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A cable trench inspection robot with high obstacle-surmounting ability and its realization method

An inspection robot and cable trench technology, applied in cable installation, cable installation, cable laying equipment and other directions in underground pipelines, can solve problems such as stalling, affecting inspection, and complicated and difficult to implement line layout pipelines.

Active Publication Date: 2020-11-27
北京思迈特科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] If a cable trench inspection robot disclosed in Chinese patent CN201611230840 is used, due to the limited power of the driving machine of the existing wheels, it is easy to cause the wheels to idle or even stall because the wheels are blocked by the cables, which will not only affect the inspection but also burn the wheels motor; and if a track-type inspection robot disclosed in Chinese patent CN201510919244 is used, on the one hand, it is difficult to transform the existing pipelines; The cost increases geometrically

Method used

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  • A cable trench inspection robot with high obstacle-surmounting ability and its realization method
  • A cable trench inspection robot with high obstacle-surmounting ability and its realization method
  • A cable trench inspection robot with high obstacle-surmounting ability and its realization method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0080] Combine Figure 1 - Figure 4 As shown in a high obstacle cable trench capacity inspection robot, comprising a body 1, a top surface of the body 1 of the image acquisition device 2 is provided, on both sides of the body 1 is provided with a plurality of symmetrical wheels 3, each connected to a drive wheel 3 there is provided a driving motor 4 on the body 1; a body 1 equipped with the image acquisition device 2 and the drive motor 4 is electrically connected to the control board, the main body 1 is also provided with an auxiliary assembly 5 obstacle; an auxiliary component obstacle 5 several auxiliary motor 502, auxiliary motor 502 is electrically connected with a control board for driving the drum 501 is provided on the drum body 501 are arranged parallel below 1, each of the inner cylinder 501 has included.

[0081] Body panel comprises a first body 1 is connected by a plurality of bolts 101 and the second body panel 102, 102 arranged parallel to the first body panel 101 an...

Embodiment 2

[0086] Refer Figure 10The difference from the first embodiment is that the upper plate on the main control panel carries a first control assembly 6, each drive motor 4 and each auxiliary motor 502 have a unique ID and is connected to the main control board, respectively. The first control assembly 6 includes:

[0087] The first driving module 601 is configured to receive a working instruction or stop instruction to control the driving motor 4 to operate or stop, the first driving module 601 controls the output speed of the drive motor 4 to be V. 主 ;

[0088] The second drive module 602 is configured to receive a working instruction or stop instruction to control the auxiliary motor 502 to operate or stop, and the second driving module 602 controls the output speed of the auxiliary motor 502 to be V. 辅 ;

[0089] The storage module 603, the number of pulses when the drive motor 4 is normal, and the number N is used for the first judgment module;

[0090] The pulse sensor 604 is use...

Embodiment 3

[0097] Refer Figure 10-12 The difference between the present embodiment and the second embodiment is that the top surface of the first vehicle 101 corresponds to the position of one of the sides of the side, and the first patrol strip 107 and the second cruise strip 108, the first patrol Two parallel arranged laser ranging sensors 109 are provided outside the side strip 107;

[0098] Control Figure 13 The board is loaded on the boardboard with a second control assembly 7, including:

[0099] The start signal transmission module 701 is used to send all drive motor 4 to the rotational speed V. 主 Walking start signal, each drive motor 4 has a unique ID, each ID associated with the position of the drive motor 4 relative to the target target;

[0100] The second receiving module 702 is used to receive the distance information A and B of the measured target measurement with the laser ranging sensor 109 in real time;

[0101] The second determination module 703 is configured to determine...

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Abstract

The invention relates to a cable duct inspection robot with high obstacle crossing capacity. The robot comprises a robot body, an image collection device is arranged on the top face of the robot body,and multiple symmetric wheels are arranged at the two sides of the robot body; a driving motor is in transmission connection with each wheel and is arranged on the bottom face of the robot body; a main control board capable of receiving a signal to control the image collection device is arranged in the robot body, and an auxiliary obstacle crossing assembly is further arranged on the bottom faceof the robot body; the auxiliary obstacle crossing assembly comprises multiple rollers arranged below the robot body in parallel, and an auxiliary motor for driving the corresponding roller is arranged in each roller and electrically connected with the main control board. The cable duct inspection robot is simple in structure, and one independent driving motor is connected to each wheel, so that the power of the wheels is higher; in addition, due to existence of the auxiliary obstacle crossing assembly, the dilemma crossing capacity of the robot is high, and the situation is avoided that sincethe wheels are blocked by cables, the wheels idle, and even the motors are burned out by locked-rotors.

Description

Technical field [0001] The present invention relates to the field of automatic inspection apparatus, particularly relates to a cable channel obstacle inspection robot of a high capacity. Background technique [0002] With the development of technology, people have been limited to the development of the city on the ground, and a growing number of facilities began to take up as little as possible spatial arrangement of human activities, for example, have an impact on people's daily activities in order to reduce the current wire and cable most forms using underground pipes or the like laid cable channel. In order to maintain normal operation of the line for a long time, the need for regular inspection of its interior, the environment because of its specificity, generally try not to use the manual inspection mode, with the use of most underground cable conduit or channel inspection robot subjected to inspection, conventional inspection robot comprising at least one image acquisition ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J11/00B25J5/00B25J9/16H02G1/06H02G9/06
CPCB25J5/007B25J9/1664B25J9/1666B25J11/00H02G1/06H02G9/06
Inventor 商小龙曾维鲁
Owner 北京思迈特科技有限公司