, arranging robot is stopped, utilize main camera to observe position relation between optical cable and the collar, and the feedback by visual signal, control adjustment mounts the position of joint, makes the optical cable in the cover of top align collar.
3, start the motor that mounts on the joint, drive the top loop bar that links to each other with cover bottom, top and rise, make the top cover be raised to the draw-in groove below of collar together with the optical cable in the cover of top.
4, utilize main camera to observe position relation between optical cable and the collar, and the feedback by signal, the position that mounts joint is further finely tuned, guarantee that optical cable aims at the draw-in groove of collar.
5, start the motor that mounts joint, top loop bar and top cover are moved upward, optical cable is headed in the draw-in groove of collar.
6, optical cable is sent into collar after, oppositely start the motor that mounts joint, the top loop bar is moved downward gets back to initial position, finish once mounting of optical cable.
7, pipe robot continues to be forwarded to the below of next collar, and the optical cable that carries out next step mounts, and mounts operation up to finally finishing all.Can unclamp optical cable this moment, makes pipe robot turn back to starting point, and dismounting mounts joint, mounts the end of job.
The method that mounts of communication cable in the drainage pipeline of the present invention adopts two grooves that mount on the joint to locate optical cable, can keep the tensioned state of optical cable when mounting operation on the one hand, reduces the loose sagging of optical cable; On the other hand, the frictional resistance that optical cable brings in the pipe robot traveling process can be reduced in the angle of inclination that two grooves form, and reduces the main living load that drives joint.The present invention adopts forward sight camera and main camera to carry out robot location's information acquisition and FEEDBACK CONTROL, heads into the draw-in groove of collar to guarantee optical cable, realizes safe and reliable mounting.
The present invention and " localization method of optical cable fixing clamp in the drainage pipeline " fit applications, utilize pipe robot to finish mounting of the interior optical cable of drainage pipeline, efficiently solve the difficult problem of laying optical cable in the narrow drainage pipeline, in the drainage pipeline of reality, have very wide application prospect in the fiber cable laying operation.
Description of drawings
Fig. 1 mounts the operation synoptic diagram for the present invention utilizes robot to carry out optical cable.
Among Fig. 1,1 is the main joint that drives, and 2 for mounting joint, and 3 is main camera, and 4 is the forward sight camera, and 5 is optical cable, and 6 are the top cover, and 7 is the rear end groove, and 8 is the front end groove, and 9 is drainage pipeline.
Fig. 2 heads into collar draw-in groove synoptic diagram for the top cover rising of pipe robot with optical cable.
Among Fig. 2,10 is the collar that is provided with in the pipeline, and 11,12 is the top loop bar.
Embodiment
Below in conjunction with accompanying drawing technical scheme of the present invention is further described.
The present invention utilizes robot to carry out method that optical cable mounts as shown in Figure 1, mount operation when beginning, earlier the main joint 1 that drives of pipe robot is put into drainage pipeline 9, load onto and mount joint 2, the front end that mounts joint 2 is provided with a forward sight camera 4, and top is provided with a main camera 3, mount joint 2 leading portions front end groove 8 and rear end groove 7 are set, two grooves are in tilted layout, and the back segment setting that mounts joint 2 is by motor-driven top cover 6, and optical cable 5 is placed in front end groove 8, rear end groove 7 and the top cover 6.
Fig. 2 lifts optical cable for the top cover rising of pipe robot and cable sheath is headed into the synoptic diagram of collar draw-in groove.
Among Fig. 2, mount the position and accurately behind the location, start the motor action mount on the joint 2 when robot advances to, the two top loop bars 11 and 12 that drive under the top cover 6 move simultaneously, make top cover 6 together with lifting on the optical cable 5 in the cover of top, optical cable 5 is headed into the collar 10 that is provided with in the pipeline.
The technical issues that need to address of the present invention are: in the unapproachable narrow and small drainage pipeline 9 of people, in pipeline, all collars 10 correctly are in place by robot, and draw by rope, after optical cable being put into the bottom of drainage pipeline, how automatically optical cable 5 accurately to be mounted on the collar 10 along drainage pipeline 9 by pipe robot.The concrete enforcement of the method that mounts of communication cable is as follows in the drainage pipeline of the present invention:
1, at first the main driving joint 1 of pipe robot is sent into the borehole bottom of drainage pipeline 9, mounted joint 2 in the connection, connect umbilical cable.Gas circuit provides source of the gas by the main joint 1 that drives, and mounts joint 2 and saves being connected of 1 gas circuit by ending existing and main driving of snapping cause for gossip.The front end that mounts joint 2 is provided with a forward sight camera 4, and top is provided with a main camera 3, optical cable 5 is placed on mount in last two the front end grooves 8 that are in tilted layout of joint, rear end groove 7 and the top cover 6.
The front end groove 8 that mounts on the joint is in tilted layout with rear end groove 7, and two grooves form certain angle of inclination, can reduce the frictional resistance that optical cable brings in the pipe robot traveling process.
2, the driving tube pipeline robot advances in pipeline 9, and forward sight camera 4 is installed in the front lower place that mounts joint 2.Situation by forward sight camera 4 observation tube pipeline robot fronts, and the feedback by visual signal, make pipe robot can judge correct preceding line direction, robot is moved ahead along the centerline direction of drainage pipeline 9 all the time, and make below the correct draw-in groove of going to fixing clamp 10 of pipe robot energy.Main camera 2 is arranged on the top that mounts joint 2, over against the position of top cover 6.Two lamps can be installed in the both sides of main camera 2, and the corresponding respectively both sides that are installed in top cover 6 are for camera 2 provides enough illumination.Main camera 2 is used for observing the position relation between optical cable 5 and the optical cable fixing clamp 10, and the feedback by visual signal, is adjusted by controller and determines that robot mounts the position of joint 2, makes the optical cable 5 in the cover of top align collar 10.
3, the people that starts the machine mounts the motor of joint on 2, drives and top loop bar 11 and 12 that cover 6 bottoms, top link to each other rises, and top cover 6 is raised to below the draw-in groove of collar 10 together with the optical cable 5 in the cover of top.
4, utilize main camera 2 to observe position between optical cables 5 and the collar 10 again, and with signal feedback to control system, further save 2 position and finely tune by control system mounting, guarantee that optical cable 5 accurately aims at the draw-in groove of collar 10.
5, mount joint 2 motor action afterwards, make top loop bar 11 and 12 and the top that links to each other with the top loop bar overlap 6 and move upward, optical cable 5 is headed in the draw-in groove of collar 10.
6, after optical cable 5 is sent into collar, mount the joint 2 the motor counteragent, top loop bar 11,12 is moved downward gets back to initial position, finish once mounting of optical cable.
7, when also needing to continue to mount, pipe robot will continue to be forwarded to the below of next collar, and the optical cable that carries out next step mounts, mount operation up to finally finishing all, unclamp optical cable, pipe robot turns back to starting point, disassemble and mount joint 2, mount the end of job.
Method of the present invention utilizes pipe robot to finish mounting of the interior optical cable of drainage pipeline, and is simple and feasible, safe and efficient, solved the difficult problem of laying optical cable in the narrow drainage pipeline.
Claims (1)
1, the method that mounts of communication cable in a kind of drainage pipeline is characterized in that comprising following concrete steps:
1) at first the main driving joint (1) of pipe robot is put into drainage pipeline (9) and also mount joint (2) in the connection, the front end that mounts joint (2) is provided with a forward sight camera (4), top is provided with a main camera (3), optical cable (5) is placed on mount in last two the front end grooves (8) that are in tilted layout of joint, rear end groove (7) and the top cover (6);
2) the driving tube pipeline robot advances in pipeline (9), situation by forward sight camera (4) observation tube pipeline robot front, and the feedback by visual signal, the controlling plumbing fixtures robot moves ahead along the centerline direction of drainage pipeline (9), arrive the below of the collar of arranging in the pipeline (10), the position that utilizes main camera (2) to observe between optical cable (5) and the collar (10) concerns, and the feedback by visual signal, control adjustment mounts the position of joint (2), makes the optical cable (5) in the top cover (6) align collar (10);
3) start the motor that mounts on the joint (2), drive the top loop bar (11,12) that links to each other with top cover (6) bottom and rise, make top cover (6) be raised to the draw-in groove below of collar (10) together with optical cable (5);
4) utilize main camera (2) to observe position between optical cable (5) and the collar (10), and the feedback by signal, the position that mounts joint (2) is further finely tuned, optical cable (5) is aimed at the draw-in groove of collar (10);
5) start the motor that mounts joint (2), top loop bar (11,12) and top cover (6) are moved upward, optical cable (5) is headed in the draw-in groove of collar (10);
6) optical cable (5) is sent into collar (10) after, oppositely start the motor that mounts joint (2), top loop bar (11,12) is moved downward gets back to initial position, finish once mounting of optical cable;
7) pipe robot continues to be forwarded to the below of next collar (10), and the optical cable that carries out next step mounts, and mounts operation up to finally finishing all.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100526193A CN100381849C (en) | 2004-07-08 | 2004-07-08 | Hanging method for communication light cable in water drainining pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100526193A CN100381849C (en) | 2004-07-08 | 2004-07-08 | Hanging method for communication light cable in water drainining pipeline |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1588152A true CN1588152A (en) | 2005-03-02 |
| CN100381849C CN100381849C (en) | 2008-04-16 |
Family
ID=34602533
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2004100526193A Expired - Fee Related CN100381849C (en) | 2004-07-08 | 2004-07-08 | Hanging method for communication light cable in water drainining pipeline |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100381849C (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103322295A (en) * | 2013-05-11 | 2013-09-25 | 中煤科工集团武汉设计研究院 | Method for laying long-distance coal delivery pipeline and communication optical fiber cables in one ditch |
| CN103322297A (en) * | 2013-05-14 | 2013-09-25 | 中煤科工集团武汉设计研究院 | Method for laying coal transporting pipeline and communication optical cable in same ditch across road through heavy excavation |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19701787A1 (en) * | 1997-01-20 | 1998-07-23 | Hecht Agathe | Optical fiber cable network and method for laying an optical fiber cable network |
| DE19751415C2 (en) * | 1997-09-26 | 2001-05-23 | Berliner Wasserbetriebe | Device for gripping, positioning and fixing fasteners in cavities of different cross-sections |
| JPH11303188A (en) * | 1998-04-16 | 1999-11-02 | Sekisui Chem Co Ltd | Synthetic resin pipe |
| JP2000350322A (en) * | 1999-06-07 | 2000-12-15 | Sekisui Chem Co Ltd | Robot and method for laying optical fiber in sewer conduit using the same |
-
2004
- 2004-07-08 CN CNB2004100526193A patent/CN100381849C/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103322295A (en) * | 2013-05-11 | 2013-09-25 | 中煤科工集团武汉设计研究院 | Method for laying long-distance coal delivery pipeline and communication optical fiber cables in one ditch |
| CN103322297A (en) * | 2013-05-14 | 2013-09-25 | 中煤科工集团武汉设计研究院 | Method for laying coal transporting pipeline and communication optical cable in same ditch across road through heavy excavation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100381849C (en) | 2008-04-16 |
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Granted publication date: 20080416 Termination date: 20160708 |