Underground cable tunnel inspection robot based on dynamic PT symmetric tuning and wireless charging system

Abstract

According to the underground cable tunnel inspection robot based on dynamic PT symmetric tuning and the wireless charging system, a honeycomb-shaped aluminum alloy antimagnetic waterproof shell and an integrated omnidirectional four-wheel drive system are adopted for a movable chassis, and double permanent magnet synchronous motors and a stainless steel waterproof structure are arranged, so that high maneuverability in a humid multi-obstacle environment is ensured. And the inspection module integrates multispectral imaging, non-contact infrared temperature measurement and UWB positioning beacons to realize cable surface defect detection and environmental parameter analysis. The dynamic energy cabin cooperates with the PT symmetric wireless charging tuning unit through a three-degree-of-freedom adaptive compensation mechanism, and supports all-weather contactless energy supply in combination with a double-circuit power supply management module. The electromagnetic waterproof shell adopts a three-layer composite shielding structure and a waterproof ventilation valve, so that high-frequency magnetic field interference and moisture erosion are effectively resisted. And the control communication module realizes precise operation through multi-modal data fusion and master control decision. The self-cleaning device is provided with a 360-degree rotating spray head and a miniature high-pressure air pump, and pollutants on the surfaces of a lens, an infrared window and a coil can be rapidly removed. Dynamic PT tuning, electromagnetic barrier and intelligent compensation technologies are integrated through modular design, the inspection precision and safety in high-humidity, strong-magnetic interference and complex terrain environments are remarkably improved, the system has the characteristics of self-cleaning maintenance, efficient wireless charging and low manual intervention, and an all-weather autonomous intelligent operation and maintenance solution is provided for an underground cable tunnel.

Description

Technical Field

[0001] The present invention belongs to the technical field of inspection robots for high-voltage power equipment, and particularly relates to a wireless charging system and a structured robot carrier that integrate PT symmetry condition adaptive optimization, aiming to solve the problems of battery life bottleneck and poor dynamic charging robustness of inspection robots under high-voltage electromagnetic interference. Background Art

[0002] With the acceleration of urbanization, underground cable tunnels, as the core channels for power distribution, their operating reliability directly affects the safety of the power grid. In recent years, potential hazards such as aging of cable joints, partial discharge, and insulation damage have occurred frequently, making intelligent inspection robots gradually replace manual labor as the mainstream means for tunnel operation and maintenance. However, the special environment of underground cable tunnels poses severe challenges to the battery life of robots and the safety of charging. The existing technologies have the following significant defects:

[0003] Structural limitations of inspection robots: Most existing tunnel inspection robots adopt rigid mechanical structures, with joint modules integrating motors and reducers, resulting in large volume, insufficient flexibility, and difficulty in adapting to narrow tunnel environments with a diameter less than 200 mm. Their deformation control accuracy and motion stability are insufficient, and they lack the ability to adapt to dynamic environments. In addition, the sensor layouts of existing robots are scattered, and the integration degrees of functional modules such as gas detection (e.g., CH4, CO), temperature and humidity monitoring are low, making it difficult to achieve multi-parameter collaborative analysis.

[0004] Wireless charging technology faces three major challenges in tunnel scenarios: (1) The misalignment of coils caused by the positioning offset of robots, and the existing electric slide rail solutions have slow dynamic response and lack of adaptive compensation; (2) The metal structures and electromagnetic interference in the tunnel damage the magnetic field coupling, the efficiency of traditional magnetic resonance fluctuates greatly, and the LCC compensation network has not solved the problem of dynamic real-time tuning; (3) Fixed charging devices cannot achieve synchronous operation of operation and charging.

[0005] There are two major technical bottlenecks in underground tunnels: First, electromagnetic shielding interferes with radio communication, and the existing acoustic wave solutions have insufficient bandwidth and are difficult to support high-definition data synchronous transmission; second, there is a lack of intelligent scheduling in the robot energy management system, the battery life is short, and it does not dynamically match the task load, resulting in low energy efficiency. Therefore, there is a need for an underground cable tunnel inspection system that integrates a highly mobile body, adaptive wireless charging, and intelligent energy management, combined with dynamic PT symmetry tuning technology to achieve real-time impedance matching at the transmitter-receiver ends and enhance charging stability in complex electromagnetic environments.

[0006] The present invention provides an underground cable tunnel inspection robot and a wireless charging system based on dynamic PT - symmetric tuning, aiming to solve the above - mentioned technical problems. Through the adaptive impedance matching mechanism of dynamic PT - symmetric tuning, the magnetic resonance phase synchronization in the high - frequency band is ensured. An automatic position adjustment mechanism and a dynamic tuning circuit are adopted. When the robot moves, the charging coil can be aligned in real - time and the energy transfer can be stabilized, avoiding the efficiency reduction caused by positioning deviation. The robot shell is designed with a combination of a honeycomb - shaped aluminum alloy layer and a waterproof and breathable membrane, which can not only shield the high - voltage magnetic field interference but also prevent water vapor intrusion in the humid tunnel. A four - wheel omnidirectional drive system is configured, combined with lightweight joint modules, enabling the robot to freely turn within narrow curves (diameter ≥ 150 mm) and adapt to complex terrains. A multi - spectral camera, an infrared thermometer, and a gas sensor are integrated, which can automatically identify cable surface cracks, temperature anomalies, and harmful gas leaks, and the data is transmitted back in real - time through an anti - interference communication module. A dual - power supply of an internal battery and a capacitor is built - in, and the power supply mode is intelligently switched according to the task requirements, extending the battery life and reducing battery loss. The micropulse high - pressure air cyclone nozzle of the self - cleaning device and the anti - pollution coating work together to prevent the performance degradation caused by dirt accumulation on the lens and the coil surface. Through the simplification of the structure and the integration of functions, while ensuring high - precision detection capabilities, the reliability and maintenance convenience of the robot in humid and strong magnetic interference environments are significantly improved, providing an intelligent inspection solution with low cost, easy deployment, and zero emissions for underground cable tunnels. Summary of the Invention

[0007] To solve the above - mentioned technical problems, the present invention provides an underground cable tunnel inspection robot and a wireless charging system based on dynamic PT - symmetric tuning, aiming to solve the problems of low charging efficiency, sensitivity to electromagnetic interference, poor adaptability to complex terrains, and high maintenance costs of traditional tunnel inspection robots. This robot system has the characteristics of high - precision detection, adaptive charging, strong anti - interference, and low manual intervention, and is suitable for humid, strong magnetic, and narrow underground cable tunnel environments, realizing all - weather, all - terrain, and fully autonomous intelligent operation and maintenance.

[0008] An underground cable tunnel inspection robot and wireless charging system based on dynamic PT symmetric tuning integrates dynamic PT symmetric tuning technology, three-degree-of-freedom adaptive compensation mechanism and multimodal sensing module. Through the collaborative design of honeycomb anti-magnetic and waterproof shell and omnidirectional four-wheel drive system, it breaks through the movement limitation of traditional inspection devices in narrow tunnels. The robot is equipped with a multi-spectral imager, a non-contact infrared thermometer and a gas sensor, which can simultaneously detect cable surface cracks, abnormal insulation layer temperature rise and leakage of harmful gases such as methane, and transmit data in real time through an anti-interference acoustic dual-mode communication module. The wireless charging system adopts dynamic PT symmetric resonant topology and segmented receiving coil group, combined with a guide rail transmitting array, to realize energy transmission during the robot's movement, effectively solving the problem of charging interruption caused by positioning offset. The specially designed electromagnetic shielding layer and waterproof breathable valve structure can operate stably in strong electromagnetic fields and humidity environments. The self-cleaning device automatically removes stains on the surface of the lens, sensor and charging coil through a 360-degree rotating nozzle and a micro high-pressure air pump, ensuring long-term maintenance-free operation of the equipment. This robot system uses a battery-supercapacitor hybrid energy storage architecture to extend the battery life to more than 48 hours, significantly improving the inspection reliability and battery life in complex, humid and electromagnetic environments.

[0009] To achieve the above objectives, the present invention provides an underground cable tunnel inspection robot and a wireless charging system based on dynamic PT symmetric tuning, comprising:

[0010] Preferably, a mobile chassis is provided with an inspection task module, a dynamic energy cabin module, a motor drive module, a power management module and a self-cleaning waterproof module; a control communication module is installed inside the mobile chassis; and the electromagnetic waterproof housing is installed on both sides of the mobile chassis.

[0011] Preferably, a task inspection module is installed in the middle of the mobile chassis and is suspended and fixed to the electromagnetic waterproof housing on both sides by bolts; the task inspection module includes the multi-spectral imaging system, the non-contact infrared temperature measurement and the UWB positioning beacon module; the multi-spectral imaging system includes a ring LED fill light, a filtered ultraviolet camera and a high-definition camera; the non-contact infrared temperature measurement includes a miniature infrared camera and a gas detection sensor.

[0012] Preferably, a dynamic energy cabin module comprises three retractable array coils, and the dynamic energy cabin module is equipped with several three-degree-of-freedom dynamic compensation platforms; the retractable array coils comprise three groups of Litz wire flat-top spiral coils and a magnetic fluid buffer layer; the dynamic compensation platform comprises a pitch-yaw gimbal and a magnetic fluid buffer layer.

[0013] Preferably, a motor drive module, the motor drive module includes a dual permanent magnet synchronous drive motor installed at the tail of the robot body, the outer layer of the omnidirectional four-wheel drive unit is wrapped with conductive voltage-sensitive rubber, and the omnidirectional four-wheel drive unit is distributed around the robot body; the motor drive module includes a dual radial telescopic guide rail system, and the dual radial telescopic guide rail system includes two carbon fiber guide rails parallelly arranged along the central axis of the robot body, and a linear motor-driven ball integrated inside is electrically connected to the permanent magnet synchronous drive motor.

[0014] Preferably, an electromagnetic waterproof housing module, the electromagnetic waterproof housing module includes an outer protective layer, an intermediate shielding layer, and an inner waterproof layer; honeycomb-shaped diversion grooves are laser-etched on the surface of the outer protective layer, multiple graphene films are built into the intermediate shielding layer, and the inner waterproof layer is formed by injection molding a cavity with thermoplastic polyurethane.

[0015] Preferably, a self-cleaning waterproof device, the self-cleaning waterproof device includes a 360-degree rotating nozzle array, and a micro high-pressure air pump system is built into the self-cleaning waterproof device; the rotating nozzle array includes four groups of air curtain nozzles.

[0016] Preferably, a power management module, the power management module includes a dual-bus redundant power supply mechanism, and the power management module is electrically connected to the dynamic energy storage module; the dual-bus redundant power supply mechanism is composed of a supercapacitor module and a lithium battery pack.

[0017] Preferably, a control and communication module, the control and communication module includes a dual-DSP control architecture and a UWB positioning beacon, and the control and communication module is signal-connected to the navigation control module; the dual-DSP control architecture is composed of a main processor and a coprocessor, and is used to cooperate to complete data fusion and real-time motion control tasks; the UWB positioning beacon includes a radio frequency transceiver array and a precise clock unit to achieve centimeter-level positioning accuracy of the robot.

[0018] Compared with the prior art, the present invention has the following advantages and technical effects: The present invention discloses an underground cable tunnel inspection robot and a wireless charging system based on dynamic PT-symmetric tuning, which adopts an innovative collaborative design of dynamic PT-symmetric wireless charging resonance and a three-degree-of-freedom adaptive compensation mechanism. By real-time collecting the load impedance parameters and adjusting the compensation capacitor matrix, the phase synchronization matching between the transmitting end and the receiving coil is achieved. Compared with the traditional wireless charging magnetic resonance technology, the wireless charging efficiency is stably improved in a strong electromagnetic interference environment, and the problem of energy transmission interruption caused by the movement offset of the robot is solved. Combining the rail-type transmitting array and the segmented receiving coil group, the "energy corridor" mode of the robot for simultaneous inspection and charging is realized for the first time, significantly improving the continuity of battery life. The robot body adopts a honeycomb anti-magnetic and waterproof composite shell (graphene coating), combined with an omnidirectional four-wheel drive system, and can operate safely and stably in a narrow and bent underground cable tunnel. The synergistic effect of the laser-etched diversion grooves on the shell surface and the built-in waterproof and breathable valve effectively blocks the intrusion of water vapor in a humid environment, and at the same time can resist high-frequency magnetic field interference. An integrated multi-spectral imaging system and a gas detection and analysis unit are used for multi-parameter synchronous diagnosis of millimeter-level cracks on the cable surface, harmful gas leakage, and temperature anomalies. The anti-interference acoustic-wave - millimeter-wave dual-mode communication module provides a stable bandwidth in an electromagnetic shielding environment, supports the synchronous transmission of high-definition images and multi-sensor data, and the detection efficiency is increased several times compared with the traditional solution. The self-cleaning device drives a 360-degree rotating nozzle array through a micro high-pressure air pump, combined with a hydrophobic and anti-fouling coating, to remove pollutants on the lens, infrared window, and coil surface. The battery-supercapacitor hybrid energy storage architecture optimizes the charge and discharge strategy in real time according to the task load, which can reduce the comprehensive energy consumption. The dual-DSP control architecture (main processor + coprocessor) and the UWB centimeter-level positioning system are used to achieve multi-modal data fusion and precise motion control. Core modules such as the electromagnetic waterproof shell and the dynamic energy cabin support rapid disassembly and assembly, reducing the maintenance cost. Through structural simplification and function integration, the system is compatible with the existing tunnel operation and maintenance system, providing an all-weather, low-intervention, and highly reliable integrated intelligent inspection solution for underground cable tunnels.

[0019] Through dynamic PT tuning, anti-interference structure optimization, and intelligent perception fusion technology, the present invention overcomes the technical bottlenecks of traditional underground inspection robots, such as low charging efficiency, poor environmental adaptability, and high maintenance cost, significantly improves the detection accuracy and operation reliability in complex electromagnetic and humid environments, and provides innovative technical support for the intelligent operation and maintenance of power tunnels. Brief Description of the Drawings

[0020] The drawings constituting a part of this application are used to provide a further understanding of this application. The schematic embodiments of this application and their descriptions are used to explain this application and do not constitute an improper limitation to this application. In the drawings:

[0021] Figure 1Right view of the inspection robot and wireless charging system of the present invention;

[0022] Figure 2 Axonometric view of the inspection robot and wireless charging system of the present invention;

[0023] Figure 3 Front view of the inspection robot and wireless charging system of the present invention;

[0024] Figure 4 Rear view of the inspection robot and wireless charging system of the present invention;

[0025] Figure 5 Left view of the inspection robot and wireless charging system of the present invention;

[0026] Figure 6 Bottom view of the inspection robot and wireless charging system of the present invention;

[0027] Figure 7 Structural diagram of the dynamic energy cabin system of the inspection robot and wireless charging system of the present invention;

[0028] Figure 8 Right view of the inspection robot and wireless charging system of the present invention.

[0029] In the figure: 1. Radial telescopic guide rail; 2. Omnidirectional four-wheel drive unit; 3. Self-cleaning device; 4. Rotating sprinkler array; 5. Narrow-band filter ultraviolet camera; 6. Multispectral imaging system; 7. Dual-DSP control module; 8. Electromagnetic waterproof housing module (right); 9. Motor drive module (permanent magnet synchronous drive motor); 10. Retractable array coil; 11. Electromagnetic waterproof housing module (left); 12. Non-contact infrared temperature measurement system; 13. UWB positioning beacon; 14. Miniature infrared thermal imager; 15. Gas detection sensor; 16. High-definition camera; 17. Ring-shaped LED fill light; 18. Power management module; 19. Three-degree-of-freedom dynamic compensation platform; 20. Dynamic energy cabin; 21. Dual-DSP control system. Detailed implementation manners

[0030] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0031] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0032] Refer toFigures 1-7 As shown in the figure, this embodiment provides an underground cable tunnel inspection robot and a wireless charging system based on dynamic PT symmetry tuning, including:

[0033] A mobile chassis, which is the support and connection framework of the entire robot device. It presents a rectangular honeycomb topological structure as a whole, with high-strength rigidity and lightweight characteristics. It is made of an aluminum alloy-graphene composite material to enhance the overall structural stability. A waterproof and breathable valve and an electromagnetic shielding layer are integrated inside the mobile chassis to ensure the stable operation of the robot device in a complex electromagnetic environment. Omnidirectional four-wheel drive units (2) are installed at the four corners of the chassis, which can achieve zero-radius turning and adapt to the narrow and curved underground cable tunnel environment. A modular interface is provided in the center of the chassis, which can quickly disassemble and assemble inspection task modules (6, 12), a dynamic energy cabin module (20), a motor drive module (9) and a self-cleaning protection device (3), improving the maintenance convenience and function expansion ability.

[0034] In a further optimized solution, the inspection task modules (6, 12) are installed in the middle of the mobile chassis and are suspended and fixed on both sides of the electromagnetic waterproof housing modules (8, 11) by bolts; they are composed of a multi-spectral imaging system (6) and a non-contact infrared temperature measurement system (12); the multi-spectral imaging system (6) uses a high-definition visible light camera (16), an ultraviolet filter camera (5), and an outer ring of LED fill lights (17), which can accurately detect cable surface cracks, insulation damage and partial discharge traces in the dark environment of the underground tunnel.

[0035] In a further optimized solution, the non-contact infrared temperature measurement system (12) is equipped with a high-precision infrared thermometer (14), which supports multiple detection modes, real-time monitors the cable temperature distribution, and identifies potential cable overheating hazards; the gas detection sensor (15) integrates a gas sensor array, supports the detection of the concentration of multiple harmful gases such as methane, carbon monoxide, oxygen and sulfur dioxide, and predicts the leakage trend in combination with the temperature and humidity parameters of the tunnel environment.

[0036] A dynamic energy cabin module (20), which adopts an adaptive PT symmetric wireless charging system, aims to improve the energy acquisition efficiency of the inspection robot in a complex environment and ensure stable battery life; this module works in coordination with a telescopic array coil (10), a three-degree-of-freedom dynamic compensation platform (19) and a magnetohydrodynamic buffer structure (20) to achieve efficient wireless energy transmission of the robot in a moving state.

[0037] For a further optimized solution, the dynamic energy module (20) integrates three retractable array coils (10), enabling the robot to automatically adjust the position of the coils (10) in different charging scenarios, optimizing the energy coupling effect, and improving the stability of wireless charging. The retractable array coil (10) adopts a Litz wire flat-top spiral coil and a magnetohydrodynamic buffer layer (20); each group of coils is wound in parallel by multiple strands of fine enameled copper wire, reducing the skin effect and proximity effect, and effectively improving the energy transmission efficiency under high-frequency electromagnetic fields; the flat-top structure design ensures that the coil (10) always maintains a stable magnetic field coupling with the transmitting coil during the charging process, reducing the charging efficiency loss caused by offset.

[0038] For a further optimized solution, the dynamic energy module (20) combines the dynamic PT-symmetric tuning technology to keep the receiver and the transmitter in resonance synchronization, improving the steady-state power transmission capacity of the wireless charging system; the optimization criteria based on the structural parameter optimization are as follows:

[0039]

[0040] In the formula, ΔS is the PT-symmetric structure mismatch degree (the target value < 0.1); d coil is the distance between the transmitting and receiving coils (dynamically adjusted to the optimal value); is the equivalent dielectric constant; θ tilt is the robot attitude inclination angle; α is the calibration parameter.

[0041] For a further optimized solution, the dynamic energy module (20) is equipped with several three-degree-of-freedom dynamic compensation platforms (19) to ensure that the wireless charging coil (10) automatically aligns with the transmitting end during the movement of the robot, improving the stability of energy transmission; the dynamic compensation platform (19) adopts a precision servo control system, combined with inertial navigation and visual positioning, and can adjust the coil angle in real time when the robot moves to maintain the maximum magnetic field coupling; the dynamic PT-symmetric optimization condition is: correlating the robot motion state (speed V, acceleration a) with the coupling coefficient k to establish a dynamic balance relationship;

[0042]

[0043] For a further optimized solution, by adjusting the transmission frequency f and the robot motion parameters in real time, the dynamic PT-symmetric tuning is maintained; the magnetohydrodynamic buffer layer combines the self-adaptive deformation ability of the magnetohydrodynamic fluid to automatically adjust the position of the compensation platform during the movement of the robot, reducing the coupling loss caused by vibration and displacement, and effectively reducing the charging instability problem caused by the bumpy tunnel road surface.

[0044] The motor drive module (9) uses a high-efficiency dual permanent magnet synchronous drive motor (9), combined with an omnidirectional four-wheel drive unit (2) and a dual-radial telescopic guide rail system (1), to ensure high mobility and high stability of the robot in narrow and complex terrains. The motor drive module (9) includes a dual permanent magnet synchronous drive motor (9), which is installed at the tail of the robot body to provide efficient power output.

[0045] In a further optimized solution, the dual-radial telescopic guide rail system (1) consists of two high-strength carbon fiber guide rails, which are parallelly arranged along the central axis of the robot body. A linear motor-driven ball is integrated inside, and it is electrically connected to the permanent magnet synchronous drive motor (9). The outer layer of the omnidirectional four-wheel drive unit wheel (2) is wrapped with a highly elastic conductive and pressure-sensitive rubber, which has functions such as anti-slip, shock absorption, anti-static, and anti-high-voltage electromagnetic interference, ensuring the safe operation of the robot device in a humid environment.

[0046] The electromagnetic waterproof housing module (8, 11) adopts a multi-layer composite shielding and protection design to ensure the long-term stable operation of the robot device in the underground cable tunnel environment with humidity and electromagnetic interference. Through the coordinated action of the outer protective layer, the intermediate shielding layer, and the inner waterproof layer, multiple protection functions such as magnetic shielding, waterproof and dustproof, shock resistance, and corrosion resistance are realized.

[0047] In a further optimized solution, the outer protective layer is made of a high-strength lightweight alloy material (such as aluminum-magnesium alloy or titanium alloy), and the mechanical strength is enhanced by laser etching honeycomb-shaped flow channels on the surface. The intermediate shielding layer uses multiple graphene films, combined with nano-conductive composite materials, to construct an efficient electromagnetic shielding structure, reducing the impact of electromagnetic interference in the underground cable tunnel on the robot's dynamic energy cabin device. The inner waterproof layer is a cavity formed by thermoplastic polyurethane (TPU) injection molding, improving the waterproof performance of the robot device and ensuring the long-term operation of the robot in a humid tunnel environment.

[0048] The self-cleaning and waterproof device (3) uses intelligent cleaning and protection technology to ensure that the robot can maintain the cleaning state of the inspection sensors, charging coils, and key optical components for a long time in a humid and highly polluted underground tunnel environment, improving the detection accuracy and wireless charging stability. This device combines high-pressure air flow, air curtain nozzles, and hydrophobic and anti-fouling coatings to achieve the functions of efficient automatic cleaning, waterproof and dustproof.

[0049] In a further optimized solution, the self-cleaning and waterproof device (3) uses a 360-degree rotating nozzle array (4) to ensure that there are no dead corners in the cleaning of the robot surface and key sensor areas. The rotating nozzle array (4) contains four groups of independently driven nozzles, which can dynamically adjust the spraying angle according to the degree of pollution. A micro high-pressure air pump is built-in to provide stable and high-speed cleaning power for the rotating nozzle array to achieve directional cleaning. Combined with nano-hydrophobic and anti-fouling coatings, the surface protection ability of the equipment is further improved, reducing the attachment of pollutants.

[0050] The power management module (18) adopts a dual-bus redundant power supply architecture, combines a supercapacitor module and a lithium battery pack to achieve efficient, stable, and intelligent power management, and improves the endurance of the robot in complex inspection environments. The module optimizes the charge and discharge strategies through real-time task loads, is electrically connected to the dynamic energy cabin module, and while ensuring high-power requirements, extends the battery life.

[0051] For the further optimized solution, the dual-bus redundant power supply mechanism adopts a dual-channel switching design to ensure continuous and stable power supply under high load or fault conditions. The supercapacitor module and the lithium battery pack adopt a lithium battery + supercapacitor hybrid energy storage architecture, dynamically adjust the charge and discharge strategies, and reduce the comprehensive energy consumption.

[0052] The control and communication module (21) adopts a high-performance dual-DSP control architecture (21) and a high-precision UWB positioning beacon (13) to achieve precise motion control, real-time data fusion, and efficient information transmission, ensuring that the robot device has high stability, low latency, and anti-interference control and communication capabilities in complex electromagnetic interference environments.

[0053] For the further optimized solution, the dual-DSP control architecture (21) consists of a main processor and a coprocessor to achieve efficient task division of labor, improve the computing power and control accuracy. The UWB positioning beacon (13) adopts a radio frequency transceiver array and a precise clock synchronization unit to achieve centimeter-level high-precision positioning and improve the navigation stability of the robot in complex tunnel environments.

[0054] Usage method:

[0055] When the robot device starts to work, the power management module (18) preferentially enables the supercapacitor bank for high-power output, while the lithium battery pack enters the standby state. The main control DSP (21) calibrates the initial coordinates through the UWB positioning beacon (13) and starts the self-check program for each module; the multispectral imaging system (6) performs current correction, the ultraviolet filter camera (5) switches to the wide dynamic range mode, and the non-contact infrared thermometer (12) starts preheating; the omnidirectional four-wheel drive unit (2) moves forward and backward and steers through the carbon fiber guide rail according to the planning instructions; the annular LED fill light (17) is turned on to illuminate the target area, the high-definition camera (16) captures the surface texture at a high frame rate, and cooperates with the infrared sensor (14) to identify cracks; the gas sensor array (15) starts sampling the concentrations of CH4 and CO, and the abnormal data is transmitted back to the control center (21) through the anti-interference acoustic wave communication. When the power is lower than the rated value, the dynamic energy cabin (20) starts the three-degree-of-freedom compensation platform (19), and offsets the vibration of the robot through the magnetorheological fluid buffer layer (20) to keep the receiving coil (10) and the guide rail transmitting array in the best coupling for wireless charging; the main control DSP (21) calculates the PT symmetry mismatch degree in real time and dynamically adjusts the resonance frequency to the optimal value; when there are contaminants attached, the micro high-pressure air pump (4) drives the rotating nozzle and cooperates with the nano-hydrophobic coating to remove the attachments. After the inspection task is completed, the power management module (18) dynamically distributes energy according to the remaining power, and preferentially uses the supercapacitor for power supply during the return flight stage to reduce the battery cycle loss. After the robot returns, the PT symmetry tuning unit automatically enters the low-power standby mode.

[0056] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0057] The above-described embodiments are only descriptions of the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. An underground cable tunnel inspection robot and wireless charging system based on dynamic PT symmetric tuning, characterized in that: include: The mobile chassis is composed of matrix-type modular components, and is equipped with inspection task modules (6, 12), a dynamic energy cabin module (20), a motor drive module (9), an electromagnetic protection shell module (8, 11), a power management module (18) and a self-cleaning waterproof device (3). A control communication module (21) is installed inside the side of the electromagnetic protection shell module (8, 11), and the control communication module (21) is electrically connected to the inspection task module (6, 12), the dynamic energy cabin module (20), the motor drive module (9), the electromagnetic protection shell module (8, 11), the power management module (18) and the self-cleaning waterproof device (3).

2. The underground cable tunnel inspection robot and wireless charging system based on dynamic PT symmetric tuning according to claim 1 is characterized in that: The task inspection module (6, 12) is installed in the middle of the mobile chassis and is fixed to the electromagnetic waterproof housing (8, 11) on both sides by bolts in a suspended manner; the task inspection module (6, 12) includes the multi-spectral imaging system (6), the non-contact infrared temperature measurement (12) and the UWB positioning beacon module (13); the multi-spectral imaging system (6) includes the annular LED fill light (17), the filtered ultraviolet camera (5) and the high-definition camera (16); the non-contact infrared temperature measurement (12) includes a miniature infrared camera (14) and a gas detection sensor (15).

3. The underground cable tunnel inspection robot and wireless charging system based on dynamic PT symmetric tuning according to claim 1 is characterized in that: The motor drive module (9) comprises a dual permanent magnet synchronous drive motor (9) installed at the tail of the robot body, the outer layer of the contour of the omnidirectional four-wheel drive unit (2) is wrapped with conductive pressure-sensitive rubber, and the omnidirectional four-wheel drive unit (2) is distributed around the robot body; the motor drive module (9) comprises a dual radial telescopic guide rail system (1), and the dual radial telescopic guide rail system (1) comprises two carbon fiber guide rails parallel to the central axis of the robot body, and an internally integrated linear motor drive ball is electrically connected to the permanent magnet synchronous drive motor (9).

4. The underground cable tunnel inspection robot and wireless charging system based on dynamic PT symmetric tuning according to claim 1 is characterized in that: The dynamic energy cabin module (20) comprises three retractable array coils (10), and the dynamic energy cabin module (20) is equipped with a plurality of three-degree-of-freedom dynamic compensation platforms (19); the retractable array coils (10) comprise the three groups of Litz wire flat-top spiral coils and the magnetic fluid buffer layer (20).

5. The underground cable tunnel inspection robot and wireless charging system based on dynamic PT symmetric tuning according to claim 1 is characterized in that: A self-cleaning waterproof device (3), the self-cleaning waterproof device (3) comprising a 360-degree rotating nozzle array (4), the self-cleaning waterproof device (3) having a built-in micro high-pressure air pump system.

6. The underground cable tunnel inspection robot and wireless charging system based on dynamic PT symmetric tuning according to claim 1 is characterized in that: The power management module (18) comprises the dual-bus redundant power supply mechanism, and the power management module (18) is electrically connected to the dynamic energy cabin module (20); the dual-bus redundant power supply mechanism is composed of the super capacitor module and the lithium battery pack.

Images