Suspended cable tunnel patrol robot

Abstract

The present invention discloses a hanging cable tunnel patrol robot, which can travel along the cable tunnel and reliably realize the inspection of the internal conditions of the cable tunnel. The present invention comprises a fixed component, a charging component and a host component; the fixed component comprises a fixed rod, the top end of which is fixedly mounted on the top surface of the tunnel, and the bottom end of which is fixed to a steel wire rope extending along the tunnel; the charging component is fixedly mounted at one end of the tunnel inspection port; the charging component comprises a hanging pipe, the bottom of which is a charging seat, and the charging seat is symmetrically provided with a neutral wire terminal and a live wire terminal on both sides of a side facing the host component; the host component comprises a host, and the rear panel of the host is provided with a neutral wire charging plate and a live wire charging plate for charging the host component after contacting the neutral wire terminal and the live wire terminal; the front panel of the host is provided with an infrared imaging camera and a real-view video camera; the four corners of the front panel of the host are also provided with LED shadowless lamps.

Description

Technical Field

[0001] The invention relates to a substation patrol robot, which is specifically used for patrolling cables in cable tunnels. Background Art

[0002] The development of urban modernization in my country has boosted the construction of underground cable tunnels. In megacities such as Beijing, Shanghai, and Guangzhou, underground power distribution networks have become more complete, and some large and medium-sized cities are also accelerating the construction of cable tunnels. At present, according to the different cross-sections of the tunnels, cable tunnels are divided into three types: open-cut tunnels, shield tunnels, and jacking tunnels. Their main characteristics are long distances, complex terrain, high temperatures, humidity, and a variety of cable types, which are crisscrossed. Due to the complex environment in the tunnel, cables often cause tunnel fires due to natural aging, corrosion, or bites by small animals. Cables need to operate safely for a long time. If safety hazards are not discovered early and measures are not taken, once a cable fire occurs, it is bound to spread quickly, the fire is fierce, and rescue is difficult, which will cause serious power outages. The consequences are very serious, and the repair work is also difficult, resulting in huge direct and indirect economic losses.

[0003] In the early stage of cable tunnel fire, it is particularly important to provide timely and accurate information on the status of cable tunnels and transmission cables. This can not only avoid the occurrence of cable tunnel fires and eliminate fires in the bud, but also promptly repair cables that have been aged, corroded, or persecuted by small animals, thereby increasing the life of the power grid. At present, the inspection of cables in tunnels is still mainly done manually, because the cables will generate a lot of heat during operation, and will release a lot of smoke and harmful gases when smoldering; in addition, due to the damage of natural disasters, some tunnels will seep water, which greatly endangers the safety and health of operators. Therefore, manual inspection of tunnel cables has a high risk factor, low efficiency, and poor operability.

[0004] At present, most of the professional management methods for power cable operation in China belong to the extensive management mode. Most of the operation inspection and maintenance work of power cable lines are completed manually. However, the humidity in the tunnel is high, water accumulation is common, and there are often toxic gases, which greatly hinders manual inspections. At the same time, due to the low frequency and long intervals of manual inspections, the relevant units have no idea of ​​what may happen during the inspection interval, and cannot collect and analyze the historical data of power cable lines in real time, making it difficult to obtain accurate equipment operation status. Without monitoring of the power cable system and tunnel (trench) network, it is impossible to achieve power cable network and path resource management and control.

[0005] At the same time, due to the narrow and long space, limited entrances and exits, dense high-voltage cables, many obstacles, and complex internal combustibles (a wide variety of insulating materials), high-temperature smoke will accumulate when a fire occurs, making firefighting extremely difficult and easily causing immeasurable losses. Therefore, setting up a reliable and flexible fire protection system in the power tunnel has become a crucial link in the current design of the power tunnel video surveillance system.

[0006] In recent years, we have witnessed many fires in power tunnels in China, landslides in the road near power tunnels have sounded the alarm, and high-voltage cable failures and theft of power facilities have caused us to suffer heavy losses. High-voltage cables and power tunnels are the main arteries of power transmission in the city center. Once problems occur, they will have a serious impact on the power supply security of the entire city's core area. Faced with challenges, we began to think deeply about how to transform the production management model of high-voltage power grids and establish a new future-oriented power tunnel monitoring and supervision management model.

[0007] In summary, with the gradual popularization of urban underground power grids, cable faults will inevitably enter a high-incidence period, which puts forward an urgent need for the development of cable tunnel patrol robots. Existing patrol robots are mainly used in substations. Due to the unevenness of cable tunnels and the accumulation of water in some sections, wheeled or tracked robots cannot walk in cable tunnels. Summary of the invention

[0008] The technical problem to be solved by the present invention is to provide a hanging cable tunnel inspection robot for the above-mentioned deficiencies in the prior art, which can travel along the cable tunnel and reliably realize the inspection of the internal conditions of the cable tunnel.

[0009] In order to achieve the above object, the present invention adopts the following technical solutions:

[0010] A hanging cable tunnel patrol robot is used to patrol tunnels where cables are arranged. The invention comprises a fixing component, a charging component and a host component;

[0011] The fixing assembly comprises a fixing rod, the top end of which is fixedly mounted on the top surface of the tunnel, and the bottom end of which is fixed to a steel wire rope extending along the tunnel;

[0012] The charging assembly is fixedly installed at one end of the tunnel inspection port; the charging assembly comprises a hanging pipe, the bottom of the hanging pipe is a charging seat, and the charging seat has a neutral terminal and a live terminal symmetrically arranged on both sides of a side facing the host assembly;

[0013] The host component includes a host, and the rear panel of the host is provided with a neutral wire charging plate and a live wire charging plate for charging the host component after contacting the neutral wire terminal and the live wire terminal; the front panel of the host is provided with an infrared imaging camera and a real-view video camera; the four corners of the front panel of the host are also provided with LED shadowless lights; the top of the host component is installed with a steering motor for driving the host to rotate 180 degrees, and a connecting shaft is fixedly installed on the steering motor, and a walking motor extending in a horizontal direction is installed on the top of the connecting shaft, and the output shaft of the walking motor extends in a horizontal direction and is connected to a U-shaped wheel, and the U-shaped wheel is rollingly installed on the steel wire rope.

[0014] As a preferred real-time method of the present invention: the fixing rod is an asymmetric U-shaped structure, the long end of which is fixed below the road surface at the top of the tunnel by expansion bolts, and the short end is connected to the steel wire rope; a busbar insulator is also provided at the long end of the fixing rod; the busbar insulator is made of DMC unsaturated polyester bulk molding material.

[0015] As a preferred real-time method of the present invention: a cable tray is arranged in the tunnel, cables are arranged on the cable tray, the steel wire rope extends along the center of the tunnel, and the steel wire rope is supported by a plurality of fixing rods.

[0016] As a preferred real-time method of the present invention: the steel wire rope is a grade A galvanized steel wire rope, and the surface of the steel wire rope is coated with an anti-corrosion layer; the anti-corrosion layer is marine protective grease.

[0017] As a preferred real-time method of the present invention: the rear panel is provided with an SD card slot, a three-hole charging seat and an external antenna; the bottom surface of the host is provided with six sensors, namely a temperature sensor, a smoke sensor, a humidity sensor, a carbon monoxide sensor, a methane sensor and an oxygen sensor; two rechargeable batteries are pluggably installed on the host, namely battery I and battery II; a controller is installed inside the host, and the controller includes a processor, a memory, a wireless transmission unit and a power management unit.

[0018] As a preferred real-time method of the present invention: a dry powder fire extinguishing transmitter is installed on both sides of the host; a fire extinguishing bomb is installed in each dry powder fire extinguishing transmitter; the dry powder fire extinguisher is controlled by a controller, and the fire is judged based on an infrared thermal imager, a smoke sensor and a temperature sensor.

[0019] As a preferred real-time method of the present invention: the dry powder fire extinguishing launcher is driven by a motor to swing and is installed on both sides of the main machine.

[0020] As a preferred real-time method of the present invention: the fixing rod is a bolt with an asymmetric U-shaped structure; a long end thread is arranged at the long end, a short end thread is arranged at the short end, a rivet nut is engaged and installed on the short end thread, and a wire clamping groove for clamping the steel wire rope is provided on the rivet nut; a busbar insulator is also arranged on the long end; the busbar insulator is made of DMC unsaturated polyester bulk molding material.

[0021] As a preferred real-time method of the present invention: a live wire and a neutral wire introduced by an external power supply are passed through the hanging pipe, the live wire is connected to the live wire terminal of the charging seat, and the neutral wire is connected to the neutral wire terminal of the charging seat; the hanging pipe is connected to the steel wire rope.

[0022] As a preferred real-time method of the present invention: a signal amplifier is installed on the charging seat; and a waterproof rubber sheath is provided on the SD card slot and the charging seat.

[0023] The beneficial effects of the present invention are:

[0024] The hanging cable tunnel patrol robot disclosed in the present invention comprises a fixing component, a charging component and a host component; the fixing component is used to fix the steel wire rope, the charging component is used to charge the host component, and the host component is used to realize the patrol process; the setting of the steel wire rope makes it unnecessary to contact with the uneven road surface with water-logged ditches during the patrol process, which is conducive to the reliable completion of the patrol process; the charging component can realize the on-site charging of the host component, thereby increasing the on-site endurance of the patrol; specifically,

[0025] The fixing assembly includes a fixing rod, the top end of which is fixedly installed on the top surface of the tunnel, and the bottom end of which is fixed to a steel wire rope extending along the tunnel; there can be multiple fixing rods, which are suspended and installed, and are easy to set up. The fixing rods and the steel wire rope are both set up once, and can be set up when the tunnel is laid, and can be used later as various equipment with ropes as tracks.

[0026] The charging assembly of the present invention is fixedly installed at one end of the tunnel inspection port; the charging assembly includes a hanging pipe, the bottom of the hanging pipe is a charging seat, and the neutral terminal and the live terminal are symmetrically arranged on both sides of the charging seat facing the host assembly; the inspection port is the entrance position of the tunnel, which is generally one end of the tunnel, and is very effective as a charging position and a starting position for inspection. The hanging pipe can provide a fixing and circuit transmission function for the charging seat. Therefore, the present invention separately designs the charging assembly, which can facilitate the on-site charging of the host assembly and realize the long-endurance function of the inspection.

[0027] The host component of the present invention comprises a host, the rear panel of the host is provided with a neutral charging plate and a live charging plate for charging the host component after contacting the neutral terminal and the live terminal; the front panel of the host is provided with an infrared imaging camera and a real-view video camera; the four corners of the front panel of the host are also provided with an LED shadowless lamp; the top of the host component is provided with a steering motor for driving the host to rotate 180 degrees, the steering motor is fixedly installed with a connecting shaft, the top of the connecting shaft is provided with a horizontally extending walking motor, the output shaft of the walking motor is horizontally extended and connected to a U-shaped wheel, and the U-shaped wheel is rollingly installed on the wire rope. The inspection collection of the present invention is the same as most patrol robots, and the camera is used for collection; the infrared imaging camera of the present invention is used to record the infrared imaging map of the cable, and the real-view video camera is used to record ordinary video. The main machine of the present invention is suspended and installed on the steel wire rope, and the installation is quick. The U-shaped wheel of the main machine component can be directly placed on the steel wire rope. The effect of the steel wire rope realizes the coordination between the soft guide rail and the main machine. The effect of the soft guide rail can adapt to the tortuous cable tunnel and avoid the inconvenience of the robot walking on the tunnel ground. Therefore, the construction difficulty is small, the implementation cost is low, and the reliability is high.

[0028] The charging method of the present invention is flexible, and the charging can be done on site, or the host assembly can be taken back to the office for charging; the preferred embodiment is provided with dual batteries, and the batteries can be replaced. Since it is a dual battery, the inspection is not affected during the battery replacement process.

[0029] The invention can be fixedly installed in a cable tunnel, or can be carried around and hung on a soft guide rail of a cable tunnel to be inspected. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A schematic diagram of the installation position of a specific embodiment of the present invention;

[0031] Figure 2 It is a structural schematic diagram of a specific implementation mode of the present invention;

[0032] Figure 3 for Figure 2 A schematic structural diagram of the embodiment shown in FIG. 1 from another angle;

[0033] Figure 4 for Figure 2 A schematic diagram of the structure of the embodiment shown is viewed from the bottom;

[0034] Figure 5 It is a structural schematic diagram of the host assembly of the present invention being located near the charging position;

[0035] Figure 6 for Figure 5 A schematic diagram of the structure viewed from another angle;

[0036] Figure 7 It is a schematic diagram of the structure of the charging assembly of the present invention;

[0037] Figure 8 It is a schematic diagram of the structure of the asymmetric U-bolt of the present invention;

[0038] Fig. 9 It is a structural schematic diagram of a preferred embodiment of the asymmetric U-shaped bolt of the present invention;

[0039] Fig.10 It is a schematic diagram of the charging principle of the present invention.

[0040] Description of reference numerals:

[0041] 1-Road surface, 2-cable, 3-cable tray, 4-tunnel, 5-host, 6-steering motor, 7-connecting shaft, 8-travel motor, 9-U-shaped wheel, 10-battery I, 11-battery II, 12-dry powder fire extinguishing transmitter, 13-front panel, 14-infrared imaging lens, 15-real video lens, 16-LED shadowless lamp, 17-rear panel, 18-external antenna, 19-live charging board, 20-neutral charging board, 21-SD card slot, 22-charging seat, 23-battery II, 24-battery I, 25-temperature sensor, 26-smoke sensor, 27-humidity sensor, 28-carbon monoxide sensor, 29-methane sensor, 30-oxygen sensor, 31-charging seat, 32-hanging tube, 33-neutral terminal, 34-live terminal, 35-fixed rod, 36-busbar insulator, 37-wire rope, 38-long end thread, 39-short end thread, 40-rivet nut, 41-wire slot, 42-live wire, 43-neutral wire, 44-live wire board, 45-neutral wire board. DETAILED DESCRIPTION

[0042] The specific implementation of the present invention is described below in conjunction with the accompanying drawings and embodiments:

[0043] like Figures 1 to 10 As shown, it shows a specific embodiment of the present invention. As shown in the figure, the hanging cable tunnel inspection robot disclosed in the present invention is used to inspect a tunnel 4 where cables are arranged, and includes a fixing component, a charging component and a host component;

[0044] The fixing assembly comprises a fixing rod 35, the top end of which is fixedly mounted on the top surface of the tunnel 4, and the bottom end of which is fixedly mounted on a steel wire rope 37 extending along the tunnel;

[0045] The charging assembly is fixedly installed at one end of the inspection port of the tunnel 4; the charging assembly comprises a hanging pipe 32, the bottom of the hanging pipe 32 is a charging seat 31, and the charging seat 31 is symmetrically provided with a neutral terminal 33 and a live terminal 34 on both sides of a side facing the host assembly;

[0046] The host assembly includes a host 5, the rear panel 17 of the host 5 is provided with a neutral charging plate 20 and a live charging plate 19 for charging the host assembly after contacting the neutral terminal 33 and the live terminal 34; the front panel 13 of the host 5 is provided with an infrared imaging camera 14 and a real-view video camera 15; the four corners of the front panel 13 of the host 5 are also provided with LED shadowless lights 16; the top of the host assembly is installed with a steering motor 6 for driving the host (5) to rotate 180 degrees, the steering motor 6 is fixedly installed with a connecting shaft 7, and the top of the connecting shaft 7 is installed with a horizontally extending travel motor 8, the output shaft of the travel motor 8 is horizontally extended and connected to a U-shaped wheel 9, and the U-shaped wheel 9 is rollingly installed on the wire rope 37.

[0047] Preferably, Figure 5 and 6 As shown: the fixing rod 35 is an asymmetric U-shaped structure, the long end of which is fixed to the road surface below the top of the tunnel 4 by an expansion bolt, and the short end is connected to the steel wire rope 37; the long end of the fixing rod 35 is also provided with a busbar insulator 36; the busbar insulator 36 is made of DMC unsaturated polyester bulk molding material. The expansion bolt is fixed to the top of the cable tunnel. The fixing method is as follows: 1. Select an electric hammer drill bit 2mm larger than the expansion bolt model to drill a hole, the depth of which is suitable for the length of the expansion tube; 2. Insert the expansion bolt; 3. Use a wrench to tighten the bolt.

[0048] The asymmetrical U-shaped structure of the fixing rod allows for easy and reliable installation.

[0049] Preferably, Figure 1 As shown: a cable bridge 3 is arranged in the tunnel 4, a cable 2 is arranged on the cable bridge, and the steel wire rope 37 extends along the center of the tunnel 4, and the steel wire rope 37 is supported by a plurality of fixing rods 35. As shown in the figure, the cable tunnel 4 is about 0.5 meters high and about 1 meter wide, and personnel cannot pass through it. It is currently in an unpatrolled state, and the cable tunnel is not necessarily straight.

[0050] Preferably, Figure 1 , 5 , 6, and 7: the steel wire rope 37 is a grade A galvanized steel wire rope 37, and the surface of the steel wire rope 37 is coated with an anti-corrosion layer; the anti-corrosion layer is marine protective grease. This embodiment increases the durability and corrosion resistance of the steel wire rope.

[0051] Preferably, Figure 3 and 4As shown: the rear panel 17 is provided with an SD card slot 21, a three-hole charging seat 22 and an external antenna 18; the bottom surface of the host 5 is provided with six sensors, namely a temperature sensor 25, a smoke sensor 26, a humidity sensor 27, a carbon monoxide sensor 28, a methane sensor 29 and an oxygen sensor 30; two rechargeable batteries are pluggable and installed on the host, namely battery I (10) and battery II (11); a controller is installed inside the host 5, and the controller includes a processor, a memory, a wireless transmission unit and a power management unit. This embodiment realizes the plugging of SD through the SD card slot, which can expand the capacity; the external antenna can increase the wireless signal capability. The six sensors collect information comprehensively, which is conducive to the acquisition of more and more accurate inspection information and the implementation of inspection measures.

[0052] Preferably, Figure 1-6 As shown: a dry powder fire extinguishing launcher 12 is installed on each side of the host 5; a fire extinguishing bomb is installed in each dry powder fire extinguishing launcher; the dry powder fire extinguisher is controlled by a controller, and a fire is determined based on the infrared thermal imager, the smoke sensor 26 and the temperature sensor 25. This embodiment is equipped with a dry powder fire extinguishing launcher, which can perform fire extinguishing work when a fire is found. There are two dry powder fire extinguishing bomb launchers in total, and each launcher is loaded with a fire extinguishing bomb. When both the infrared thermal imager and the smoke sensor determine that there is a fire, the controller adjusts the pitch angle of the launcher according to the distance from the flame root, and issues a command to throw the fire extinguishing bomb to the flame root. The launch process uses the release of the compression spring as the driving force. The fire extinguishing bomb explodes after a delay of 1s after launch, and the dry powder covers the fire point to achieve the fire extinguishing function.

[0053] Preferably, Figure 1 , 5 , 6, and 7: the dry powder fire extinguishing launcher 12 is mounted on both sides of the host 5 by swinging driven by a motor. In this embodiment, the dry powder fire extinguishing launcher has a motor-driven swing function, so the pitch launch angle can be adjusted when launching the fire extinguishing bomb.

[0054] Preferably, Figure 8 , 9As shown: the fixing rod 35 is a bolt with an asymmetric U-shaped structure; a long end thread 38 is provided at the long end, and a short end thread 39 is provided at the short end, and a rivet nut 40 is engaged and installed on the short end thread 39, and a wire clamping groove 41 for clamping the steel wire rope 37 is provided on the rivet nut 40; a busbar insulator 36 is also provided on the long end; the busbar insulator 36 is made of DMC unsaturated polyester bulk molding material. In this embodiment, the fixing rod is designed as a bolt with an asymmetric U-shaped structure, which has high strength, convenient installation, easy implementation and low cost; the rivet nut is designed with a wire clamping groove to facilitate the clamping support of the steel wire rope, and the clamping support structure is very convenient. The busbar insulator can prevent the leakage phenomenon in the cable tunnel from climbing to the road surface through the fixing rod and causing electric shock hazards to the outside.

[0055] Preferably, Figure 5 , 6 , 7, 10: the live wire 42 and the neutral wire 43 introduced by the external power supply are passed through the hanging tube 32, the live wire 42 is connected to the live wire terminal 34 of the charging seat 31, and the neutral wire 43 is connected to the neutral wire terminal 33 of the charging seat 31; the hanging tube 32 is connected to the wire rope 37. The hanging tube is for the introduction of the live wire and the neutral wire

[0056] Preferably, Figure 3 , 6 As shown: a signal amplifier is installed on the charging seat 31; a waterproof rubber sheath is provided on the SD card slot 21 and the charging seat 22. In this preferred embodiment, a signal amplifier is provided at the position of the charging seat to form sufficient signal coverage in the charging area, so that the host can reliably transmit data in the charging area. In this way, there is no need to cover the signal inside the entire tunnel, and each transmission signal is transmitted at the position of the charging component. Generally, the charging component is located near the inspection port, and the signal itself is relatively sufficient.

[0057] In summary, the present invention provides a feasible operation and maintenance method for narrow cable tunnels, filling the technical gap that narrow cable tunnels cannot be patrolled. The robot can automatically collect six types of environmental detection quantities, infrared imaging videos and real-life videos, and analyze and compare them to guide status maintenance. At the same time, it can issue corresponding alarms according to the defect level, greatly reducing the labor intensity of operation and maintenance personnel, improving the operation and maintenance level of cable tunnels, and ensuring power supply reliability.

[0058] The advantages of the present invention include:

[0059] 1. Use hanging wire rope as soft guide rail to adapt to the tortuous cable tunnel, while avoiding the inconvenience of the robot walking on the tunnel ground, with low construction difficulty and low cost;

[0060] 2. The charging method is flexible. The robot can be charged in the charging area, the robot can be taken back to the office for charging, and the battery can be replaced. Because it is a dual battery, the patrol will not be affected during the battery replacement process.

[0061] 3. The patrol data extraction method is flexible. It is impossible to lay optical cables or provide wireless network signals throughout the cable tunnel. It is expensive and unrealistic. This device only provides wireless network signals in the charging area. When the robot patrols a circle (back and forth), it uploads data through the wireless network while charging, which does not consume battery power or take up patrol time. The second data extraction method is to unplug the SD card and copy it directly to the background server (placed in the office).

[0062] 4. It has the function of automatically aiming and launching fire extinguishing bombs to extinguish fire.

[0063] 5. It has the functions of scheduled patrol and temporary patrol. When the robot stays in the charging area, temporary patrol instructions can be sent to the robot through the wireless network.

[0064] 6. When a battery failure occurs, the current remaining power and the distance from the starting point (charging area) are automatically calculated, which can not only patrol more cables to the maximum extent, but also return to the charging area smoothly.

[0065] 7. The robot can be fixedly installed in a cable tunnel, or it can be carried with you and hung on the soft guide rail of the cable tunnel to be inspected.

[0066] 8. The background server will automatically collect and analyze 6 types of environmental detection data. When an abnormality occurs, the operation and maintenance personnel will be notified on the server in the form of a message, and the critical defects will be sent to the operation and maintenance personnel's mobile phone via SMS.

[0067] After the specific use of the present invention, firstly, the robot cable tunnel inspection operation is carried out to check the phenomena of water seepage, cable aging, corrosion, breakage and cable smoldering in the tunnel, locate the fault position, which can not only reduce the occurrence of cable fires, ensure the reliable output of electric energy, avoid operator injury, but also help to improve the security monitoring of power transmission network and promote the construction of smart grid; secondly, the development of cable tunnel patrol robot is carried out in time, and according to the characteristics of cable tunnel, a robot with flexible movement, convenient operation, safety and high reliability is developed to adapt to a larger range of underground power transmission network, which is of great significance to ensure the reliable transmission of electric energy; finally, the development and use of cable tunnel patrol robot and the exploration and research of cutting-edge technology have important social significance and academic value, and the future industrialization prospect is also very optimistic, which can be applied not only to the inspection of cable tunnels, but also to the detection of urban natural gas pipelines, heating networks, etc. Experiments have proved that the present invention has the characteristics of compact structure, small size, light weight, easy to carry, and strong obstacle crossing ability and environmental adaptability.

[0068] It should be noted that the U-shaped wheel with built-in drive motor of the present invention can rotate forward and reverse. The busbar insulator of the present invention is composed of DMC unsaturated polyester bulk molding material, has good insulation performance, operating voltage can reach 20000V, has high tensile strength, anti-aging, anti-corrosion, high temperature resistance, low temperature resistance, fire retardant and other comprehensive properties. The steering motor of the present invention is a stepper motor. When the robot reaches the end of the tunnel or reaches the designated position, the robot can turn around and return, and the stepper motor automatically rotates 180°; the dry powder fire extinguishing bomb launcher of the present invention has a total of 2 launchers, each launcher is loaded with a fire extinguishing bomb. When both the infrared thermal imager and the smoke sensor determine that there is a fire, the controller adjusts the pitch angle of the launcher according to the distance from the root of the flame, and issues a command to throw the fire extinguishing bomb to the root of the flame. The launch process uses the release of the compression spring as the driving force. The fire extinguishing bomb explodes after a delay of 1s after launch, and the dry powder is covered on the ignition point to achieve the fire extinguishing function. The robot bottom panel of the present invention has 6 protrusions, which are temperature sensor, smoke sensor, humidity sensor, carbon monoxide sensor, methane sensor, and oxygen sensor, a total of 6 types of environmental quantity detection, and the collected data is automatically stored in a pluggable memory card in a fixed manner. The infrared imaging lens of the present invention can record the infrared imaging map of the cable and has automatic focus and storage functions.

[0069] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge scope of ordinary technicians in the field without departing from the purpose of the present invention. These changes involve related technologies well known to those skilled in the art, which all fall within the scope of protection of the patent of the present invention.

[0070] Many other changes and modifications may be made without departing from the concept and scope of the present invention.It should be understood that the present invention is not limited to the specific embodiments, and the scope of the present invention is defined by the appended claims.

Claims

1. A hanging cable tunnel inspection robot, used to inspect tunnels where cables are arranged, characterized by: It includes a fixing component, a charging component and a host component; The fixing assembly comprises a fixing rod, the top of which is fixedly mounted on the top surface of the tunnel, and the bottom of which is fixed to a steel wire rope extending along the tunnel; the fixing rod is an asymmetric U-shaped structure, the long end of which is fixed below the road surface at the top of the tunnel by an expansion bolt, and the short end is connected to the steel wire rope; a busbar insulator is also arranged at the long end of the fixing rod; the busbar insulator is made of DMC unsaturated polyester bulk molding material; a long end thread is arranged at the long end, and a short end thread is arranged at the short end, a rivet nut is engaged and installed on the short end thread, and a wire clamping groove for clamping the steel wire rope is provided on the rivet nut; a busbar insulator is also arranged at the long end; The charging assembly is fixedly installed at one end of the tunnel inspection port; the charging assembly includes a hanging pipe, the bottom of the hanging pipe is a charging seat, and the charging seat is symmetrically provided with a neutral terminal and a live terminal on both sides of a side facing the host assembly; a signal amplifier is installed on the charging seat; the host assembly includes a host, and the rear panel of the host is provided with a neutral charging board and a live charging board for charging the host assembly after contacting the neutral terminal and the live terminal; the front panel of the host is provided with an infrared imaging camera and a real-view video camera; the four corners of the front panel of the host are also provided with LED shadowless lights; the top of the host assembly is provided with A steering motor is used to drive the main machine to rotate 180 degrees. A connecting shaft is fixedly installed on the steering motor. A traveling motor extending in the horizontal direction is installed on the top of the connecting shaft. The output shaft of the traveling motor extends in the horizontal direction and is connected to a U-shaped wheel. The U-shaped wheel is rollingly installed on the wire rope. A dry powder fire extinguishing launcher is installed on both sides of the main machine. A fire extinguishing bomb is installed in each dry powder fire extinguishing launcher. The dry powder fire extinguishing launcher is controlled by a controller, and a fire is judged according to an infrared thermal imager, a smoke sensor and a temperature sensor. The dry powder fire extinguishing launcher is driven by a motor to swing and is installed on both sides of the main machine. A cable bridge is arranged in the tunnel, cables are arranged on the cable bridge, and the steel wire rope extends along the center of the tunnel, and the steel wire rope is supported by a plurality of fixing rods; The steel wire rope is a grade A galvanized steel wire rope, and the surface of the steel wire rope is coated with an anti-corrosion layer; the anti-corrosion layer is marine protective grease; The rear panel is provided with an SD card slot, a three-hole charging dock and an external antenna; the bottom surface of the host is provided with six sensors, namely a temperature sensor, a smoke sensor, a humidity sensor, a carbon monoxide sensor, a methane sensor and an oxygen sensor; two rechargeable batteries are pluggable and installed on the host, namely battery I and battery II; a controller is installed inside the host, and the controller includes a processor, a memory, a wireless transmission unit and a power management unit; The SD card slot and the charging seat are both provided with waterproof rubber sheaths.

2. The hanging cable tunnel patrol robot according to claim 1, characterized in that: The live wire and the neutral wire introduced by the external power supply are passed through the hanging pipe, the live wire is connected to the live wire terminal of the charging seat, and the neutral wire is connected to the neutral wire terminal of the charging seat; the hanging pipe is connected to the steel wire rope.

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