Orbit-change mechanism control system for electric power tunnel inspection robot and method

Abstract

The invention discloses an orbit-change mechanism control system for an electric power tunnel inspection robot and a control method. According to the orbit-change mechanism control system, an inspection robot communicates with an orbit-change control unit through a tunnel wireless network; the orbit-change control unit comprises a local control box, a motor driver, a motor, a control feedback sensor and an orbit-change device; the local control box, the motor driver and the motor are sequentially connected; the motor is connected with the orbit-change device; the control feedback sensor is connected with the orbit-change device and the local control box respectively; and the orbit-change device is arranged on a junction of a tunnel. The orbit-change mechanism control system and the control method have the beneficial effects that monitoring equipment can move along a fixed orbit in the tunnel and can automatically adjust a changeable orbit for inspection path selection; the defects that fixed monitoring can only be carried out at a fixed point and short-distance operation cannot carried out are really avoided; and visual inspection in a real sense is implemented on a tunnel body and a cable in the tunnel.

Description

technical field [0001] The invention relates to the technical field of power tunnel robot monitoring, in particular to a control system and method for a power tunnel inspection robot track change mechanism. Background technique [0002] With the wide application of cables in urban power grids, power tunnels have become one of the main channels for cable laying. [0003] Power cable tunnels generally have a relatively small space, and the ground is uneven, and obstacles are prone to appear on the internal construction ground, which is not conducive to the application of ground robots. Suspension robots are more suitable for tunnel space applications, but the quality of power tunnels in China varies, so it is necessary to fully consider the weight of the track and the potential threat caused by the vibration impact of the inspection robot walking on the power tunnel. At present, domestic power cable tunnels often have criss-crossing situations. Single or circular track inspec...

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Problems solved by technology

[0006] By building a light hoisting track changing device in the tunnel, the monitoring equipment can not only move along the fixed track in the tunnel, but also automatically adjust the variable track for inspection path selection, which really solves the problem that fixed monitoring can only be fixed-point and cannot be operated at close range The shortcomings of the tunnel body and the cables in the tunnel are implemented in a real sense of visual inspection

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