Method for inspecting the inside of a cable duct

Abstract

The application relates to a cable pipeline internal inspection method, which comprises the following steps: starting a lifting propeller, and descending a cable pipeline internal inspection robot along a vertical channel to the inside of the cable pipeline; a camera draws a picture of the inside of the cable pipeline; an infrared probe detects temperature field conditions of each area in the inside of the cable pipeline; the conditions are transmitted to a display of a ground control center through a remote transmission module of a controller; if an operator finds that an abnormality occurs at a certain position in the inside of the cable pipeline, and needs to be checked or maintained later, a lowermost one of positioners is dropped into the inside of the cable pipeline through remote control; the positioner marks the position through a breathing light, emits a GPS or Beidou positioning signal, so that a maintenance worker can accurately find the position needing to be checked and maintained. The application can fly in the air, can be suitable for cable pipelines and cable trenches, and can replace manual line inspection, and is safe and efficient.

Description

Technical Field

[0001] This invention belongs to the field of power facility inspection technology, specifically relating to an inspection method for the interior of cable ducts. Background Technology

[0002] Cables are a major component of power transmission systems. For urban aesthetics, cables are mostly laid underground in city centers. In some places, these underground conduits have large diameters, allowing personnel to walk inside for easy line inspections. However, in other places, the space inside underground conduits or cable trenches is too small for personnel to walk through for inspections. This is especially true in cable trenches, where cables are mounted on supports, requiring the removal of the trench cover for inspections. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a method for inspecting the inside of cable ducts. The present invention can fly in the air and can be applied to cable ducts and cable trenches, replacing manual line inspection, which is safe and efficient.

[0004] The technical solution adopted by this invention to solve the problems existing in the prior art is:

[0005] An inspection robot for underground cable ducts includes a shell with wings symmetrically arranged on both sides, a camera at the front end, and a propeller at the rear end.

[0006] The central shaft of the propeller is inserted into the housing, and a first motor is installed inside the housing. The output shaft of the first motor drives the central shaft to rotate.

[0007] Each wing has a vertically arranged through hole, inside which is a lifting propeller. A second motor is installed on the wing, which drives the lifting propeller to rotate.

[0008] The housing contains a battery and a controller. The first motor, the second motor, the camera, and the battery are all electrically connected to the controller.

[0009] Preferably, the rear end face of the housing is provided with a horizontally arranged sliding groove, and the central shaft is located inside the sliding groove.

[0010] A first pulley is fixed at the end of the central shaft, and a second pulley is provided at the end of the output shaft of the first motor. The axes of the first pulley and the second pulley are arranged parallel to each other on the same horizontal plane, and a first synchronous belt is fitted between the first pulley and the second pulley.

[0011] A sleeve is fitted on the central shaft. At least one side of the circumference of the sleeve is fixed with a gear through a connecting shaft. The gear is meshed with a rack. One end of the rack is fixedly connected to the telescopic rod of the electric cylinder. The electric cylinder is fixed inside the housing.

[0012] The inspection method for the inside of cable ducts includes the following steps:

[0013] A. Start the lifting propeller, and the underground cable duct inspection robot descends along the vertical channel into the cable duct. Then adjust the speed of the lifting propeller so that the lift generated is the same as the weight of the underground cable duct inspection robot.

[0014] B. Activate the propulsion propeller to propel the underground cable duct inspection robot forward;

[0015] C. When turning, the electric cylinder is activated, the rack drives the gear to rotate, which in turn causes the propeller to swing to the left or right, so that the underground cable pipeline inspection robot can turn.

[0016] D. The camera transmits the image of the inside of the cable duct to the display screen of the ground control center through the remote transmission module of the controller, so that the operator can connect to the actual situation inside the duct.

[0017] E. The infrared probe detects the temperature field in various areas inside the cable duct and transmits the signal to the display in the ground control center through the remote transmission module of the controller, so that the operator can connect to the temperature field inside the duct.

[0018] F. If the operator finds an abnormality in a certain position inside the cable duct and manual inspection or maintenance is required later, the third motor can be controlled to rotate through remote control, which in turn drives the separator to rotate. The bottom blade rotates 60°, releasing the support for the bottommost positioner, and the positioner falls into the cable duct. At the same time, after the upper blade rotates 60°, it supports the second to last positioner to prevent it from falling into the cable duct at the same time.

[0019] G. The locator marks its location by using a breathing light and transmitting GPS or BeiDou positioning signals, making it easier for maintenance personnel to accurately locate the areas that need to be inspected and checked.

[0020] Preferably, the first synchronous belt has two tensioning pulleys in the middle, and the circumferential surface of the tensioning pulleys contacts the inner surface of the first synchronous belt.

[0021] A slider is fixed at one end of the tension wheel shaft, and a slide rail is provided inside the housing, with the slider sliding inside the slide rail.

[0022] A first spring is provided between the two sliders.

[0023] Preferably, the second motor is fixed inside the wing, and a third pulley is coaxially sleeved on the outside of the second motor, with the top surface of the second motor and the third pulley being fixedly connected.

[0024] Each wing is equipped with two lift propellers.

[0025] The lifting propeller includes a blade and a pulley coaxially mounted on the outside of the blade. A second synchronous belt is mounted between the pulley and the third pulley of the lifting propeller.

[0026] Preferably, at least one of the upper and lower end faces of the pulley of the lifting propeller has an annular groove, and a retaining ring is inserted inside the groove. The end of the retaining ring facing away from the lifting propeller is fixedly connected to the inner wall of the wing.

[0027] Preferably, the shell has a cylindrical shape in the middle and a conical shape at the rear end, the wing is fixedly connected to the circumferential surface of the cylinder, and the sliding groove is located in the conical area of ​​the shell.

[0028] Preferably, the cylindrical area of ​​the casing has a battery compartment and an electronic control compartment with an open top in the middle. The battery is placed inside the battery compartment, the open part of the battery compartment is covered by a battery compartment cover, and the controller is placed inside the electronic control compartment.

[0029] Preferably, a front head is fixed to the front end of the housing, and a camera and an infrared sensor are respectively provided on the upper and lower sides of the front end of the front head, and a light is provided on the side of the front head.

[0030] The lamp and infrared sensor are both electrically connected to the controller.

[0031] Preferably, the rear end of the cylindrical region of the shell is provided with a locator placement cavity with both the upper and lower ends open, and several locators are stacked inside the locator placement cavity.

[0032] The housing has two rotating grooves arranged vertically inside. The rotating grooves are connected to the locator placement cavity. The connection between the rotating grooves and the locator placement cavity is located inside the locator placement cavity near the lower outlet.

[0033] The housing is equipped with a separator located outside the locator placement cavity. The separator includes a bottom blade, an upper blade, a rotating shaft, and a fourth pulley fixed to the top of the rotating shaft.

[0034] Both the bottom and top blades contain three horizontally arranged blades, with an angle of 120° between two adjacent blades and an angle of 60° between the bottom and top blades.

[0035] The upper blades are located above the lower blades, and both the lower and upper blades are coaxially and fixedly connected to the rotating shaft.

[0036] The bottom layer blades and the top layer blades are respectively rotatably installed inside two rotating slots.

[0037] When the center of one blade in the bottom layer is located below the center of the bottommost locator, the two blades in the upper layer are located on either side of the second-to-last locator.

[0038] A third motor is provided on one side of the separator. The output shaft of the third motor drives the separator to rotate through a third synchronous belt. The third motor is electrically connected to the controller.

[0039] The upper opening of the locator placement cavity is covered with a cover plate, and a second spring is located below the cover plate.

[0040] Compared with the prior art, the present invention has the following beneficial effects:

[0041] (1) It does not need to touch the ground when moving, so it is suitable for cable inspection inside cable ducts and cable trenches.

[0042] (2) The elevator propeller is located inside the wing, so the blades will not collide with the cable.

[0043] (3) The propeller swings left and right to turn, so that the housing and camera can always remain horizontal when turning, and the camera will not rotate along its axis, making it easier for staff to view the images.

[0044] (4) Equipped with an infrared probe, it can check the temperature field of the cable and obtain information about the cable's operation status through the temperature field.

[0045] (5) Locators can be placed in places with safety hazards, so that maintenance personnel can quickly and accurately find the location that needs to be inspected. Attached Figure Description

[0046] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0047] Figure 1 This is an external view of the inspection robot for underground cable ducts according to the present invention.

[0048] Figure 2 This is a partial exploded view of the underground cable duct inspection robot of the present invention.

[0049] Figure 3 This is a partial sectional view of the outer shell of the underground cable duct inspection robot of the present invention.

[0050] Figure 4 This is a radial first sectional view of the underground cable duct inspection robot of the present invention.

[0051] Figure 5 This is a radial second sectional view of the underground cable duct inspection robot of the present invention.

[0052] Figure 6 for Figure 5 Enlarged view of a portion of point A in the middle.

[0053] Figure 7 This is a structural diagram of the thruster for the underground cable duct inspection robot of the present invention.

[0054] Figure 8 This is a structural diagram of the lifting device for the inspection robot of underground cable ducts according to the present invention.

[0055] Figure 9 This is a first sectional view of the lifting device for the underground cable duct inspection robot of the present invention.

[0056] Figure 10 for Figure 9 Enlarged view of a section at point B in the middle.

[0057] Figure 11 This is a second sectional view of the lifting device for the underground cable duct inspection robot of the present invention.

[0058] Figure 12 This is a structural diagram of the positioning mechanism for the inspection robot of underground cable ducts according to the present invention.

[0059] Figure 13 This is a schematic diagram of the separator of the underground cable duct inspection robot of the present invention.

[0060] In the diagram: 1-Shell, 101-Wing, 102-Front end, 103-Slide groove, 104-Battery compartment cover, 105-Positioner placement cavity, 106-Rotating groove, 107-Snap ring, 2-Propeller propeller, 201-Central shaft, 202-First pulley, 3-Sleeve, 301-Gear, 4-Rack, 401-Electric cylinder, 5-First synchronous belt, 6-First motor, 601-Second pulley, 7-Tension pulley, 701-Slider, 8-The 1. Spring, 9. Lifting propeller, 10. Second synchronous belt, 11. Third pulley, 1101. Second motor, 12. Battery, 13. Controller, 14. Lamp, 15. Camera, 16. Infrared sensor, 17. Positioner, 18. Cover plate, 19. Second spring, 20. Divider, 2001. Bottom blade, 2002. Upper blade, 2003. Shaft, 2004. Fourth pulley, 21. Third motor, 22. Third synchronous belt. Detailed Implementation

[0061] The attached figure shows the preferred embodiment of the inspection method inside the cable duct. The invention will be further described in detail below with reference to the attached figure.

[0062] The method for inspecting the inside of cable ducts is based on an inspection robot for underground cable ducts. The inspection robot for underground cable ducts includes a shell 1, with two wings 101 symmetrically arranged on both sides of the shell 1. A camera 15 is provided at the front end of the shell 1 and a propeller 2 is provided at the rear end.

[0063] The propeller 2 includes an annular protective cover and several blades inside the protective cover. The blades are fixedly connected to a central shaft 201 at one end of the protective cover. The central shaft 201 of the propeller 2 passes through the interior of the housing 1.

[0064] To allow the propeller 2 to swing left and right so that the housing 1 can turn, the rear end face of the housing 1 is provided with a horizontally arranged groove 103. The central shaft 201 is disposed inside the groove 103, and the groove 103 is arranged through the left and right sides, or the width of the left and right sides of the groove 103 meets the requirements for the rotation of the central shaft 201, so that no interference occurs when the central shaft 201 rotates.

[0065] A first pulley 202 is fixed at the end of the central shaft 201, and a second pulley 601 is provided at the end of the output shaft of the first motor 6. The axes of the first pulley 202 and the second pulley 601 are arranged parallel to each other on the same horizontal plane, and a first synchronous belt 5 is sleeved between the first pulley 202 and the second pulley 601.

[0066] A sleeve 3 is fitted onto the central shaft 201. At least one side of the circumferential surface of the sleeve 3 is fixed with a gear 301 via a connecting shaft. The axis of the gear 301 intersects the axis of the sleeve 3 perpendicularly. In this embodiment, to ensure even force distribution, a gear 301 is connected to each of the upper and lower sides of the sleeve 3, and the two gears 301 are symmetrically arranged around the axis of the sleeve 3. The gears 301 are meshed with a rack 4, one end of which is fixedly connected to the telescopic rod of the electric cylinder 401, which is fixed inside the housing 1.

[0067] To prevent the sleeve 3 from moving along its axial direction, a retaining ring is provided on each side of the sleeve 3 on the central shaft 201, and the sleeve 3 is secured between the two retaining rings.

[0068] Pulling rack 4 causes sleeve 3 to rotate around gear 301, which in turn causes central shaft 201 to swing left and right. When central shaft 201 swings left and right, the first synchronous belt 5 becomes slack, preventing the first motor 6 from rotating central shaft 201. To prevent the first synchronous belt 5 from becoming slack, two tensioning pulleys 7 are provided in the middle of the first synchronous belt 5, with the circumferential surface of the tensioning pulleys 7 contacting the inner surface of the first synchronous belt 5. A slider 701 is fixed to one end of the shaft of the tensioning pulley 7. A vertical slide rail is provided inside the housing 1, and the slider 701 slides up and down within the slide rail. A first spring 8 is provided between the two sliders 701, also vertically positioned inside the slide rail. Relying on the thrust of the first spring 8, the two tensioning pulleys 7 always press against the first synchronous belt 5, keeping the first synchronous belt 5 constantly taut.

[0069] Each wing 101 is provided with at least one vertically arranged through hole, and a lifting propeller 9 is provided inside the through hole. A second motor 1101 is provided on the wing 101, and the second motor 1101 drives the lifting propeller 9 to rotate.

[0070] In order to better maintain the balance of the shell 1, each wing 101 in this embodiment is provided with two vertically arranged through holes, and the through holes on the two wings 101 are symmetrically arranged.

[0071] The second motor 1101 is fixed inside the wing 101. The third pulley 11 is coaxially sleeved on the outside of the second motor 1101. The upper end of the third pulley 11 is closed and the lower end is open. The second motor 1101 is fixedly connected to the top surface of the third pulley 11.

[0072] Each wing 101 is equipped with two lifting propellers 9. Each lifting propeller 9 includes a blade and a pulley coaxially mounted on the outside of the blade. A second synchronous belt 10 is mounted between the pulley of the lifting propeller 9 and the third pulley 11.

[0073] To prevent displacement of the elevator propeller 9, at least one of the upper and lower end faces of the pulley of the elevator propeller 9 has an annular groove. A retaining ring 107 is inserted into the groove, and the groove and the retaining ring 107 are rotatably connected. The end of the retaining ring 107 facing away from the elevator propeller 9 is fixedly connected to the inner wall of the wing 101.

[0074] To reduce flight drag, the shell 1 is cylindrical in the middle and conical at the rear. The wing 101 is fixedly connected to the circumferential surface of the cylinder, and the slide groove 103 is located in the conical region of the shell 1.

[0075] The cylindrical area of ​​the housing 1 has a battery compartment and an electronic control compartment with an open top in the middle, separated by a partition. The battery 12 is located inside the battery compartment, which is covered by a battery compartment cover 104. The controller 13 is located inside the electronic control compartment. The battery 12 can be replaced by opening the battery compartment cover 104, facilitating quick battery replacement. The controller 13 includes a flight control module, a remote transmission module, a signal receiving module, a power management module, and a GPS or BeiDou positioning module, all using existing technologies. The BeiDou navigation and positioning module is preferred as the positioning module.

[0076] The controller 13 wirelessly connects to the operator's handheld remote control and the main control computer, transmitting collected data to the remote control and the main control computer, or only to the main control computer. The remote control can use the controller 13 to control the robot's flight status and the operation of other electrical components.

[0077] The first motor 6, the second motor 1101, the camera 15, and the battery 12 are all electrically connected to the controller 13.

[0078] A front end head 102 is fixed to the front end of the housing 1. The horizontal cross-sectional shape of the front end head 102 is an isosceles trapezoid. A camera 15 and an infrared probe 16 are respectively provided on the upper and lower sides of the front end head 102. A light 14 is provided on the side of the front end head 102. The camera 15 and the infrared probe 16, as well as their image transmission and processing modules, are all prior art.

[0079] The lamp 14 and the infrared sensor 16 are both electrically connected to the controller 13.

[0080] When a safety hazard or cracked outer sheath is found in a part of the cable, on-site inspection and repair by maintenance personnel are required. To facilitate quick and accurate location by maintenance personnel, a locator deployment function is added in this embodiment.

[0081] The rear end of the cylindrical region of the housing 1 is provided with a locator placement cavity 105 with both the upper and lower ends open. Several locators 17 are stacked inside the locator placement cavity 105. The locator 17 is a prior art technology and is rectangular in shape.

[0082] The housing 1 has two rotating grooves 106 arranged vertically inside. The rotating grooves 106 are connected to the locator placement cavity 105. The connection between the rotating grooves 106 and the locator placement cavity 105 is located inside the locator placement cavity 105 near the lower outlet.

[0083] Inside the housing 1, outside the locator placement cavity 105, there is a separator 20. The separator 20 includes a bottom blade 2001, an upper blade 2002, a rotating shaft 2003, and a fourth pulley 2004 fixed to the top of the rotating shaft 2003.

[0084] Both the bottom blade 2001 and the top blade 2002 contain three horizontally arranged blades. The included angle between any two adjacent blades is 120°, and the included angle between the bottom blade 2001 and the top blade 2002 is 60°.

[0085] The upper blade 2002 is located above the lower blade 2001, and both the lower blade 2001 and the upper blade 2002 are coaxially fixedly connected to the rotating shaft 2003.

[0086] The bottom blade 2001 and the top blade 2002 are respectively rotatably disposed inside the two rotating slots 106.

[0087] When the center of one blade in the bottom layer 2001 is located below the center of the bottommost locator 17, the two blades in the top layer 2002 are located on either side of the second-to-last locator 17.

[0088] A third motor 21 is provided on one side of the separator 20. The output shaft of the third motor 21 drives the separator 20 to rotate via a third synchronous belt 22. The third motor 21 is electrically connected to the controller 13.

[0089] The upper opening of the locator placement cavity 105 is covered by a cover plate 18, and a second spring 19 is provided below the cover plate 18.

[0090] The inspection method for the inside of cable ducts includes the following steps:

[0091] A. Start the lifting propeller 9, and the underground cable duct inspection robot descends along the vertical channel into the cable duct. Then adjust the speed of the lifting propeller 9 so that the lift generated is the same as the weight of the underground cable duct inspection robot.

[0092] B. Activate propeller 2 to propel the underground cable duct inspection robot forward;

[0093] C. When turning, the electric cylinder 401 is activated, the rack 4 drives the gear 301 to rotate, which in turn causes the propeller 2 to swing to the left or right, so that the underground cable pipeline inspection robot can turn.

[0094] D. The camera 15 transmits the image of the inside of the cable duct to the display screen of the ground control center through the remote transmission module of the controller 13, so that the operator can connect to the actual situation inside the duct.

[0095] E. The infrared probe 16 detects the temperature field in various areas inside the cable duct and transmits the signal to the display in the ground control center through the remote transmission module of the controller 13, so that the operator can connect to the temperature field inside the duct.

[0096] F. If the operator finds an abnormality in a certain position inside the cable duct and manual inspection or maintenance is required later, the third motor 21 is controlled to rotate through remote control, which in turn drives the separator 20 to rotate. The bottom blade 2001 rotates 60°, releasing the support for the bottommost positioner 17. The positioner 17 falls into the cable duct. At the same time, the upper blade 2002 rotates 60° to support the second to last positioner 17, preventing it from falling into the cable duct at the same time.

[0097] G. The locator 17 marks its location by using a breathing light and transmitting GPS or BeiDou positioning signals, making it easier for maintenance personnel to accurately locate the location that needs to be inspected and checked.

[0098] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A method for inspecting the interior of cable ducts, characterized in that: An inspection robot for underground cable ducts includes a housing (1), with wings (101) symmetrically arranged on both sides of the housing (1). A camera (15) is located at the front end of the housing (1), and a propeller (2) is located at the rear end. The central shaft (201) of the propeller (2) extends into the interior of the housing (1). A sleeve (3) is fitted onto the central shaft (201). At least one side of the circumferential surface of the sleeve (3) is fixed with a gear (301) via a connecting shaft. The gear (301) is meshed with a rack (4). One end of the rack (4) is fixedly connected to the telescopic rod of the electric cylinder (401). The electric cylinder (401) is fixed inside the housing (1). Each wing (101) has a vertically arranged through-hole, inside which is installed a lift propeller (9). The rear end of the cylindrical region of the shell (1) is provided with a locator placement cavity (105) with both the upper and lower ends open. Several locators (17) are stacked inside the locator placement cavity (105). The housing (1) has two rotating grooves (106) arranged vertically inside. The rotating grooves (106) are connected to the locator placement cavity (105). The connection between the rotating grooves (106) and the locator placement cavity (105) is located inside the locator placement cavity (105) near the lower outlet. The housing (1) has a separator (20) located inside the locator placement cavity (105) and outside the cavity. The separator (20) separates the two locators (17) at the bottom. A third motor (21) is provided on one side of the separator (20). The output shaft of the third motor (21) drives the separator (20) to rotate. The third motor (21) is electrically connected to the controller (13). The upper opening of the locator placement cavity (105) is covered with a cover plate (18), and a second spring (19) is provided below the cover plate (18); The inspection method for the inside of cable ducts includes the following steps: A. Start the lifting propeller (9), and the inspection robot inside the underground cable duct descends into the cable duct along the vertical channel. Then adjust the speed of the lifting propeller (9) so that the lift generated is the same as the weight of the inspection robot inside the underground cable duct. B. Activate the propulsion propeller (2) to propel the inspection robot inside the underground cable duct forward; C. When turning, the electric cylinder (401) is activated, the rack (4) drives the gear 301 to rotate, which in turn causes the propeller (2) to swing to the left or right, so that the inspection robot inside the underground cable duct turns. D. The camera (15) transmits the image inside the cable duct to the display screen of the ground control center through the remote transmission module of the controller (13), so that the operator can connect to the actual situation inside the duct. E. The infrared probe (16) detects the temperature field in various areas inside the cable duct and transmits the signal to the display of the ground control center through the remote transmission module of the controller (13), so that the operator can connect to the temperature field inside the duct. F. If the operator finds an abnormality in a certain position inside the cable duct and it needs to be manually checked or repaired later, the third motor (21) is controlled to rotate through remote control, which in turn drives the separator (20) to rotate. The bottom blade (2001) rotates 60°, releasing the support of the bottommost locator (17). The locator (17) falls into the cable duct. At the same time, the upper blade (2002) rotates 60° and supports the second to last locator (17) to prevent it from falling into the cable duct at the same time. G. The locator (17) marks the location by breathing light and transmitting GPS or Beidou positioning signals, so that maintenance personnel can accurately find the location that needs to be inspected and checked.

2. The method for inspecting the interior of cable ducts according to claim 1, characterized in that: The rear end of the cylindrical region of the shell (1) is provided with a locator placement cavity (105) with both the upper and lower ends open. Several locators (17) are stacked inside the locator placement cavity (105). The housing (1) has two rotating grooves (106) arranged vertically inside. The rotating grooves (106) are connected to the locator placement cavity (105). The connection between the rotating grooves (106) and the locator placement cavity (105) is located inside the locator placement cavity (105) near the lower outlet. The housing (1) has a separator (20) located inside the locator placement cavity (105) outside. The separator (20) includes a bottom blade (2001), an upper blade (2002), a rotating shaft (2003), and a fourth pulley (2004) fixed to the top of the rotating shaft (2003). Both the bottom layer blade (2001) and the top layer blade (2002) contain three horizontally arranged blades. The included angle between any two adjacent blades is 120°, and the included angle between the bottom layer blade (2001) and the top layer blade (2002) is 60°. The upper blade (2002) is located above the lower blade (2001), and both the lower blade (2001) and the upper blade (2002) are coaxially and fixedly connected to the rotating shaft (2003). The bottom blade (2001) and the top blade (2002) are rotatably mounted inside two rotating slots (106), respectively. When the center of one blade in the bottom layer (2001) is located below the center of the bottommost locator (17), the two blades in the top layer (2002) are located on either side of the second-to-last locator (17). A third motor (21) is provided on one side of the separator (20). The output shaft of the third motor (21) drives the separator (20) to rotate through a third synchronous belt (22). The third motor (21) is electrically connected to the controller (13). The upper opening of the locator placement cavity (105) is covered with a cover plate (18), and a second spring (19) is provided below the cover plate (18).

3. The method for inspecting the interior of cable ducts according to claim 1, characterized in that: The rear end face of the housing (1) is provided with a horizontally arranged sliding groove (103), and the central shaft (201) is disposed inside the sliding groove (103). A first pulley (202) is fixed at the end of the central shaft (201), and a second pulley (601) is provided at the end of the output shaft of the first motor (6). The axes of the first pulley (202) and the second pulley (601) are arranged parallel to each other on the same horizontal plane, and a first synchronous belt (5) is fitted between the first pulley (202) and the second pulley (601).

4. The method for inspecting the interior of cable ducts according to claim 3, characterized in that: The first synchronous belt (5) is provided with two tensioning pulleys (7) in the middle, and the circumferential surface of the tensioning pulleys (7) is in contact with the inner surface of the first synchronous belt (5). A slider (701) is fixed to one end of the shaft of the tension wheel (7). A slide rail is provided inside the housing (1), and the slider (701) is slidably disposed inside the slide rail. A first spring (8) is provided between the two sliders (701).

5. The method for inspecting the interior of cable ducts according to claim 4, characterized in that: The second motor (1101) is fixed inside the wing (101), and a third pulley (11) is coaxially sleeved on the outside of the second motor (1101). The top surface of the second motor (1101) and the third pulley (11) are fixedly connected. Each wing (101) is equipped with two elevator propellers (9). The lifting propeller (9) includes a blade and a pulley coaxially mounted on the outside of the blade. A second synchronous belt (10) is mounted between the pulley of the lifting propeller (9) and the third pulley (11).

6. The method for inspecting the interior of a cable duct according to claim 5, characterized in that: At least one of the upper and lower end faces of the pulley of the elevator propeller (9) has an annular groove, and a retaining ring (107) is inserted inside the groove. The end of the retaining ring (107) facing away from the elevator propeller (9) is fixedly connected to the inner wall of the wing (101).

7. The method for inspecting the interior of a cable duct according to claim 6, characterized in that: The shell (1) is cylindrical in the middle and conical at the rear. The wing (101) is fixedly connected to the circumferential surface of the cylinder, and the slide (103) is located in the conical area of ​​the shell (1).

8. The method for inspecting the interior of a cable duct according to claim 7, characterized in that: The cylindrical area of ​​the housing (1) has a battery compartment and an electronic control compartment with an open top in the middle. The battery (12) is located inside the battery compartment. The battery compartment opening is covered by a battery compartment cover plate (104). The controller (13) is located inside the electronic control compartment.

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