Pipeline robot for detecting underground cable faults

A technology for pipeline robots and underground cables, which is used in the detection of faults, fault locations, and two-dimensional position/channel control by conductor type, which can solve problems such as low detection efficiency and inaccurate map construction.

Active Publication Date: 2020-06-12
GUANGDONG UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the existing detection methods using pipeline robots have pro

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  • Pipeline robot for detecting underground cable faults
  • Pipeline robot for detecting underground cable faults
  • Pipeline robot for detecting underground cable faults

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Embodiment Construction

[0071] This application discloses a pipeline robot for detecting underground cable faults. Considering the adaptability to various complex terrains and environments in underground pipelines, the chassis of the robot adopts a crawler structure, that is, the robot uses a crawler chassis as a load and walking mechanism, and various structural modules are arranged above the crawler chassis.

[0072] On the crawler chassis, the crawler drive wheels on both sides adopt a two-wheel differential drive structure. Although the tracked structure is inferior to the wheeled structure in terms of speed, the tracked chassis can rotate in situ by using the differential speed of the two wheels, and has strong passability. It has good performance and stability in uneven underground pipelines and has a long battery life. ability.

[0073] 1. Structural module part

[0074] Such as figure 1 As shown, the robot of this solution is equipped with a sensor module, an acquisition control module, an...

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Abstract

The invention discloses a pipeline robot for detecting underground cable faults. A crawler-type chassis is used as a bearing and walking mechanism; structural modules including a sensor module, an acquisition control module, an image acquisition module, a driving control module, a motion control module and an industrial personal computer are arranged above the crawler-type chassis, and the sensormodule is used for acquiring sensor data including laser point cloud data, temperature data and magnetic field data; the driving control module is used for receiving the posture adjusting instructionor the motion control instruction and driving the crawler-type chassis to move or steer in different directions according to the instruction; the acquisition control module realizes interaction amongthe sensor module, the driving control module and the industrial personal computer; the motion control module is used for measuring pose data of the robot; the image acquisition module is used for acquiring image information of the surrounding environment and sending the image information to the industrial personal computer; and the industrial personal computer is used for realizing robot positioning, control, image acquisition and related algorithms.

Description

technical field [0001] The present application relates to the field of robots and pipeline detection, in particular to a pipeline robot for detecting underground cable faults. Background technique [0002] With the rapid development of cities, the coverage of cable ducts continues to expand. In order to ensure the reliability and stability of urban power supply, it is necessary to ensure that cables are fault-free. However, because the cable is buried deep underground, it is easy to cause the insulation layer of the cable to corrode and damage, so that the metal wires are exposed. Once a failure or damage occurs, if there is no good underground cable positioning technology and troubleshooting method, but the method of random excavation to find the fault point is used, it will seriously affect the normal operation of the city and people's lives, which requires cable ducts The level of inspection and maintenance work needs to be continuously improved. [0003] For the detect...

Claims

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Application Information

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IPC IPC(8): G01R31/08G05D1/02B25J19/02B25J11/00B25J9/16
CPCG01R31/083G05D1/021G05D1/0221G05D1/0259G05D1/0257G05D1/0276B25J11/00B25J19/02B25J9/1666B25J9/1676
Inventor 温振威张学习
Owner GUANGDONG UNIV OF TECH
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