Cable trench adsorption type detection trolley

Abstract

This application provides a cable trench adsorption-type inspection trolley, including a main support base plate with a downward-opening adsorption chamber at its bottom; a flexible sealing membrane covering the edge of the adsorption chamber; a circuit control main board stacked on top of the main support base plate, with an air gap between the circuit control main board and the main support base plate; a negative pressure adsorption module communicating with the adsorption chamber; a driving mechanism including two symmetrically arranged drive units, each drive unit including a drive motor and two wheels driven by the drive motor; a monitoring system including a temperature measurement system for detecting environmental parameters and an encoder for feeding back the speed of the drive motor; and a wireless transmission communication module mounted on the circuit control main board. This invention, through wireless interactive design, achieves visualized monitoring of the inspection process, offering advantages such as convenient operation, transparent status, and high safety.

Description

Technical Field

[0001] This invention belongs to the field of power equipment inspection technology, and in particular relates to a cable trench adsorption-type inspection trolley. Background Technology

[0002] Cable trenches are core infrastructure of power transmission systems, densely housing high-voltage cables, communication cables, and related accessories. The temperature and humidity stability of their operating environment directly determines the aging rate and lifespan of the cable insulation, and even affects the safe and stable operation of the power system. According to statistics from the power operation and maintenance industry, over 30% of cable faults are related to insulation damage and metal component corrosion caused by long-term high temperature and humidity within the trench. Therefore, conducting regular and precise temperature and humidity inspections is a crucial aspect of power operation and maintenance, requiring comprehensive monitoring of the entire trench area without blind spots. Currently, the industry still relies mainly on traditional manual inspection methods for temperature and humidity checks in cable trenches. This process has several unavoidable drawbacks: inspectors must carry portable temperature and humidity detectors, lighting equipment, and record books to enter narrow, enclosed, poorly lit, and poorly ventilated cable trenches; these trenches often contain stagnant water, silt, gravel, and other debris, and some areas accumulate toxic gases such as hydrogen sulfide and methane due to long-term closure. Inspectors not only have to bend over the entire time, resulting in extremely high labor intensity, but also face multiple safety risks such as poisoning, drowning, collisions, and electric shock. Furthermore, manual inspection requires manually measuring temperature and humidity data point by point and writing records on-site. Inspecting a single 100-meter-long cable trench typically takes over 2 hours, leading to low efficiency and a risk of personnel fatigue compromising inspection quality.

[0003] To alleviate the pressure of manual inspections, a small number of simple inspection devices have appeared on the market. However, these devices are limited by structural design flaws and cannot meet actual inspection needs: most existing simple devices are traditional ground-mounted wheeled structures without any adsorption or fixing devices, and can only move in flat areas at the bottom of the cable trench, unable to conform to the trench wall for full-area coverage inspection; in addition, some simple devices are only equipped with a single temperature detection module, lacking humidity detection function, and cannot fully reflect the environmental conditions of the cable trench; other devices, although integrating temperature and humidity detection modules, have extremely poor compatibility between the detection modules and the moving mechanism, resulting in problems such as data acquisition delay and signal instability, and are not equipped with data storage or remote transmission functions, requiring manual on-site reading of detection data, further increasing operating costs and making it difficult to meet the basic requirements of comprehensive and stable inspection of cable trenches.

[0004] In summary, existing methods for inspecting the temperature and humidity of cable trenches have significant industry pain points: manual inspection suffers from poor safety, high labor intensity, low efficiency, and unstable inspection quality, making it unsuitable for the operation and maintenance needs of large-scale power systems. Existing simple inspection equipment is limited by core defects such as the lack of an adsorption structure, poor mobility, and insufficient functional integration, making it difficult to achieve stable, comprehensive inspection operations. Therefore, the power operation and maintenance field urgently needs an inspection device with a simple and reliable structure, capable of stable adsorption and movement on the trench wall, and possessing accurate temperature and humidity detection capabilities. This would enable technological innovation and improve the safety, efficiency, and accuracy of cable trench inspections. Summary of the Invention

[0005] The cable trench adsorption inspection trolley provided in this application embodiment can achieve stable adsorption and movement on the cable trench wall and real-time temperature and humidity detection, replacing manual entry into the harsh cable trench environment to complete the inspection, and improving the safety and efficiency of the inspection.

[0006] In a first aspect, embodiments of this application provide a cable trench adsorption-type inspection trolley, comprising:

[0007] The circuit control motherboard, the main support base plate, the flexible sealing membrane, the drive walking mechanism, the negative pressure adsorption module, the monitoring system, and the wireless transmission and communication module;

[0008] The bottom of the main supporting base plate is provided with an adsorption cavity that opens downwards;

[0009] A flexible sealing membrane covers the edge of the adsorption chamber;

[0010] The circuit control motherboard is stacked and installed on top of the main support base plate, and an air gap layer is provided between the circuit control motherboard and the main support base plate.

[0011] The negative pressure adsorption module is connected to the adsorption chamber;

[0012] The drive mechanism is mounted on the main support base plate and is electrically connected to the circuit control main board. The drive mechanism includes two sets of drive units arranged symmetrically. Each set of drive units includes a drive motor and two walking wheels driven by the drive motor.

[0013] The monitoring system includes a temperature measurement system and an encoder. The temperature measurement system is located on the edge of the main support base plate and is electrically connected to the main circuit control board to detect environmental parameters. The encoder is located on the drive motor and is electrically connected to the main circuit control board to provide feedback on the speed of the drive motor.

[0014] The wireless transmission communication module is located on the circuit control motherboard.

[0015] In one alternative implementation, the flexible sealing membrane is made of polytetrafluoroethylene (PTFE).

[0016] In one alternative embodiment, the thickness of the flexible sealing film is 0.1 mm.

[0017] In one alternative embodiment, the air gap is supported by multiple support pillars between the circuit control motherboard and the main body support base plate, and the height of the air gap is 18mm~26mm.

[0018] In one alternative implementation, the support column is made of nylon.

[0019] In one optional implementation, the negative pressure adsorption module is a centrifugal fan, with the air inlet of the centrifugal fan connected to the adsorption chamber and the air outlet connected to the outside atmosphere.

[0020] In one alternative implementation, in each drive unit, the output shaft of the drive motor is connected to a drive gear, and the two wheels are respectively connected to driven gears, with the drive gear meshing with both driven gears simultaneously.

[0021] In one alternative implementation, the circuit control board controls the operation of the drive motor based on the feedback signal from the encoder.

[0022] In one alternative implementation, the temperature measurement system is a temperature and humidity sensor, which is located at the edge of the main support base plate.

[0023] In one alternative implementation, an alarm module is also integrated on the circuit control motherboard.

[0024] The technical solution provided in this application, in terms of detection accuracy and reliability, utilizes a double-layered structure with an intermediate air gap layer. By leveraging the thermal insulation properties of air, the upper-layer circuit control and sensing components are physically isolated from the lower-layer power and heat-generating components. This physical thermal isolation blocks the heat conduction path, effectively preventing the heat generated by the drive motor and adsorption fan from directly interfering with the temperature and humidity sensor. This ensures the authenticity and accuracy of the environmental temperature and humidity detection data from the source, preventing measurement errors caused by sensor temperature drift. Regarding wall mobility, it combines negative pressure adsorption and low-friction sealing principles. The negative pressure adsorption module (such as a centrifugal fan) generates adsorption force, while a flexible sealing membrane of a specific material ensures the sealing of the adsorption chamber. Its low-friction properties reduce movement resistance, allowing the trolley to stably adhere to the vertical or inclined cable trench wall and achieve flexible, low-resistance movement. This solves the problem of traditional ground equipment being unable to cover the trench wall, achieving full coverage of the inspection area. In terms of coverage; regarding motion control and stability, a mechanical structure is adopted in which a single motor synchronously drives two wheels on the same side through a gear set. The principle is forced mechanical synchronization, which ensures that the rotation speed of the two walking wheels on the same side is absolutely consistent. At the same time, the encoder integrated into the drive motor provides real-time speed feedback, forming a closed-loop control, which greatly enhances the stability and attitude maintenance of the trolley in straight-line driving on complex walls. Even if slight slippage occurs, the system can respond and adjust quickly, ensuring the accuracy and stability of the inspection path. Finally, by integrating a wireless transmission communication module, all detection data and equipment status (such as temperature, humidity, battery voltage, and position) can be remotely transmitted to the ground terminal in real time, and remote control is supported. Combined with the over-threshold alarm module, once an environmental anomaly is detected, local and remote alarms can be triggered immediately, thus completely freeing operators from the dangerous and harsh cable trench environment. This not only ensures personnel safety, but also greatly improves the intelligence level and emergency response speed of inspection operations through visual monitoring and real-time alarms. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of a cable trench adsorption-type detection cart provided in an embodiment of this application;

[0026] Figure 2 This is an axonometric view of the overall structure of a cable trench adsorption-type detection trolley provided in an embodiment of this application;

[0027] Figure 3 This is a schematic diagram of the minimum control circuit of a single-chip microcomputer system for a cable trench adsorption-type detection trolley provided in an embodiment of this application;

[0028] Figure 4 This is a flowchart illustrating the inspection process of a cable trench adsorption-type inspection vehicle provided in an embodiment of this application.

[0029] In the picture:

[0030] 1. Circuit control main board; 2. Main support base plate; 3. Flexible sealing membrane; 4. Drive walking mechanism; 5. Negative pressure adsorption module; 6. Wireless transmission communication module; 7. Temperature measurement system. Detailed Implementation

[0031] The present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] In the field of cable trench environmental monitoring, traditional manual inspection methods are not only labor-intensive due to the narrow working space, dim lighting, and potential presence of harmful gases, but also difficult to achieve comprehensive inspection of high areas of the trench walls. Based on this, this invention designs and manufactures a cable trench adsorption-type inspection trolley, aiming to assist in completing inspection tasks through mechanization. This invention solves practical problems such as instability when small devices move along vertical walls and internal heat accumulation by arranging the circuit control part and the power adsorption part in layers and utilizing the principle of negative pressure to generate adsorption force. Simultaneously, to address potential slippage or asynchrony during the trolley's climbing, a specific gear synchronous transmission structure is adopted, combined with real-time feedback of the operating status from sensors. Through this hardware and software integrated solution, stable movement along the cable trench wall and remote viewing of temperature and humidity data are achieved, providing a practical technical assistance for the daily maintenance of cable trenches.

[0033] Figure 1 This is a schematic diagram of the overall structure of a cable trench adsorption-type inspection cart provided in an embodiment of this application. Figure 2 This is an axonometric view of the overall structure of a cable trench adsorption-type detection trolley provided in an embodiment of this application. Figure 3 This is a schematic diagram of the minimum system control circuit of a single-chip microcomputer for a cable trench adsorption-type inspection vehicle provided in an embodiment of this application. Figures 1-3 As shown in the embodiment of this application, a cable trench adsorption-type inspection trolley includes:

[0034] 1. Circuit control main board; 2. Main support base plate; 3. Flexible sealing membrane; 4. Drive walking mechanism; 5. Negative pressure adsorption module; 6. Monitoring system and wireless transmission communication module.

[0035] The bottom of the main supporting base plate 2 is provided with an adsorption cavity that opens downwards;

[0036] The flexible sealing membrane 3 covers the edge of the adsorption cavity;

[0037] The circuit control main board 1 is stacked on top of the main support base plate 2, and an air gap layer is provided between the circuit control main board 1 and the main support base plate 2.

[0038] The negative pressure adsorption module 5 is connected to the adsorption chamber;

[0039] The driving mechanism 4 includes two sets of driving units arranged symmetrically. Each set of driving units includes a driving motor and two walking wheels driven by the driving motor.

[0040] The monitoring system includes a temperature measurement system 7 for detecting environmental parameters and an encoder for providing feedback on the speed of the drive motor;

[0041] The wireless transmission communication module 6 is mounted on the circuit control motherboard 1.

[0042] Specifically, the core components of the cable trench adsorption-type inspection trolley include a circuit control main board 1 as the control center, a main support base plate 2 as the mechanical support foundation, a flexible sealing membrane 3 for sealing and drag reduction, a drive mechanism 4 for providing mobility, a negative pressure adsorption module 5 for generating key adsorption force, an environmental monitoring system, and a wireless transmission and communication module 6 for data interaction. The main support base plate 2 constitutes the physical foundation and installation platform of the entire trolley. Its bottom is designed with a downward-opening recessed structure, namely the adsorption chamber. A flexible sealing membrane 3 is tightly covered at the opening edge of the adsorption chamber. This membrane acts like a soft sealing gasket, filling the microscopic gaps between the base plate and the rough wall surface when the trolley is attached to the cable trench wall, creating conditions for subsequent negative pressure generation. The circuit control main board 1 is positioned directly above the main support base plate 2. The two are not tightly attached but separated by a support structure of a certain height, thus forming an air-filled interlayer, i.e., an air gap layer, between the circuit control main board 1 and the main support base plate 2. This layered layout spatially isolates the electronic control components from the mechanical movement and power generation components in the lower layer.

[0043] The negative pressure adsorption module 5 is typically a high-speed centrifugal fan, whose air inlet is connected to the adsorption chamber on the main support base plate 2 via a pipe or directly. When the negative pressure adsorption module 5 is activated, it rapidly draws air out of the adsorption chamber, causing the internal air pressure to be significantly lower than the external atmospheric pressure. This pressure difference is converted into an adsorption force that presses the trolley firmly against the wall, which is the fundamental principle that allows the trolley to overcome its own weight and remain on a vertical or inclined wall. Under the high-speed air extraction action of the fan, the internal pressure of the adsorption chamber rapidly decreases, thereby generating a maximum adsorption lifting force of no less than 2 kg between the trolley and the wall. This provides sufficient vertical safety margin for the trolley, whose total weight does not exceed 600 g, preventing it from slipping when operating on vertical or steeply sloping cement walls. The drive and walking mechanism 4 is symmetrically arranged on both sides of the main support base plate 2, with each side forming a set of drive units. Each set of drive units is powered by only one drive motor, but the power of this motor simultaneously drives the two walking wheels on the same side to rotate through a transmission mechanism. This design ensures that the two sides of the vehicle can be independently controlled to achieve steering, while the two wheels on the same side can maintain strict synchronization, which is crucial for maintaining a stable driving posture on a vertical wall and preventing deviation or jamming.

[0044] The monitoring system mainly consists of two parts. The first part is the temperature measurement system 7, which is used to directly detect the environmental parameters inside the cable trench, the most crucial being temperature and humidity. In this embodiment, the temperature measurement system 7 is a temperature and humidity sensor. The drive motor in the drive walking mechanism 4 and the centrifugal fan in the negative pressure adsorption module 5 generate significant heat during operation. These heat sources are mainly concentrated in the central area of ​​the main support base plate 2. If the temperature and humidity sensor 7 is installed near these heat sources, its sensitive element will not only measure the ambient air temperature but also the temperature rise caused by the equipment's own heat generation, leading to severe distortion of the measurement data and producing the so-called "thermal contamination" or sensor temperature drift phenomenon. Therefore, the temperature and humidity sensor is set at the front edge of the main support base plate 2 to sense subtle environmental changes inside the cable trench. The second part is an encoder integrated inside the drive motor, which monitors and provides feedback on the rotational speed and number of revolutions of the drive motor spindle in real time.

[0045] The wireless transmission communication module 6, acting as a crucial data hub, is directly integrated onto the circuit control motherboard 1. Its function is to establish a two-way wireless data link between the vehicle and the external world (typically a mobile terminal held by the ground operator, such as a tablet or dedicated controller). Through this link, temperature and humidity data collected by the monitoring system, speed and displacement information fed back by the encoder, and the vehicle's battery voltage status can be transmitted in real time to the display device on the ground operator's device. Simultaneously, control commands issued by the operator via the mobile terminal, such as forward, backward, turn, accelerate, and decelerate, are also transmitted via this wireless link to the vehicle's circuit control motherboard 1, thereby controlling the actions of the drive mechanism 4 and the negative pressure adsorption module 5, achieving complete remote control of the vehicle. The entire workflow includes: the operator adsorbing the vehicle onto the cable trench wall at the initial position. After activation, the negative pressure adsorption module 5 works first, establishing a stable negative pressure within the adsorption chamber with the assistance of the flexible sealing membrane 3, firmly adsorbing the vehicle onto the wall. Subsequently, the circuit control motherboard 1 drives the motor of the walking mechanism 4 according to the instructions, causing the walking wheels to rotate. Since the two wheels on the same side are forced to synchronize, the trolley begins to move stably along the wall. During the movement, the temperature measurement system 7 continuously collects ambient temperature and humidity data, and the encoder continuously monitors the motor speed. All this data, along with the battery status, is transmitted to the ground via the wireless communication module 6. Ground personnel monitor the situation in real time through a terminal screen and can send new movement commands at any time. When a return is needed, the trolley can reverse the movement of the walking mechanism 4 along the original path. This design completely liberates personnel from the dangerous and harsh environment of the cable trench. Personnel only need to operate the terminal in a safe area outside the trench to complete the inspection, fundamentally eliminating safety risks such as poisoning, electric shock, and collisions. At the same time, due to the use of remote wireless control, the inspection process is completely transparent and real-time, improving the modernization and controllability of the inspection operation. The mechanical synchronous drive mechanism is also simpler and more reliable than complex electronic differential control, ensuring stability and passability on complex wall surfaces.

[0046] Furthermore, the main supporting base plate 2 has a compact square structure with a length and width of 10-14cm, and the overall weight is controlled within the range of 390-800g. This miniaturized design allows it to adapt to the extremely limited space of cable trench walls.

[0047] Furthermore, the circuit control motherboard is stacked on top of the main support base plate, and the two layers are fixed together by nylon support columns with a length of 18mm-26mm, thus forming a physical air gap. This air gap consists of a series of evenly distributed vertical support columns, forming an air-filled physical gap between the lower surface of the circuit control motherboard 1 and the upper surface of the main support base plate 2. These support columns are key load-bearing and positioning elements of this structure. Their ends are fixedly connected to the circuit control motherboard 1 and the main support base plate 2, respectively, ensuring that the upper and lower core structures maintain a constant and specific separation distance in the vertical direction, preventing relative displacement or deformation when the equipment moves, vibrates, or is subjected to force. If the gap is too small, the thermal resistance effect of the internal air layer will be insignificant, failing to effectively block heat conduction from the lower high-temperature area to the upper electronic control area; if the gap is too large, although better heat insulation may be achieved, it will unnecessarily increase the overall thickness of the trolley, affecting its passage through narrow cable trenches and potentially reducing the overall structural rigidity. The support columns are made of nylon for two main reasons: firstly, its sufficient mechanical strength and rigidity allow it to reliably support the load; secondly, and more importantly, nylon, as a polymer material, has poor thermal conductivity, making it a poor conductor of heat. This prevents the support columns from becoming significant thermal bridges when connecting the upper and lower layers, thus maximizing the thermal integrity of the air gap layer as a whole. This design utilizes the physical dislocations in vertical space, combined with the thermal insulation properties of air, to effectively prevent the heat generated by the bottom motor and adsorption fan during continuous operation from being conducted upwards. In this way, the problem of severe internal thermal interference in compact adsorption equipment is solved, ensuring the accuracy of temperature and humidity sensor data collection during inspections and avoiding sensor temperature drift caused by power system temperature rise.

[0048] Furthermore, the flexible sealing membrane 3, as the interface component directly in contact with the cable trench wall, directly determines the reliability of adsorption and the smoothness of movement due to its material properties. Polytetrafluoroethylene (PTFE) was chosen to manufacture the flexible sealing membrane 3 primarily because of its two key physical properties: extremely low surface friction coefficient and excellent chemical stability and flexibility. In the operation of the cable trench adsorption-type inspection cart, the flexible sealing membrane 3 needs to play two roles simultaneously. The first role is that of an adaptive sealant. The cable trench wall is typically a rough cement surface with many microscopic unevennesses. When the negative pressure adsorption module 5 is activated, drawing air into the adsorption chamber to create negative pressure, the external atmospheric pressure will press the entire cart, along with the flexible sealing membrane 3, tightly against the wall. At this time, the extremely thin PTFE membrane undergoes slight elastic deformation due to its excellent flexibility, effectively flowing into and filling these microscopic gaps, thus forming a relatively continuous and sealed contact zone between the edge of the adsorption chamber and the rough wall surface, effectively blocking the main path of air leakage. This is the basis for maintaining a sufficiently high negative pressure adsorption force. The second role is that of a low-resistance sliding interface. Driven by the walking mechanism 4, the trolley needs to move on the vertical wall surface. If the surface friction resistance of the sealing material is high, it will not only consume more driving power, but may also lead to uneven movement, vibration, or even jamming. Polytetrafluoroethylene (PTFE) has almost the lowest coefficient of sliding friction among all solid materials, which allows the trolley base plate covered with the PTFE flexible sealing film 3 to adhere tightly to the wall surface while reducing the movement resistance to a very low level. This combination of high sealing performance and low friction is achieved through a single material. Its operation is dynamic and continuous. When the trolley is adsorbed onto the wall surface, the flexible sealing film 3 adaptively adheres under pressure; when the trolley begins to move, this film acts as a smooth interface, allowing the main supporting base plate 2 to slide smoothly relative to the stationary wall surface. The use of PTFE also brings additional long-term reliability benefits. The environment inside the cable trench may be humid and may even contain trace amounts of corrosive substances. PTFE has extremely strong chemical inertness and good aging resistance, ensuring that the performance of the flexible sealing film 3 will not significantly degrade after long-term use, thereby guaranteeing the operational reliability of the trolley throughout its entire life cycle. Therefore, the specific choice of polytetrafluoroethylene (PTFE) as the material for the flexible sealing membrane 3 is not a common material selection, but a precise match for the special application scenario of adsorption and movement on the cable trench wall. This allows the inspection trolley to efficiently convert negative pressure adsorption force into stable wall adhesion force, while minimizing the frictional resistance required for movement. Thus, in actual operation, it achieves the two crucial performance goals of firm adsorption and flexible movement, providing a key physical interface guarantee for the smooth execution of the entire inspection task.

[0049] Furthermore, the flexible sealing membrane 3 has a thickness of 0.1 mm. If the membrane is too thick, its flexibility and deformation capacity will decrease, making it difficult to fully conform to the micro-textures of the cable trench wall under negative pressure. This may lead to poor sealing, negative pressure leakage, and the inability to effectively establish and maintain the adsorption force. Conversely, if the membrane is too thin, although the adhesion may be better, its mechanical strength and durability are insufficient. Under repeated use, friction with rough cement walls, and possible scratches from small gravel, it is more likely to be damaged or perforated. Once the sealing membrane fails, the entire adsorption system will not work.

[0050] Furthermore, each drive unit includes a neodymium iron boron high-torque drive motor. A drive gear is fixedly connected to the output shaft of the drive motor. Simultaneously, two traveling wheels, positioned one in front of the other on the same side as the motor, each have a driven gear fixedly mounted on their axle. In terms of installation structure, the drive gear on the drive motor is precisely positioned between the driven gears of the two traveling wheels, and its tooth surface simultaneously meshes with the tooth surfaces of both driven gears. This arrangement forms a compact "one-drive-two" coplanar gear set, enabling absolute synchronization of motion through a purely mechanical rigid connection. When the drive motor receives a command from the circuit control motherboard 1 and begins to rotate, its output shaft drives the drive gear to rotate. Since the drive gear meshes with both driven gears simultaneously, its rotational motion is synchronously transmitted to the two driven gears with exactly the same angular velocity relationship. Ignoring extremely small gear meshing gaps, the rotational speed, direction of rotation, and angle of rotation of these two driven gears are strictly consistent at any given moment, and these two driven gears directly drive the traveling wheels fixed to them. Therefore, the two traveling wheels on the same side are forcibly and mechanically locked at completely synchronized speeds and phases. In actual cable trench wall movement, this mechanical synchronization mechanism demonstrates significant advantages. When the trolley needs to move in a straight line, the completely synchronized rotation of the two traveling wheels on the same side fundamentally eliminates the root cause of slow deviations in the trolley's direction of travel due to slight differences in wheel speeds. This is crucial for long-distance straight-line inspections close to the trench wall in narrow trenches, ensuring the predictability and repeatability of the inspection path. More importantly, on vertical walls, the forced mechanical synchronization ensures that the two traveling wheels always contact the wall at the same linear speed, evenly distributing the load and traction. This greatly enhances the trolley's attitude stability, straight-line maintenance ability, and overall anti-disturbance capability on complex walls, effectively preventing the risk of tilting or tipping due to single-wheel slippage or uneven speed.

[0051] Furthermore, the encoder is directly integrated into the drive motor of the driving mechanism 4, rotating synchronously with the motor's output shaft. The encoder converts the angular changes of mechanical rotation into a series of electrical pulse signals that can be recognized by the circuit. Each pulse corresponds to a small, fixed angular increment of the motor rotor. Therefore, the pulse frequency generated per unit time directly and in real time reflects the instantaneous speed of the drive motor, while the total number of accumulated pulses precisely corresponds to the total number of rotations of the motor shaft. The circuit control motherboard 1, as the control core of the entire system, establishes a stable electrical connection with the encoder's output terminal through a dedicated signal line. This means that the pulse sequence continuously generated by the encoder during motor operation can be captured and read in real time and continuously by the microprocessor unit on the circuit control motherboard 1. This electrical connection constitutes a key bridge from physical motion to feedback from the digital world. Based on this real-time feedback, the system implements an advanced control strategy called closed-loop control. When the operator issues a control command through a mobile terminal, such as setting a target forward speed, the circuit control motherboard 1 first converts it into a target pulse frequency. Subsequently, the motherboard outputs an initial control signal (such as a pulse width modulation wave with a specific duty cycle) to the drive motor to start its rotation. Simultaneously, the encoder immediately begins operation, feeding back the actual real-time speed of the motor to the circuit control motherboard 1 in the form of pulse frequencies. The control algorithm within the motherboard performs a millisecond-level rapid comparison between the actual measured value and the previously set target value, calculating the deviation between the two. If the actual speed is lower than the target, the algorithm determines that the torque is insufficient and automatically strengthens the control signal output to the drive motor; conversely, if the actual speed is too high, the control signal is weakened. This dynamic adjustment process is continuous and automatic, unaffected by load changes or power supply voltage fluctuations. This encoder-based closed-loop control brings a fundamental performance improvement. It enables the vehicle to maintain an extremely stable driving speed, ensuring consistency in the inspection process regardless of changes in wall conditions. Simultaneously, by accumulating pulse counts, the circuit control motherboard 1 can accurately measure the theoretical driving displacement of the vehicle, making it possible to achieve precise point-to-point control that allows the vehicle to "stop after traveling a specific distance." Crucially, this system endows the vehicle with basic environmental perception and adaptive capabilities. For example, when the wheels briefly slip on a wet or uneven wall surface, the motor will idle, causing a sudden increase in speed, and the encoder will immediately transmit this abnormal feedback signal back. The control algorithm can identify this abnormal state where the rotational speed increases but the displacement does not increase proportionally, and can trigger corresponding compensation strategies, such as temporarily reducing torque or issuing an early warning, thereby effectively coping with complex environments and ensuring the reliability of movement and the completion of tasks.

[0052] Furthermore, the circuit control motherboard 1 also integrates an alarm module, such as a buzzer, which triggers local and remote alarms when the temperature and humidity exceed the corresponding thresholds.

[0053] Figure 4 This is a flowchart illustrating the inspection process of a cable trench adsorption-type inspection trolley according to an embodiment of this application. See also... Figure 4 This document details the operation method of an adsorption-type inspection trolley for cable trenches, specifically including the following steps:

[0054] S101. Complete the work preparation and move along the trench wall to collect real-time temperature and humidity data inside the cable trench.

[0055] The core objective of this step is to complete the pre-inspection preparations and initiate movement and data collection. Specific operations include:

[0056] Place the inspection trolley at the starting position on the cable trench wall, ensuring that the flexible sealing film 3 at the bottom of the main bearing base plate 2 is fully in contact with the wall surface;

[0057] The adsorption start command is sent by an external mobile terminal. The signal is transmitted to the circuit control motherboard 1 via the wireless transmission communication module 6, which drives the negative pressure adsorption module 5 to start and generate negative pressure adsorption force, so that the trolley is firmly adsorbed on the wall of the cable trench.

[0058] After adsorption is completed, a forward command is sent. The circuit controls the main board 1 to drive the motor in the walking mechanism 4 to rotate. Through the structure of the active gear simultaneously meshing with the two driven gears, the two wheels on the same side rotate synchronously. Combined with the real-time information fed back by the encoder, the speed and attitude are adjusted to ensure that the trolley moves stably on the vertical wall.

[0059] S102. Transmit the collected temperature and humidity data to the ground terminal.

[0060] This step is used to achieve remote transmission of the collected data. Specific operations include:

[0061] The data collected by the temperature measurement system 7 is transmitted to the circuit control main board 1 after signal conditioning to obtain effective temperature and humidity data.

[0062] The circuit control motherboard 1 packages and sends valid data to the ground terminal through the wireless transmission communication module 6. The data transmission path is "temperature measurement system 7 → circuit control motherboard 1 → wireless transmission communication module 6 → external mobile terminal". The external mobile terminal receives and displays the data in real time.

[0063] S103. The control system compares the preset temperature and humidity thresholds to determine if there is any abnormality.

[0064] This step is used to identify data anomalies, and the specific operations include:

[0065] The circuit control motherboard 1 compares the collected temperature and humidity data with the preset alarm threshold in real time.

[0066] When the detected data exceeds the threshold, the circuit control motherboard 1 immediately triggers the built-in buzzer to issue an alarm signal and synchronously transmits the alarm signal back to the terminal to remind the staff to pay attention.

[0067] S104. The trolley returns along the original path for recovery, and the system power is shut down.

[0068] This step is used to safely retrieve the robot and shut down the system. Specific operations include:

[0069] Once the anomaly investigation is completed or the entire inspection task is finished, staff will send a return command through the external interactive interface.

[0070] The circuit control motherboard 1 controls the drive motor to run in reverse according to the displacement information recorded by the encoder, guiding the trolley to retreat along the original travel path to the entrance of the cable trench;

[0071] Upon reaching the designated position, the command controls the negative pressure adsorption module 5 to stop working, the negative pressure in the adsorption chamber disappears, and the trolley safely detaches from the trench wall.

[0072] Finally, turn off the power supply to the power supply mechanism, remove the trolley and shut down the machine to complete this inspection cycle.

[0073] The above embodiments are merely illustrative examples and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations. However, obvious variations or modifications derived therefrom are still within the scope of protection of this application.

Claims

1. A cable trench adsorption-type inspection trolley, characterized in that, include: Circuit control main board (1), main body support base plate (2), flexible sealing membrane (3), drive walking mechanism (4), negative pressure adsorption module (5), monitoring system and wireless transmission communication module (6). The bottom of the main supporting base plate (2) is provided with an adsorption cavity that opens downwards; The flexible sealing membrane (3) covers the edge of the adsorption cavity; The circuit control motherboard (1) is stacked on top of the main support base plate (2), and an air gap layer is provided between the circuit control motherboard (1) and the main support base plate (2). The negative pressure adsorption module (5) is connected to the adsorption chamber; The driving walking mechanism (4) is installed on the main body bearing base plate (2) and electrically connected to the circuit control main board (1). The driving walking mechanism (4) includes two sets of driving units arranged symmetrically. Each set of driving units includes a driving motor and two walking wheels driven by the driving motor. The monitoring system includes a temperature measuring system (7) and an encoder. The temperature measuring system (7) is located on the edge of the main support base plate (2) and electrically connected to the circuit control main board (1) for detecting environmental parameters. The encoder is located on the drive motor and electrically connected to the circuit control main board (1) for feeding back the speed of the drive motor. The wireless transmission communication module (6) is mounted on the circuit control motherboard (1).

2. The cable trench adsorption-type inspection trolley according to claim 1, characterized in that, The flexible sealing membrane (3) is made of polytetrafluoroethylene.

3. The cable trench adsorption-type inspection trolley according to claim 2, characterized in that, The thickness of the flexible sealing membrane is 0.1 mm.

4. The cable trench adsorption-type inspection trolley according to claim 1, characterized in that, The air gap layer is supported by multiple support columns between the circuit control main board (1) and the main body bearing base plate (2), and the height of the air gap layer is 18mm~26mm.

5. The cable trench adsorption-type inspection trolley according to claim 4, characterized in that, The support column is made of nylon.

6. The cable trench adsorption-type inspection trolley according to claim 1, characterized in that, The negative pressure adsorption module (5) is a centrifugal fan. The air inlet of the centrifugal fan is connected to the adsorption chamber, and the air outlet is connected to the outside atmosphere.

7. The cable trench adsorption-type inspection trolley according to claim 1, characterized in that, In each drive unit, the output shaft of the drive motor is connected to a drive gear, and the two walking wheels are respectively connected to driven gears. The drive gear meshes with both driven gears simultaneously.

8. The cable trench adsorption-type inspection trolley according to claim 1, characterized in that, The circuit control motherboard (1) controls the operation of the drive motor according to the feedback signal of the encoder.

9. The cable trench adsorption-type inspection trolley according to claim 1, characterized in that, The temperature measurement system (7) is a temperature and humidity sensor, which is located on the edge of the main support base plate (2).

10. The cable trench adsorption-type inspection trolley according to claim 1, characterized in that, The circuit control motherboard (1) also integrates an alarm module.

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