CN214028901U - Cable tunnel is inspection device in coordination - Google Patents
Cable tunnel is inspection device in coordination Download PDFInfo
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- CN214028901U CN214028901U CN202022918847.1U CN202022918847U CN214028901U CN 214028901 U CN214028901 U CN 214028901U CN 202022918847 U CN202022918847 U CN 202022918847U CN 214028901 U CN214028901 U CN 214028901U
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Abstract
The utility model provides a cable tunnel is inspection device in coordination, the device includes: the system comprises a cooperative inspection robot, a mobile inspection terminal and an electronic tag; the mobile inspection terminal is wirelessly connected with the cooperative inspection robot, and the electronic tag is arranged at a cable accessory or component to be detected in the tunnel; the robot is patrolled and examined in coordination is equipped with around keeping away the barrier unit, and robot body upper portion rear end is equipped with gas environment analysis unit, and central point puts and is equipped with the visual detection unit, is the partial discharge between gas environment analysis unit and the visual detection unit and detects the annex box, and visual detection unit the place ahead is equipped with the circulation and detects the annex box, and robot body both sides are equipped with the robot cell of advancing, and the robot is patrolled and examined in coordination is inside to be provided with the main control unit. The utility model provides a staff's load overweight, check-out time overlength, the problem that detection efficiency is low, ensured the personnel's security of patrolling and examining to strengthened artifical patrolling and examining and patrolled and examined the cooperativeness of robot, improved the tunnel and patrolled and examined intelligent level.
Description
Technical Field
The utility model belongs to the technical field of cable tunnel fortune dimension management, more specifically relates to a cable tunnel is inspection device in coordination.
Background
With the deep promotion of urbanization construction in China, the power cable becomes an aorta which plays an important role in urban power transmission. High voltage power cable installs in underground passage (piping lane or tunnel), and the operational environment is comparatively abominable usually, relies on artifical fortune dimension not only work load big, inefficiency, and the danger degree is high moreover alone, and especially when cable plant trouble or passageway environment are unusual, the fortune dimension personnel of site work have life danger. Moreover, the outstanding contradiction between the insufficient number of operation and maintenance personnel and the development of the cable tunnel construction also restricts the development of lean operation and maintenance management work of the cable tunnel.
The manual inspection generally carries out several items of infrared temperature measurement, partial discharge detection and sheath circulation detection, wherein the infrared temperature measurement adopts an infrared thermal imager to measure the temperature of a cable accessory, the partial discharge detection adopts a high-frequency current partial discharge sensor to detect at a cable grounding wire, and the sheath circulation detection adopts a pincerlike ammeter to detect at the cable grounding wire. At present, various detecting instruments are single in function, so that inspection personnel need to carry various instruments (2 people bear about 40 kilograms) in a channel, walk on foot for a long distance to detect (about 400 meters) at an accessory, and the inspection personnel are overloaded.
At present, more on-line monitoring devices or rail-mounted inspection robots are installed on cable tunnels, but manual inspection cannot be completely replaced in the aspect of inspection fine effect. The tunnel online monitoring device is mostly connected by wired communication, the construction difficulty is high before the tunnel is put into operation or in the later technical transformation process, for example, the distributed optical fiber temperature measurement needs to lay optical fibers along the whole length of a cable body, and other monitoring modes only set monitoring equipment at accessories have low cost performance and are difficult to ensure the monitoring accuracy; the rail-mounted robot needs to carry out rail construction in the tunnel, is high in cost and long in construction period, is high in harm to personnel in severe environment, and is easy to damage the tunnel structure.
In addition, the online monitoring system or the inspection robot has poor intelligent sensing cooperativity with manual inspection, and has insufficient difficult and complicated fault analysis and emergency handling capacity. The accuracy of online defect identification solely by means of the inspection robot is still to be improved.
SUMMERY OF THE UTILITY MODEL
For solving the not enough that exists among the prior art, the utility model aims to provide a cable tunnel patrols and examines device in coordination adopts the manual work to patrol and examine and assist robot collaborative mode, solves the simple problem that relies on the manual work to patrol and examine load, inefficiency, intelligent level not enough.
The utility model adopts the following technical proposal.
The utility model provides a cable tunnel is inspection device in coordination, includes: the cooperative inspection robot comprises a cooperative inspection robot, a mobile inspection terminal and an electronic tag, wherein barrier avoiding units are arranged around the cooperative inspection robot, a gas environment analysis unit is arranged at the rear end of the upper part of a robot body, a visual detection unit is arranged at the central position, a partial discharge detection accessory box is arranged between the gas environment analysis unit and the visual detection unit, a circulation detection accessory box is arranged in front of the visual detection unit, robot traveling units are arranged on two sides of the robot body,
the mobile inspection terminal is a handheld PDA or a tablet personal computer with a robot remote control function,
the electronic tag is an RFID tag and is arranged at the cable accessory or component to be detected in the tunnel.
Preferably, the collaborative inspection robot internally comprises: the system comprises a main control unit, a traveling peripheral, a communication peripheral and a detection peripheral.
Preferably, the traveling peripheral includes: the device comprises a micro motor driving module, a UMB positioning module, an obstacle avoidance unit module and a holder driving module.
Preferably, the communication peripheral comprises: RFID read-write module and bluetooth communication module.
Preferably, the gas environment analysis unit comprises: carbon monoxide sensor, hydrogen sulfide sensor, oxygen sensor, methane sensor, temperature and humidity sensor and smoke sensor.
Preferably, the visual inspection unit includes: the infrared camera and the visible light camera are respectively arranged on two sides of the electric holder.
The vertical rotation angle range of the electric holder is +/-90 degrees, and the horizontal rotation angle range is 360 degrees.
Preferably, the loop current detection accessory box is configured with a wireless clamp ammeter.
Preferably, the partial discharge detection accessory box is provided with different numbers of high-frequency partial discharge sensors, and a BNC terminal is arranged in each box.
Preferably, the travelling unit comprises a tracked chassis.
The beneficial effects of the utility model reside in that, compared with the prior art, the utility model discloses based on artifical patrolling and examining the characteristics that the robot has complementarity, cross nature and relevance to cable body/passageway environment perception, a device that cable tunnel is artifical to be patrolled and examined in coordination with the robot is provided. The utility model adopts the light-weight robot, integrates the functions of infrared, grounding current, partial discharge, gas environment identification and the like, can be folded and carried, can greatly lighten the load of workers, and ensures the safety of the patrol personnel; the ground walking capability is strong, the remote control and autonomous tracking advancing functions are realized, basic obstacles can be crossed, and the trafficability is strong; the robot has the RFID triggering and identifying polling task function, can be controlled and operated by a tablet computer or a mobile phone, and can complete partial discharge sensing and current sensing in a wired or wireless mode, so that the detection time is shortened, and the detection efficiency is improved; the mobile inspection device can complete the whole-line evaluation at one time, and the inspection intelligent level is improved. The utility model discloses not only can greatly lighten the staff load, guarantee to patrol and examine personnel's security, can also reduce check-out time, promote detection efficiency, strengthen the manual work and patrol and examine the cooperativity of robot, improve the tunnel and patrol and examine intelligent level.
Drawings
Fig. 1 is a schematic diagram of an overall composition structure of a cable tunnel cooperative inspection device according to an embodiment of the present invention;
fig. 2 is an external schematic structural diagram of the cooperative inspection robot according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a functional module of the main control unit inside the robot body for collaborative inspection according to an embodiment of the present invention;
fig. 4 is a schematic view of an installation position of the electronic tag according to an embodiment of the present invention;
in the figure:
1-cooperating with the inspection robot;
11-obstacle avoidance unit;
12-a gas environment analysis unit;
13-a visual detection unit;
131-an infrared camera;
132-a visible light camera;
133-an electric pan-tilt;
14-circulation detection accessory box;
141-wireless clamp ammeter;
15-partial discharge detection accessory box;
151-high frequency partial discharge sensor;
152-a BNC terminal;
16-a robot travel unit;
17-a master control unit;
171-MCU calculation module;
172-high performance CPU computation module;
173-wireless AP routing module;
174-micro motor drive module;
175-UMB positioning module;
176-obstacle avoidance unit module;
177-a holder driving module;
178-RFID read-write module;
179-bluetooth communication module;
1710-a gas environment sensing module;
1711-partial discharge detection module;
1712-lithium batteries;
1713-external dc power supply;
18-a traveling peripheral;
19-a communication peripheral;
110-detect peripherals;
111-power detection;
112-a power supply unit;
113-battery charge and discharge management;
114-DCDC power conversion;
2, moving the inspection terminal;
3-an electronic tag;
30-an entrance label;
31A, 31B, 31C-a first set of linker tags;
32A, 32B, 32C-a second set of linker tags;
33-an exit label;
41-a first set of intermediate connectors;
411-first set of splice grounding boxes;
412-second set of splice grounding boxes;
42-second set of intermediate joints.
Detailed Description
The present application is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
As shown in fig. 1, the utility model provides a cable tunnel is inspection device in coordination, include: the mobile inspection robot comprises a collaborative inspection robot 1, a mobile inspection terminal 2 and an electronic tag 3, wherein the collaborative inspection robot 1 is connected with the mobile inspection terminal 2, and the electronic tag 3 is installed in a tunnel.
The mobile inspection terminal 2 is a handheld PDA or a tablet personal computer with a robot remote control function, is connected with the cooperative inspection robot 1 through Bluetooth, and transmits robot advancing control information, cradle head attitude control information and sensor detection data.
The travel mode of the collaborative inspection robot 1 can form autonomous tracking travel with the mobile inspection terminal 2, and manual guiding travel can also be carried out by the remote control function of the mobile inspection terminal 2. It can be understood that, owing to the nonstructural environmental problem in precision problem and the tunnel is berthhed to crawler-type, patrolling and examining robot 1 in coordination is unsuitable to do autonomous navigation, so the utility model discloses an automatic tracking mode of marcing based on UWB (Ultra Mobile Broadband system) module, the speed of marcing is about 1 ℃up
1.2m/s, and improves the system coordination efficiency.
The electronic tag 3 is an internet of things tag in the form of an RFID (Radio Frequency Identification) tag or a two-dimensional code, and is installed at a cable accessory or component to be detected in a tunnel, and identifies a detection point location or information of equipment to be detected, and the coordinated inspection robot 1 reads and identifies the information.
It is worth considering that, the position of electronic tags 3 in the tunnel can be installed according to the demand by technical personnel in the field, for example but not limited to, can install at tunnel entrance sign and patrol and examine the task starting point, install at tunnel exit sign and patrol and examine task ending point, install and should meet first body detection at certain meeting first sign, install the detection of this intermediate head ground connection case at certain ground connection case department sign.
As shown in fig. 2, the cooperative inspection robot 1 includes: the robot comprises an obstacle avoidance unit 11, a gas environment analysis unit 12, a visual detection unit 13, a circulation detection accessory box 14, a partial discharge detection accessory box 15 and a robot traveling unit 16, wherein the obstacle avoidance unit 11 is arranged around the cooperative inspection robot 1, the gas environment analysis unit 12 is arranged at the rear end of the upper portion of a robot body, the visual detection unit 13 is arranged at the center position, the partial discharge detection accessory box 15 is arranged between the gas environment analysis unit 12 and the visual detection unit 13, the circulation detection accessory box 14 is arranged in front of the visual detection unit 13, and the robot traveling unit 16 is arranged on two sides of the robot body.
The obstacle avoidance unit 11 is installed around the cooperative inspection robot 1 for detecting whether obstacles exist around and finding the obstacles in the tunnel in time.
The gas environment analysis unit 12 is installed at the rear end of the upper portion of the collaborative inspection robot 1 and used for analyzing the gas environment around the collaborative inspection robot 1 and sensing the environment in the tunnel in time. It will be understood that, in a preferred but non-limiting embodiment, the gas environment analysis unit 12 comprises: the carbon monoxide sensor, the hydrogen sulfide sensor, the oxygen sensor, the methane sensor, the temperature and humidity sensor and the smoke sensor are 1 respectively, the sensors are mutually independent, and the acquisition mode is diffusion detection.
In the embodiment, the sampling mode of the carbon monoxide sensor is a diffusion type, and a preferable but non-limiting embodiment is that the measuring range is (0-1000) ppm, and the precision is 1 ppm; the sampling mode of the hydrogen sulfide sensor is a diffusion type, and a preferable but non-limiting embodiment is that the measuring range is (0-100) ppm, and the precision is 1 ppm; the sampling mode of the oxygen sensor is a diffusion type, and a preferable but non-limiting embodiment is that the measuring range is (0-30.0)% Vol, and the precision is 0.1% Vol; the sampling mode of the methane sensor is a diffusion type, and a preferable but non-limiting embodiment is that the measuring range is (0-100)% LEL, and the precision is 1% LEL; the smoke sensor adopts a plasma sensor module, has high sensitivity to gas such as combustible gas, smoke and the like, sets a smoke concentration threshold value through an onboard potentiometer, and outputs a logic level by digital quantity when detecting that the concentration of environmental gas exceeds the threshold value; the temperature and humidity sensor adopts a TH 06I 2C temperature and humidity sensor, and a preferable but non-limiting embodiment is that the measurement range is 0-85% RH and-10-85 ℃, and the maximum error is +/-4% RH and +/-0.5 ℃.
The infrared camera 131 is arranged on one side of the electric holder, and a preferable but non-limiting embodiment is that an uncooled vanadium oxide infrared focal plane detector is adopted, the resolution ratio is 640 multiplied by 480 pixel units, clear image quality and thermal sensitivity can be provided, and the detectable temperature difference is less than or equal to 85 mK; thermal imaging detection distances in excess of 100 meters provide sharp and clear thermal images under conditions of total black, haze and smoke.
The visible light camera 132 is installed at electronic cloud platform opposite side, supports high definition image picture collection, supports 1080P output, supports dual code stream and high definition snapshot.
The motorized pan/tilt head 133 is installed between the infrared camera 131 and the visible light camera 132 for capturing and recognizing infrared and visible light images, and a preferred but non-limiting embodiment is that the motorized pan/tilt head 133 has a vertical rotation angle range of ± 90 ° and a horizontal rotation angle range of 360 °. It can be understood that the electric cradle head 133 can realize double-light all-weather video detection by switching the infrared camera 131 and the visible light camera 132 through videos.
The circulation detection accessory box 14 is used for placing the wireless clamp ammeter 141, and during detection, the wireless clamp ammeter and the mobile inspection terminal 2 are directly communicated in a Bluetooth connection mode to transmit current test data.
The partial discharge detection accessory box 15 is installed on the cooperative inspection robot 1, and includes: a high-frequency partial discharge sensor 151 and a BNC terminal 152. The partial discharge detection accessory box 15 has 3, all is used for placing the high frequency partial discharge sensor 151, and all is equipped with BNC terminal 152 in every box.
The high-frequency partial discharge sensor 151 is used for partial discharge measurement. It is understood that, a person skilled in the art may arbitrarily select the number of the high-frequency partial discharge sensors 151 to be used in connection according to specific detection requirements, for example, but not limited to, only 1 high-frequency partial discharge sensor may be used for single-phase detection of partial discharge, and all 3 high-frequency partial discharge sensors are required to be used for three-phase simultaneous detection of a cross-connected grounding box.
The BNC terminal 152 is used for connecting a line-type high-frequency partial discharge sensor, or establishing connection between the high-frequency partial discharge sensor 151 and the cooperative inspection robot 1 in a wireless communication manner.
The robot traveling unit 16 comprises a tracked chassis, which the skilled person can choose as desired, a preferred but non-limiting embodiment being that the tracks are made of wear-resistant rubber with a width of 70 mm, the number of track sections is 54, and the traveling speed can reach 5 km per hour. Aiming at the complex conditions of uneven ground, water accumulation, obstacles and the like, the crawler-type moving body is adopted to realize stable operation, accurate parking and quick maneuvering operation of the robot under the complex ground condition through a gear-changing mechanism and a high-precision transmission system design and a compensation optimization control method. The high-precision crawler design method reduces the accumulated error of the circumferential sections; the optimization control system for the micro-movement of the crawler solves the problem of high parking precision of the crawler robot; the stepless gear-changing mechanism realizes low-speed climbing, obstacle crossing and high-speed flat ground movement of the robot and solves the requirement of low-speed conventional inspection; the chassis adopts liftable formula structural design, can suitably adjust the chassis height according to the tunnel bottom ponding condition.
The crawler-type ground mobile robot has the advantages that compared with the existing track type mobile mode, track construction is not needed, blind-corner-free omnibearing defect detection under the conditions of short distance and shielding can be achieved, and the technical scheme is advanced.
It can be understood that, the cable tunnel internal environment seals and there are undulation, ponding on ground, and current tunnel robot adopts the orbit mode of operation that hangs usually, has the track construction cycle long, can't realize the problem that does not have the dead angle to detect the cable defect. In this embodiment, synthesize cable tunnel and patrol and examine environmental characteristic, design the crawler-type moving mechanism that is fit for the operation of cable tunnel, guarantee the trafficability characteristic of robot to different road surface conditions in the tunnel. Meanwhile, by designing a cable defect detection mechanical arm and a matched detection tool on the mobile platform, dead-angle-free, omnibearing and multi-parameter detection of the cable in a running state under the conditions of close distance and shielding is realized. A multi-degree-of-freedom mechanical arm and a flexible tail end detection tool are designed, a plurality of sensors are carried, and the multi-dimensional space-time information of the on-site on-line monitoring device is fused, so that the comprehensive monitoring of the cable body and the tunnel is realized.
As shown in fig. 3, the cooperative inspection robot 1 includes: the system comprises a main control unit 17, a traveling peripheral 18, a communication peripheral 19, a detection peripheral 110, a visual detection unit 13 and a power supply unit 112, wherein the main control unit 17 controls and collects detection information of the traveling peripheral 18, the communication peripheral 19, the detection peripheral 110, the visual detection unit 13 and the power supply unit 112.
The main control unit 17 includes: the wireless AP routing module 173 comprises an MCU computing module 171, a high-performance CPU computing module 172, a wireless AP routing module 173, an external direct-current power supply 1713 input power detection module, a battery charging and discharging management module and a DCDC power supply conversion module, voltage converted by the DCDC power supply is input into the MCU computing module 171, the high-performance CPU computing module 172 and the wireless AP routing module 173, and voltage converted by the battery charging and discharging management module is input into a lithium battery pack 1712.
The MCU (Microcontroller Unit) calculation module 171 is responsible for acquisition and fusion of robot sensing data, data storage, bottom layer driving, robot control algorithm and overall control logic, and is mainly used for driving and controlling the traveling peripheral 18, the communication peripheral 19 and the detection peripheral 110.
The high-performance CPU computing module 172 is configured to drive the vision detecting unit 13, and run an ROS System (Robot Operating System) and a dual-light fusion machine vision algorithm in real time, so that the module performs video acquisition and operation.
The MCU calculation module 171 and the high-performance CPU calculation module 172 perform network switching through the wireless AP routing module 173.
It is worth noting that the main control unit 17 of the robot needs to have high-performance functions such as a main control core, power management, driving, communication and sensing detection under the constraint of a narrow space, and meanwhile, the main control system and the driving system have independent operation functions, so that the later debugging and maintenance work is met. The processing capacity of the main control core meets the requirement of the robot on sufficient redundancy in addition to the operation of the vision algorithm, and the algorithm is convenient to expand and upgrade.
The traveling peripheral 18 includes: the micro motor driving module 174, the UMB positioning module 175, the obstacle avoidance unit module 176 and the cradle head driving module 177 are all connected with the MCU calculating module 171. .
The micro motor driving module 174 drives the MCU calculating module 171.
UMB (Ultra Mobile Broadband, Ultra Mobile Broadband system) positioning module 175, respectively install 1 UMB module about patrolling and examining the robot body front end in coordination, install 1 UMB module on Mobile inspection terminal 2, form range net (RangeNet) through UMB triangulation location between the three modules, can realize patrolling and examining robot 1 in coordination and patrol and examine the automation of terminal 2 (the personnel of patrolling and examining) and follow.
It is understood that one skilled in the art can select the desired UMB system as desired, and a preferred but non-limiting embodiment is that the UMB location module 175 employs a P440 UWB module, which is an ultra-wideband wireless transceiver with a band between 3.1GHz and 4.8 GHz.
It can be understood that the ranging network (RangeNet) is a system function that the P440 extends on the basis of the RCM, and can satisfy the problem that needs to be solved when performing ranging between multiple modules in an area, for example, but not limited to, such as module crosstalk, selection of mapping relationships, timing specification, and extension of multiple subsystems. The RangeNet API allows a user to define the behavior of modules within a network while defining a network, and the operation within the network is controlled by P440. In particular, P440 is responsible for scheduling ranging requests, maintaining a database of all neighbors, and passing information between the host and the network. The RangeNet resides in a network node. Each node may issue ranging requests to multiple other nodes and respond in time to ranging requests issued by multiple other nodes. Nodes of the RangeNet can be set to "beacons" and "initiators". The beacon does not actively issue a ranging request, it merely announces its presence to surrounding nodes and automatically responds to received ranging requests. The initiator periodically and autonomously initiates a ranging invitation to surrounding nodes and sends a ranging result to the connected host. The RangeNet is a wireless Medium Access Control (MAC) layer realized on the basis of an RCM link layer consisting of a P440 UWB module, and reduces the burden of a user on directly initializing a data packet through the RCM link layer so as to coordinate flight time. RangeNet supports two protocol options: random scheduling (ALOHA) and Time Division Multiple Access (TDMA). The host may dynamically switch between these two media access control modes.
The obstacle avoidance unit module 176 is configured to obtain environment data in the tunnel through the obstacle avoidance unit 11.
The pan/tilt drive module 177 can set auto-cruise, horizontal scanning, camera mode, title display, and the like, and has a pan/tilt coordinate and lens magnification display function.
The communication peripheral 19 includes: the RFID read-write module 178 and the Bluetooth communication module 179 are connected with the MCU calculation module 171.
The RFID (Radio Frequency Identification) read-write module 178 is used for performing non-contact data communication between the reader and the tag, so as to achieve the purpose of identifying the target.
The bluetooth communication module 179 is used for a specific short-range wireless technology connection between the fixed and mobile devices to establish a communication environment.
Detecting peripheral 110 includes: the gas environment sensing module 1710 and the partial discharge detection module 1711 are connected to the MCU computing module 171.
The gas environment sensing module 1710 is configured to obtain gas environment data through the gas environment analysis unit 12.
The partial discharge detection module 1711 is configured to obtain partial discharge detection data through the partial discharge detection accessory box 15.
The power supply unit 112 includes: a lithium battery pack 1712 and an external dc power supply 1713.
The lithium battery pack 1712 is used for providing energy for the robot body to travel and perform cooperative work when the power supply unit 112 is used for inspection work.
The external dc power supply 1713 is used for the power supply unit 112 to supply power during debugging or charging.
As shown in fig. 4, the electronic tag 3 includes: an inlet label 30, a first set of connector labels 31, a second set of connector labels 32 and an outlet label 33.
It is understood that the person skilled in the art may choose the location to install the electronic tag 3, for example, but not limited to, the electronic tag 3 may be installed at the accessory, or may be installed at a fixed point at the wellhead, that is, at the exit and entrance of the tunnel, and at key and important monitoring points of the accessory, a separate tag is installed correspondingly.
At the entry tag 30, a patrol task needs to be initiated.
The first set of joint tags 31 comprises: a first set of linker labels 31A, a first set of linker labels 31B and a first set of linker labels 31C.
Second set of connector tags 32 includes: second set of linker labels 32A, second set of linker labels 32B, and second set of linker labels 32C.
The corresponding label department in the tunnel, in the cable along the line scope promptly, will gather cable tunnel environment humiture, tunnel combustible and toxic gas, cable joint discernment and location, cable joint partial discharge and joint temperature detection, joint ground connection circulation detection respectively according to the actual equipment condition, can also the perception water level simultaneously and well lid state. It is understood that the type of data in the cable tunnel selected by those skilled in the art can be arbitrarily configured, and a preferred but non-limiting embodiment is that, in the embodiment of the present invention, in order to predict the failure of the cable, the collected data includes: cable partial discharge, cable tunnel humiture, ponding water level, combustible gas, toxic gas, smog are surveyed to and cable well lid gets theftproof monitoring data. The cable well lid anti-theft monitoring device is installed near the field acquisition unit and is communicated with the field acquisition unit through a wireless sensor network. And when the data are collected to the field acquisition unit, the centralized acquisition unit transmits the data to the background monitoring center through an ad hoc exclusive local area network formed by a long-distance wireless network. The background monitoring center displays the online condition of the cable tunnel field acquisition unit, acquired data and the position of equipment installation in real time, and combines a GIS system to visually know the latest condition of the cable tunnel in real time. The background monitoring system software supports the portable mobile equipment platform, and the fault occurs, and the responsible person is informed by short messages in time, so that the field data collection of the outside patrol workers is facilitated, and the fault is solved in time.
At the exit label 33, the current inspection task needs to be ended, and an inspection analysis evaluation report is automatically generated.
It should be noted that the RFID tag 3 can satisfy a reading distance of about 2 meters by cooperating with the RFID read/write module 178 built in the inspection robot 1.
The embodiment also provides a working principle of the cable tunnel cooperative inspection device, which comprises the following steps:
And 2, after the gas environment sensing detection is qualified, the mobile inspection terminal 2 allows the inspection task to be loaded, and the inspection process is started.
And 4, after the cooperative inspection robot 1 scans a certain electronic tag 3 in the advancing process, stopping the advance of the cooperative inspection robot 1, automatically triggering an inspection task by the mobile inspection terminal 2, and prompting the inspection personnel to develop a corresponding cable state detection project according to a screen task flow of the mobile inspection terminal 2.
Wherein the cable inspection item comprises: sheath grounding circulation detection, high-frequency military detection and infrared temperature measurement.
Sheath grounding circulation detection: the wireless clamp ammeter 141 is taken out and clamped on the grounding wire of the cable sheath, the mobile inspection terminal 2 directly reads the grounding circulation detection data through Bluetooth and puts back the wireless clamp ammeter 141.
High-frequency partial discharge detection: and taking out and connecting a corresponding number of high-frequency partial discharge sensors 151, monitoring the change of the high-frequency partial discharge map by the mobile inspection terminal 2, storing the test map, and returning to the high-frequency partial discharge sensors 151.
Infrared temperature measurement: and (3) carrying out infrared temperature measurement on the preset point, firstly automatically adjusting the posture of the electric holder 133 according to default settings by the inspection robot 1, then finely adjusting the posture of the electric holder 133 by an inspection worker through the mobile inspection terminal 2, simultaneously shooting an infrared image and a visible light image after adjustment, forming a double-light fusion map, and displaying and storing the double-light fusion map at the mobile inspection terminal 2.
It is worth noting that: when data and map are found to be abnormal in the cable state detection process, the mobile inspection terminal 2 sends an alarm message; and completing the cable state detection of the label point location.
And 5, continuing to move according to the set routing inspection route, and repeating the step 3 and the step 4.
And 6, automatically exiting the inspection mode after the cooperative inspection robot 1 scans the electronic tag 3 indicating the terminal point in the traveling process, and evaluating the environment and the state of the cable tunnel by the mobile inspection terminal 2 to mark that the inspection operation is finished.
It can be understood that, for example, after a suspected missing defect of a cable grounding wire is found, the robot device may send a "grounding wire missing" alarm signal and record a patrol log, and after the patrol is finished, the robot patrol device (i.e., the mobile patrol device) may observe an image of the stolen and cut equipment through a visible light image and give a decision suggestion that the stolen and cut cable line is down to be in line with the operation or quit the operation. The robot judges the 'grounding wire loss' through visual identification grounding wire stealing and cutting, sheath circulating current detection and manual inspection visual association, and automatically generates an evaluation report and an inspection decision suggestion after inspection is finished.
It is understood that the person skilled in the art may configure the selected power cable material at will, and a preferred but non-limiting embodiment is that, in the embodiment of the present invention, in order to predict a heating fault of a certain joint of the power cable body (i.e. the fault type is a temperature anomaly), the parameters related to the fault are collected including: infrared image and optical fiber distributed temperature measurement. Wherein, the infrared image is periodically collected by the robot inspection device and is an intermittent parameter; the optical fiber distributed temperature measurement is a continuity parameter acquired in real time. The parameters can reflect the heating of a certain joint of the power cable body from different aspects and can be used as acquisition parameters of the heating of the certain joint of the power cable body. In addition, the patrol personnel can shoot videos, record sound and record important patrol defects (including water accumulation defects, component defects and the like) by using the mobile patrol terminal 2 and can also record the important patrol defects into a final patrol report.
The beneficial effects of the utility model reside in that, compared with the prior art, the utility model discloses based on artifical patrolling and examining the characteristics that the robot has complementarity, cross nature and relevance to cable body/passageway environment perception, a device that cable tunnel is artifical to be patrolled and examined in coordination with the robot is provided. The utility model adopts the light-weight robot, integrates the functions of infrared, grounding current, partial discharge, gas environment identification and the like, can be folded and carried, can greatly lighten the load of workers, and ensures the safety of the patrol personnel; the ground walking capability is strong, the remote control and autonomous tracking advancing functions are realized, basic obstacles can be crossed, and the trafficability is strong; the robot has the RFID triggering and identifying polling task function, can be controlled and operated by a tablet computer or a mobile phone, and can complete partial discharge sensing and current sensing in a wired or wireless mode, so that the detection time is shortened, and the detection efficiency is improved; the mobile inspection device can complete the whole-line evaluation at one time, and the inspection intelligent level is improved. The utility model discloses not only can greatly lighten the staff load, guarantee to patrol and examine personnel's security, can also reduce check-out time, promote detection efficiency, strengthen the manual work and patrol and examine the cooperativity of robot, improve the tunnel and patrol and examine intelligent level.
The applicant of the present invention has made detailed description and description of the embodiments of the present invention with reference to the drawings, but those skilled in the art should understand that the above embodiments are only the preferred embodiments of the present invention, and the detailed description is only for helping the reader to better understand the spirit of the present invention, and not for the limitation of the protection scope of the present invention, on the contrary, any improvement or modification made based on the spirit of the present invention should fall within the protection scope of the present invention.
Claims (10)
1. The utility model provides a cable tunnel is inspection device in coordination, includes: robot (1), removal are patrolled and examined terminal (2) and electronic tags (3) in coordination, its characterized in that:
obstacle avoidance units (11) are arranged on the periphery of the collaborative inspection robot (1), a gas environment analysis unit (12) is arranged at the rear end of the upper portion of the robot body, a visual detection unit (13) is arranged at the center position, a partial discharge detection accessory box (15) is arranged between the gas environment analysis unit (12) and the visual detection unit (13), a circulation detection accessory box (14) is arranged in front of the visual detection unit (13), robot traveling units (16) are arranged on two sides of the robot body,
the mobile inspection terminal (2) is a handheld PDA or a tablet personal computer with a robot remote control function,
the electronic tag (3) is an RFID tag and is arranged at the cable accessory or component to be detected in the tunnel.
2. The cable tunnel cooperation inspection device according to claim 1, wherein:
the robot is patrolled and examined in coordination inside including: the system comprises a main control unit (17), a traveling peripheral (18), a communication peripheral (19) and a detection peripheral (110).
3. The cable tunnel cooperation inspection device according to claim 2, wherein:
the master control unit (17) comprises: MCU calculation module (171), CPU calculation module (172) and wireless AP routing module (173).
4. The cable tunnel cooperation inspection device according to claim 3, wherein:
the traveling peripheral (18) includes: the device comprises a micro motor driving module (174), a UMB positioning module (175), an obstacle avoidance unit module (176) and a holder driving module (177).
5. The cable tunnel cooperation inspection device according to claim 4, wherein:
the communication peripheral (19) comprises: an RFID read-write module (178) and a Bluetooth communication module (179).
6. The cable tunnel collaboration inspection device according to any one of claims 1 to 5, wherein:
the gas environment analysis unit (12) comprises: carbon monoxide sensor, hydrogen sulfide sensor, oxygen sensor, methane sensor, temperature and humidity sensor and smoke sensor.
7. The cable tunnel collaboration inspection device according to any one of claims 1 to 5, wherein:
the visual detection unit (13) includes: an infrared camera (131), a visible light camera (132) and an electric holder (133), wherein the infrared camera (131) and the visible light camera (132) are respectively arranged at two sides of the electric holder (133),
the vertical rotation angle range of the electric holder (133) is +/-90 degrees, and the horizontal rotation angle range is 360 degrees.
8. The cable tunnel collaboration inspection device according to any one of claims 1 to 5, wherein:
the circulation current detection accessory box (14) is provided with a wireless clip-on ammeter (141).
9. The cable tunnel collaboration inspection device according to any one of claims 1 to 5, wherein:
the partial discharge detection accessory box (15) is provided with different numbers of high-frequency partial discharge sensors (151), and each box is internally provided with a BNC terminal (152).
10. The cable tunnel collaboration inspection device according to any one of claims 1 to 5, wherein:
the travel unit (16) comprises a tracked chassis.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117047783A (en) * | 2023-10-11 | 2023-11-14 | 中煤科工机器人科技有限公司 | Auxiliary operation robot with intelligent environment sensing function |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117047783A (en) * | 2023-10-11 | 2023-11-14 | 中煤科工机器人科技有限公司 | Auxiliary operation robot with intelligent environment sensing function |
| CN117047783B (en) * | 2023-10-11 | 2023-12-22 | 中煤科工机器人科技有限公司 | Auxiliary operation robot with intelligent environment sensing function |
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