A pipe temperature measurement robot based on underground cable ducts

Abstract

This invention discloses a pipeline temperature measurement robot based on underground cable ducts. The pipeline temperature measurement robot includes: a support device, a drive device, a temperature measuring device, a connecting device, and a control device. The control device controls the robot's movement and start / stop within a narrow, irregularly shaped cavity. The temperature measuring device is located at the front of the connecting device and can measure the cable temperature, enabling the robot to autonomously move within underground cable ducts and detect the cable temperature.

Description

Technical Field

[0001] This invention relates to the field of cable fiber core temperature measurement technology, and in particular to a pipeline temperature measurement robot based on underground cable ducts. Background Technology

[0002] With the rapid development of urban power grids, urban power transmission increasingly relies on underground cable laying. Cable core temperature is a crucial parameter for determining cable safety. Currently, cable core temperature measurement is mostly done manually during power outages or by laying temperature-sensing optical fibers along the cable line and calculating the core temperature from the measured cable surface temperature. However, these methods are labor-intensive, lack real-time performance, and are unreliable. In contrast, miniature temperature-measuring robots for cable ducts are convenient to use and highly reliable. The autonomous movement of these robots within cable ducts is a vital foundation for real-time temperature monitoring of cable groups, and is of great significance for the safe transmission of urban power.

[0003] Existing pipeline robots are mostly suitable for relatively regular circular straight pipes, and their large size makes them unsuitable for irregularly shaped and narrow spaces, thus preventing them from autonomously moving and measuring temperatures within underground cable ducts. Furthermore, most existing pipeline robots only perform pipe cleaning tasks and rarely involve temperature acquisition and transmission, lacking independent and reliable temperature acquisition and transmission systems. Summary of the Invention

[0004] The purpose of this invention is to provide a pipeline temperature measurement robot based on underground cable ducts, which can move and start / stop in irregularly shaped and narrow cavities and measure the temperature of the cables.

[0005] To achieve the above objectives, the present invention provides the following solution:

[0006] A pipeline temperature measurement robot, comprising:

[0007] Support device, drive device, temperature measuring device, connecting device and control device;

[0008] The connecting device specifically includes:

[0009] The device comprises a front section, a middle section, and a rear section; one end of the middle section is connected to the front section, and the other end is connected to the rear section.

[0010] The fixed part of the drive device is disposed on the upper surface of the rear section of the connecting device, and the movable part of the drive device is located on the inner wall of the cable duct; the drive device is electrically connected to the control device, and the control device is used to control the start and stop of the drive device.

[0011] The fixed part of the support device is located on the side wall of the rear section of the connecting device, and the movable part of the support device is located on the inner wall of the cable duct; the support device is electrically connected to the control device, and the control device is used to control the extension and retraction state of the movable part of the support device.

[0012] The control device is disposed on the upper surface of the middle section of the connecting device, and the temperature measuring device is disposed on the front section of the connecting device. The temperature measuring device is connected to the control device, and the control device is used to control the temperature measuring device to measure the temperature of the cable in the cable duct.

[0013] Optionally, the driving device specifically includes:

[0014] Stepper motor, coupling, and drive wheel;

[0015] There are two drive wheels, located on both sides of the rear section of the connecting device;

[0016] The control terminal of the stepper motor is electrically connected to the control device, and the drive terminal of the stepper motor is connected to the drive wheel through the coupling. The stepper motor drives the drive wheel to move on the inner wall of the cable duct.

[0017] Optional,

[0018] The number of support devices is four, with two support devices disposed on one side wall of the rear section of the connecting device, and the other two support devices disposed on the other side wall of the rear section of the connecting device;

[0019] The support device specifically includes:

[0020] Support device power supply equipment, electric spring, driven wheel, first pipe section and second pipe section;

[0021] The first end of the first pipe segment is fixedly disposed on the side wall of the rear section of the connecting device, and the second end of the first pipe segment is slidably connected to the first end of the second pipe segment; the electric spring is disposed inside the first pipe segment and the second pipe segment, the fixed end of the electric spring is connected to the first end of the first pipe segment, and the movable end of the electric spring is connected to the second end of the second pipe segment; the driven wheel is disposed on the outer wall of the second pipe segment;

[0022] The power supply equipment of the support device is electrically connected to the power supply terminals of the control device and the electric spring, respectively. When the electric spring is energized, it contracts and drives the driven wheel to move towards the rear section of the connecting device.

[0023] Optionally, the pipeline temperature measurement robot further includes:

[0024] Positioning device;

[0025] The positioning device is disposed on the front end of the connecting device, and the positioning device is electrically connected to the control device.

[0026] Optionally, the positioning device specifically includes:

[0027] Hub motor, first connecting rod, second connecting rod, first bearing mounting base and second bearing mounting base;

[0028] The first end of the first connecting rod is connected to one side of the front section of the connecting device, and the first end of the second connecting rod is connected to the other side of the front section of the connecting device;

[0029] The first bearing mounting seat is disposed on the second end of the first connecting rod, and the second bearing mounting seat is disposed on the second section of the second connecting rod;

[0030] The hub motor is located above the cable inside the cable conduit. The first fixed end of the hub motor is connected to the first bearing mounting seat, the second fixed end of the hub motor is connected to the second bearing mounting seat, and the control end of the hub motor is electrically connected to the control device.

[0031] Optionally, the pipeline temperature measurement robot further includes:

[0032] Casing and partitions;

[0033] The housing is located above the middle section of the connecting device, and the partition plate is located inside the housing, dividing the housing into an upper housing and a lower housing.

[0034] Optionally, the control device specifically includes:

[0035] Stepper motor driver, main control board, data processor, hub motor driver, and wireless communication module;

[0036] The stepper motor driver is connected to the main control board and the stepper motor respectively, and the hub motor driver is connected to the main control board and the hub motor respectively; the main control board is used to control the rotation of the stepper motor and the rotation of the hub motor;

[0037] The data processor is connected to the temperature measuring device, the positioning device, and the wireless communication module respectively; the data processor is used to control the wireless communication module to send temperature data and positioning data.

[0038] Optionally, the pipeline temperature measurement robot further includes:

[0039] Camera device;

[0040] The camera device is mounted on the front end of the connecting device and is connected to the data processor. The data processor is used to control the camera device to capture images of the scene inside the cable duct.

[0041] Compared with the prior art, the beneficial effects of the present invention are:

[0042] This invention proposes a pipeline temperature measurement robot based on underground cable ducts. The control device controls the robot's movement and start / stop within irregularly shaped and narrow cavities. The temperature measurement device is installed at the front of the connecting device and can measure the cable temperature, enabling the robot to autonomously move within underground cable ducts and detect the cable temperature.

[0043] In addition, the use of hub motors for positioning allows the location information corresponding to the temperature of cable defects to be transmitted via a wireless communication module, facilitating the monitoring of cable core temperature by staff. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 This is a structural diagram of a pipeline temperature measurement robot based on underground cable ducts in an embodiment of the present invention;

[0046] Figure 2 This is an enlarged schematic diagram of a component in an embodiment of the present invention;

[0047] Figure 3 This is a schematic diagram of the control device structure in an embodiment of the present invention. Detailed Implementation

[0048] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] The purpose of this invention is to provide a pipeline temperature measurement robot based on underground cable ducts, which can move and start / stop in irregularly shaped and narrow cavities and measure the temperature of the cables.

[0050] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0051] Example

[0052] Figure 1 This is a structural diagram of a pipeline temperature measurement robot based on underground cable ducts in an embodiment of the present invention. Figure 2 This is an enlarged schematic diagram of a component in an embodiment of the present invention. Figure 2 (a) is a structural diagram of the support device. Figure 2 (b) is a structural diagram of the drive unit. Figure 2 (c) is a structural diagram of the connecting device. Figure 2 (d) is a structural diagram of the positioning device. Figure 3 This is a schematic diagram of the control device structure in an embodiment of the present invention.

[0053] like Figure 1-3 As shown, a pipeline temperature measurement robot based on underground cable ducts includes: a support device I, a drive device II, a temperature measuring device 14, a connecting device III, a control device, a positioning device IV, a camera device 13, a shell 12, and a partition plate.

[0054] The connecting device Ⅲ specifically includes: a front section of the connecting device, a middle section of the connecting device, and a rear section of the connecting device 11; one end of the middle section of the connecting device is connected to the front section of the connecting device, and the other end of the middle section of the connecting device is connected to the rear section of the connecting device.

[0055] The fixed part of drive device II is located on the upper surface of the rear section of the connecting device, and the movable part of drive device II is located on the inner wall of the cable duct. Drive device II is electrically connected to the control device, which controls the start and stop of drive device II. The fixed part of support device I is located on the side wall of the rear section of the connecting device, and the movable part of support device I is located on the inner wall of the cable duct. Support device I is electrically connected to the control device, which controls the extension and retraction of the movable part of support device I. The control device is located on the upper surface of the middle section of the connecting device, and temperature measuring device 14 is located on the front section of the connecting device. Temperature measuring device 14 is connected to the control device, which controls temperature measuring device 14 to measure the temperature of the cable in the cable duct. Positioning device IV is located on the front end of the connecting device and is electrically connected to the control device. Housing 12 is located above the middle section of the connecting device, and partition plate is located inside housing 12. The edge of partition plate is connected to the inner wall of housing 12, and partition plate divides housing into upper housing and lower housing. The camera device 13 is installed at the front end of the connecting device. The camera device 13 is connected to the data processor, which is used to control the camera device 13 to capture images of the scene inside the cable duct.

[0056] The drive device II specifically includes: a stepper motor 10, a coupling 7, and a drive wheel 6. There are two drive wheels 6, located on both sides of the rear section of the connecting device. The control end of the stepper motor 10 is electrically connected to the control device, and the drive end of the stepper motor 10 is connected to the drive wheel 6 through the coupling 7. The stepper motor 10 drives the drive wheel 6 to move on the inner wall of the cable duct.

[0057] There are four support devices I. Two support devices I are installed on one side wall of the rear section of the connecting device, and the other two support devices I are installed on the other side wall of the rear section of the connecting device. Specifically, support device I includes: a power supply device 5, an electric spring 4, a driven wheel 1, a first pipe section 3, and a second pipe section 2. The first end of the first pipe section 3 is fixedly installed on the side wall of the rear section of the connecting device, and the second end of the first pipe section 3 is slidably connected to the first end of the second pipe section 2. The electric spring 4 is placed inside the first pipe section 3 and the second pipe section 2. The fixed end of the electric spring 4 is connected to the first end of the first pipe section 3, and the movable end of the electric spring 4 is connected to the second end of the second pipe section 2. The driven wheel 1 is installed on the outer wall of the second pipe section 2. The power supply device 5 is electrically connected to the power supply terminals of the control device and the electric spring 4, respectively. When energized, the electric spring 4 contracts and drives the driven wheel 1 to move towards the rear section of the connecting device.

[0058] Positioning device IV specifically includes: a hub motor 15, a first connecting rod 17, a second connecting rod, a first bearing mounting seat 16, and a second bearing mounting seat. The first end of the first connecting rod 17 is connected to one side of the front section of the connecting device, and the first end of the second connecting rod is connected to the other side of the front section of the connecting device. The first bearing mounting seat 16 is located on the second end of the first connecting rod 17, and the second bearing mounting seat is located on the second section of the second connecting rod. The hub motor 15 is located above the cable inside the pipe. The first fixed end of the hub motor 15 is connected to the first bearing mounting seat 16, the second fixed end of the hub motor 15 is connected to the second bearing mounting seat, and the control end of the hub motor 15 is electrically connected to the control device.

[0059] The control device specifically includes: a stepper motor driver, a main control board, a data processor, a hub motor driver, and a wireless communication module. The stepper motor driver is connected to the main control board and the stepper motor 10, and the hub motor driver is connected to the main control board and the hub motor 15. The main control board is used to control the rotation of the stepper motor 10 and the hub motor 15. The data processor is connected to the temperature measuring device 14, the positioning device IV, and the wireless communication module. The data processor is used to control the wireless communication module to send temperature data and positioning data.

[0060] Specifically,

[0061] The support device I mainly consists of driven wheels 1, two nested tubular structures 2 and 3 (the first and second pipe sections), an electric spring 4, and a spring power supply block 5 (the power supply for the support device). The nested tubular structures are the main components of the support device. The front end of the upper tubular structure is fixed to the side of the rear section of the main board with matching screws. The lower tubular structure is nested inside the upper tubular structure and will not detach. An electric spring is located within each tubular structure. The first end of the electric spring is connected to a power supply block (which is triangular and fits perfectly into the upper tubular structure), and the second end is connected to the lower tubular structure. When de-energized, the electric spring is in its normal state. When energized by the power supply block, it contracts, causing the lower tubular structure to move upwards. This shortens the entire support device, reducing the robot's lateral cross-sectional area and allowing it to adapt to smaller diameter pipes. The overall length of the support device is adjustable from 30mm to 55mm. The driven wheel is connected to the end of the lower tubular mechanism and is made with a rubber-coated bearing. The rubber-coated surface is smoothed to reduce the friction between the driven wheel and the inner wall of the pipe. The driven wheel has a diameter of 30mm, a thickness of 10mm, an outlet shaft diameter of 6mm, and an outlet shaft length of 10mm.

[0062] The drive unit II mainly consists of an active walking wheel 6 (i.e., the drive wheel), a coupling 7, a stepper motor 10, and two motor fixing structures 8 and 9. The stepper motor is the core of the entire drive unit. This stepper motor is a small, dual-output shaft torque-enhanced hybrid stepper motor, characterized by low inertia, fast acceleration, high torque, and high efficiency. The motor base is 56*56mm in size and 50mm in length. Both output shafts have a diameter of 6.35mm and a length of 10mm. The motor is fixed to the rear section of the main board via two motor fixing structures and several matching screws. The active walking wheel is custom-made with a rubber-coated shaft. To better fit the inner wall of the pipe, the rubber-coated surface has an arc design and a roughened surface treatment, increasing the friction between the drive wheel and the pipe wall and preventing slippage. The drive wheel has an inner diameter of 58mm, an outer diameter of 25mm, and a thickness of 15mm. The output shaft diameter is 10mm and the length is 10mm. The two output shafts of the motor are each connected to the output shaft of the drive wheel via a standard coupling. There is an inner hole on each side of the coupling, with a depth of 8mm and a diameter of 6.35mm on one side, into which the motor output shaft can be directly inserted. The diameter of the inner hole of the coupling is 10mm on the other side, into which the drive wheel output shaft can be directly inserted. The connection between the motor and drive wheel output shafts and the inner hole of the coupling is an interference fit. There are also locking screws on the side of the coupling to prevent the motor and drive wheel output shafts from coming off.

[0063] The mainboard and its protective structure consist of the mainboard (including the front, middle, and rear sections of the connecting device), the mainboard protective shell 12 (i.e., the housing), the camera 13 mounted on the mainboard (i.e., the imaging device), a set of non-contact infrared temperature probes 14 (i.e., the temperature measuring device), and several other electronic components. The mainboard is divided into a front, middle, and rear section. To facilitate the installation of other components, these three sections have different shapes and sizes, but they are integrated into a single unit, manufactured using CNC machining technology. The mainboard has several threaded holes and connection holes on its top and sides to facilitate the installation and fixing of other structures. The mainboard integrates the entire robot into a single unit. The front section of the mainboard is equipped with a camera 13 and a set of non-contact infrared temperature probes 14. The camera is a distortion-free, autofocus-equipped camera with night vision capabilities, enabling better monitoring of the internal environment of the pipeline. The set of temperature probes is arranged linearly to achieve linear temperature measurement of the cable, ensuring no blind spots (i.e., the cable temperature can still be measured even when the robot shifts its angle and is no longer directly above the cable). The front section of the mainboard is connected to the entire positioning device via a hub motor connecting rod. To make full use of space, the electronic components in the middle section of the mainboard are arranged in upper and lower layers. The lower layer contains stepper motor drivers, positioning and infrared temperature data processors. The main control board and other modules are all fixed to the motherboard with matching screws. The upper layer contains the hub motor driver and the wireless communication module. The hub motor driver is fixed with high-mount screws, and the wireless communication module is directly inserted into the positioning and infrared temperature data processor via pin headers. There is also a motherboard protective shell above the middle section of the motherboard to prevent electronic components from malfunctioning due to excessive ambient temperature or dust. The protective shell has cutouts on both sides to facilitate wiring. The protective shell is installed through threaded holes and matching screws on both sides of the middle section of the motherboard. The drive unit is mounted on the upper rear section of the motherboard. The support unit is installed through threaded holes and screws on both sides of the rear section of the motherboard and is connected to the motherboard.

[0064] The positioning device IV consists of a hub motor 15, a bearing mounting base 16, and a hub motor connecting rod 17. The hub motor is the core of the positioning device, employing a 3-inch dual-axis hub servo motor. The motor's built-in photoelectric encoder and related components enable robot positioning and also assist in driving the robot. The hub motor's shape closely matches the cable, allowing it to straddle the cable. When the cable changes direction, the motor changes direction accordingly, thus steering the entire robot. The output shafts on both sides of the hub motor are connected to a bearing mounting base. The inner hole of the bearing mounting base is interference-fitted with the output shaft of the hub motor, and fastening screws prevent the output shaft from dislodging. The bearing mounting base is fixed to the hub motor connecting rod with screws, and the hub motor connecting rod is fixed to the front section of the main board with screws and nuts.

[0065] The stepper motor is fixed to the rear of the motherboard by two motor mounting structures, while the camera and infrared temperature sensor are fixed to the front of the motherboard. The middle section of the motherboard has a large space, so to make good use of the space, the electronic components in the middle section are arranged in two layers. The lower layer contains the main control board, stepper motor driver, positioning and infrared temperature data processor. These modules are all fixed with matching screws. The upper layer contains the hub motor driver and wireless communication module. The hub motor driver is fixed with high-mount screws, and the wireless communication module is directly inserted into the infrared temperature data processor through pin headers.

[0066] When the robot is in a cable duct with a favorable environment (low resistance and minimal obstacles) and does not require position data acquisition, only the stepper motor needs to be driven to move the robot. The stepper motor driving process is as follows: The main control board sends pulse signals to the stepper motor driver. Upon receiving a pulse signal, the stepper motor driver drives the two output axes of the stepper motor to rotate in the same direction by a fixed angle. This rotation of the output axes drives the active walking wheels connected to them. As the stepper motor driver continuously receives pulse signals from the main control board, the output axes of the stepper motor rotate continuously in one direction, causing the active walking wheels to press against the duct wall and begin to move. The active walking wheels then drive the driven walking wheels, thus moving the entire robot. The main control board controls the rotation of the stepper motor by controlling whether to send pulse signals to the stepper motor driver, thereby controlling the robot's start and stop. The main control board also controls the speed of the motor by controlling the frequency of the pulse signals, thus adjusting the robot's speed.

[0067] When the robot is in a harsh environment such as a cable duct or needs to collect location information, hub motors can be driven simultaneously to move the robot. The driving process of hub motors is similar to that of stepper motors. The hub motor driver generates electrical signals to control the rotation of the hub motors according to instructions from the main control board, thereby controlling the direction and speed of wheel rotation. The rotation of the hub motors reduces the burden on the stepper motors to some extent, and the two motors work together to ensure the normal movement of the robot.

[0068] The robot temperature detection system mainly consists of three hardware components: an infrared temperature acquisition terminal device, a wireless communication module, and a host computer. The temperature detection process is as follows: The infrared temperature acquisition terminal device collects temperature data from various points on the underground cable using a set of non-contact infrared temperature probes 14 and transmits it to the positioning and infrared temperature data processor. The processor processes the data, and when it detects that the temperature exceeds the set temperature limit, it controls the wireless communication module to send an alarm message to the host computer. According to user needs, the host computer can send instructions to the wireless communication module, such as storing temperature data at certain times as historical data and transmitting it to the host computer, enabling the host computer management system to analyze the historical data and thus determine the cable's operating status.

[0069] The core of the robot's pipeline positioning system is a 3-inch dual-output-shaft hub servo motor. This motor, with its built-in photoelectric encoder and low-power transceiver, enables robot positioning and also assists in driving the robot. The hub motor's driver is fixed to the upper middle section of the robot's mainboard. The motor's outer tire is made of EPDM rubber, a material with superior wear resistance, heat resistance, and anti-slip properties compared to ordinary natural rubber. The motor's built-in encoder is a 20-bit absolute photoelectric rotary encoder. Absolute photoelectric rotary encoders directly output digital values ​​without accumulated errors and have a power-off memory function (meaning that if the system's movement occurs during a power outage, the new position can be immediately determined after power is restored). Therefore, when position information is not needed, the motor does not need to be driven; when information needs to be collected, driving the motor provides the required position information.

[0070] The process of acquiring location information is as follows: The main control board simulates a clock signal by controlling the level of one of its output ports. The encoder built into the hub motor sends the motor's position information bit by bit according to the clock signal. At this time, the position information is a differential signal. Then, the low-power transceiver built into the hub motor converts the differential signal into a TTL level signal. This level signal is then sent to the positioning and infrared temperature data processor. The processor obtains the absolute position value by reading this level signal. Finally, the absolute position value is sent to the host computer via the wireless communication module.

[0071] The advantages of this invention lie in its novel structural design, which reduces the robot's size and allows it to operate autonomously within cable ducts without damaging the duct structure, significantly reducing inspection costs and increasing economic efficiency. The invention utilizes intelligent sensors, such as a night vision camera, in conjunction with temperature measurement, enabling the robot to monitor duct information more comprehensively and reliably, thus enhancing its practical value. When positioning within the duct, it offers high speed, high accuracy, and strong anti-interference capabilities, and can update in real-time during operation, ensuring the accuracy and high precision of position data acquisition. The design of the drive module saves space, facilitates the integration of other sensors, and provides fast speed and simple control.

[0072] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A pipeline temperature measurement robot, characterized in that, include: Support device, drive device, temperature measuring device, connecting device, and control device; The connecting device specifically includes: The device comprises a front section, a middle section, and a rear section; one end of the middle section is connected to the front section, and the other end is connected to the rear section. The fixed part of the drive device is disposed on the upper surface of the rear section of the connecting device, and the movable part of the drive device is located on the inner wall of the cable duct; the drive device is electrically connected to the control device, and the control device is used to control the start and stop of the drive device. The fixed part of the support device is located on the side wall of the rear section of the connecting device, and the movable part of the support device is located on the inner wall of the cable duct; the support device is electrically connected to the control device, and the control device is used to control the extension and retraction state of the movable part of the support device. The control device is disposed on the upper surface of the middle section of the connecting device, and the temperature measuring device is disposed on the front section of the connecting device. The temperature measuring device is connected to the control device, and the control device is used to control the temperature measuring device to measure the temperature of the cable in the cable duct. The driving device specifically includes: Stepper motor, coupling, and drive wheel; There are two drive wheels, located on both sides of the rear section of the connecting device; The control terminal of the stepper motor is electrically connected to the control device, and the drive terminal of the stepper motor is connected to the drive wheel through the coupling. The stepper motor drives the drive wheel to move on the inner wall of the cable duct. The support device specifically includes: a power supply device for the support device, an electric spring, a driven wheel, a first pipe section, and a second pipe section; The power supply equipment of the support device is electrically connected to the power supply terminals of the control device and the electric spring respectively. When the electric spring is energized, it contracts and drives the driven wheel to move towards the rear section of the connecting device. The pipeline temperature measurement robot also includes: a positioning device; The positioning device is disposed on the front end of the connecting device, and the positioning device is electrically connected to the control device. The positioning device specifically includes: The device includes a hub motor, a first connecting rod, a second connecting rod, a first bearing mounting base, and a second bearing mounting base. The hub motor is the core of the positioning device, and its built-in photoelectric encoder and related components enable the robot to be positioned. The first end of the first connecting rod is connected to one side of the front section of the connecting device, and the first end of the second connecting rod is connected to the other side of the front section of the connecting device; The first bearing mounting seat is disposed on the second end of the first connecting rod, and the second bearing mounting seat is disposed on the second section of the second connecting rod; The hub motor is located above the cable inside the cable duct. The first fixed end of the hub motor is connected to the first bearing mounting seat, the second fixed end of the hub motor is connected to the second bearing mounting seat, and the control end of the hub motor is electrically connected to the control device. The hub motor serves as an auxiliary drive for the robot. The shape of the hub motor fits the cable well and can straddle the cable. When the cable changes direction to a certain extent, the hub motor can change direction accordingly, thereby turning the entire robot.

2. The pipeline temperature measurement robot according to claim 1, characterized in that, The support device specifically includes: The number of support devices is four, with two support devices disposed on one side wall of the rear section of the connecting device, and the other two support devices disposed on the other side wall of the rear section of the connecting device; The first end of the first pipe segment is fixedly disposed on the side wall of the rear section of the connecting device, and the second end of the first pipe segment is slidably connected to the first end of the second pipe segment; the electric spring is disposed inside the first pipe segment and the second pipe segment, the fixed end of the electric spring is connected to the first end of the first pipe segment, and the movable end of the electric spring is connected to the second end of the second pipe segment; the driven wheel is disposed on the outer wall of the second pipe segment.

3. The pipeline temperature measurement robot according to claim 2, characterized in that, The pipeline temperature measurement robot also includes: Casing and partitions; The housing is located above the middle section of the connecting device, and the partition plate is located inside the housing, dividing the housing into an upper housing and a lower housing.

4. The pipeline temperature measurement robot according to claim 3, characterized in that, The control device specifically includes: Stepper motor driver, main control board, data processor, hub motor driver, and wireless communication module; The stepper motor driver is connected to the main control board and the stepper motor respectively, and the hub motor driver is connected to the main control board and the hub motor respectively; the main control board is used to control the rotation of the stepper motor and the rotation of the hub motor; The data processor is connected to the temperature measuring device, the positioning device, and the wireless communication module respectively; the data processor is used to control the wireless communication module to send temperature data and positioning data.

5. The pipeline temperature measurement robot according to claim 4, characterized in that, The pipeline temperature measurement robot also includes: Camera device; The camera device is mounted on the front end of the connecting device and is connected to the data processor. The data processor is used to control the camera device to capture images of the scene inside the cable duct.

Images