Obstacle-avoiding direct-buried cable detection device

Abstract

The application provides an obstacle-avoiding direct-buried cable detection device, which comprises a moving module, an obstacle-avoiding module and a detection module; the moving module, the obstacle-avoiding module and the detection module are sequentially fixedly connected; the moving module is used for moving the device to the direct-buried cable to be detected; the obstacle-avoiding module comprises a visual unit and an obstacle-avoiding mechanism; the visual unit is used for acquiring the surrounding obstacle information so as to generate or input the movement instruction for avoiding the obstacle in the device; the obstacle-avoiding mechanism is used for moving the detection module according to the movement instruction so as to avoid the obstacle and complete the detection of the direct-buried cable, and the moving mode at least comprises rotation and stretching in a horizontal plane and lifting in a vertical plane. The obstacle-avoiding direct-buried cable detection device provided by the application can be shot by the visual unit, combined with the rotating, stretching and lifting actions of the obstacle-avoiding module, so that the detection module successfully avoids the obstacle and reaches any angle and position for detection, thereby improving the precision and operation efficiency of the direct-buried cable detection.

Description

Technical Field

[0001] This invention belongs to the field of detection equipment technology, specifically relating to a detection device for obstacle-avoiding buried cables. Background Technology

[0002] Due to space constraints, urban power distribution circuits in power systems largely rely on direct burial of power cables. With urban development, transportation and energy systems, such as subways, light rail, and power distribution, rely heavily on underground pipelines as crucial concealed infrastructure. However, due to various reasons, early direct-buried power cables have become incompatible with initial management regulations due to urban redevelopment, changes in regional functions, and frequent accidents involving the severing of direct-buried power cables during urban renovation projects. Furthermore, changes in the ground environment inevitably lead to flower beds, steps, steep slopes, or other surface structures above the locations of direct-buried cables. These terrain limitations restrict the reach and detection range of existing underground pipeline detection methods and devices, significantly hindering the detection of direct-buried cables. Therefore, it is necessary to provide a direct-buried cable detection device capable of handling most terrain conditions in modern urban environments to improve detection accuracy and operational efficiency. Summary of the Invention

[0003] In view of this, the present invention aims to provide an obstacle-avoidance direct-buried cable detection device, which is used to deal with most terrains in the current urban environment to improve the detection accuracy and operation efficiency, thereby solving the problem that known low-lying pipeline detection methods and devices cannot reach or have limited detection range.

[0004] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0005] A device for detecting buried cables with obstacle avoidance includes: a travel module, an obstacle avoidance module, and a detection module;

[0006] The travel module, obstacle avoidance module, and detection module are fixedly connected in sequence;

[0007] The travel module is used to move the device to the location of the buried cable to be detected;

[0008] The obstacle avoidance module includes a vision unit and an obstacle avoidance mechanism;

[0009] The vision unit is used to acquire information about surrounding obstacles so that movement commands for avoiding obstacles can be generated internally or input externally.

[0010] The obstacle avoidance mechanism is used to move the detection module according to the movement command to avoid obstacles and complete the detection of buried cables. The movement methods include at least rotation and extension in the horizontal plane and lifting in the vertical plane.

[0011] Furthermore, the obstacle avoidance mechanism includes: a rotating component;

[0012] Rotating components include a rotary motor, couplings, and a rotary platform;

[0013] The housing of the rotary motor is fixed on the travel module, and the output end is connected to the rotary platform via a coupling;

[0014] The rotary motor controls the rotating platform to rotate in the horizontal plane based on movement commands.

[0015] Furthermore, the obstacle avoidance mechanism also includes: telescopic components;

[0016] The telescopic components include linear electric cylinders and folding telescopic frames;

[0017] The linear electric cylinder and the folding telescopic frame are mounted on the rotating platform, and the telescopic end of the folding telescopic frame is connected to the output end of the linear electric cylinder.

[0018] The linear electric cylinder controls the folding telescopic frame to extend and retract in the horizontal plane based on movement commands.

[0019] Furthermore, the obstacle avoidance mechanism also includes: lifting components;

[0020] The lifting components include a stepper motor and a ground-penetrating support.

[0021] A stepper motor is installed at the telescopic end of the folding telescopic frame;

[0022] The output end of the stepper motor is rotatably connected to the ground probe bracket, and the ground probe bracket moves up and down in the vertical plane when the stepper motor rotates.

[0023] Both the vision unit and the detection module are mounted on the ground-penetrating support.

[0024] Furthermore, the ground-penetrating support includes: a guide support, gears, gear guide rails, and sliding guide rails;

[0025] The gear is fixed to the output end of the stepper motor;

[0026] The guide bracket is fixedly connected to the stepper motor;

[0027] One end of the gear guide rail and the sliding guide rail are fixedly connected and then slidably connected to the guide bracket, and the gear guide rail is meshed with the gear.

[0028] The stepper motor controls the gear guide rail and sliding guide rail to move up and down in the vertical plane within the guide bracket based on movement commands.

[0029] Furthermore, grooves are provided on both sides of the guide bracket, and the gear guide rail and the sliding guide rail are nested in the grooves on both sides in the vertical plane.

[0030] Furthermore, a mounting plate is provided at the connection end of the gear guide rail and the sliding guide rail. The mounting plate is used to fix the detection module and the vision unit.

[0031] Furthermore, the detection module is specifically a ground-penetrating radar.

[0032] Furthermore, the visual unit is specifically a binocular camera.

[0033] Furthermore, the travel module is specifically an AGV (Automated Guided Vehicle).

[0034] In summary, this invention provides an obstacle-avoidance direct-buried cable detection device, comprising a travel module, an obstacle avoidance module, and a detection module; the travel module, obstacle avoidance module, and detection module are fixedly connected in sequence; the travel module is used to move the device to the location of the direct-buried cable to be detected; the obstacle avoidance module includes a vision unit and an obstacle avoidance mechanism; the vision unit is used to acquire information about surrounding obstacles so that the device generates internally or receives external input to move the detection module to avoid obstacles and complete the detection of the direct-buried cable; the movement methods include at least rotation and extension in the horizontal plane and lifting and lowering in the vertical plane. When facing complex terrain such as flower beds, steps, and ditches, the obstacle-avoidance direct-buried cable detection device provided by this invention can capture images through the vision unit, combined with the rotation, extension, and lifting actions of the obstacle avoidance module, enabling the detection module to successfully avoid obstacles and reach any angle and location to detect the direct-buried cable, thereby improving the accuracy and efficiency of direct-buried cable detection. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art 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.

[0036] Figure 1 This is a schematic diagram of the overall structure of a direct-buried cable detection device for obstacle avoidance provided in an embodiment of the present invention;

[0037] Figure 2 A schematic diagram of the retracted state of an obstacle avoidance direct-buried cable detection device provided in an embodiment of the present invention;

[0038] Figure 3 This is a schematic diagram of the extended state of an obstacle avoidance direct-buried cable detection device provided in an embodiment of the present invention;

[0039] Figure 4 This is a structural diagram of a ground-penetrating support provided in an embodiment of the present invention;

[0040] Figure 5These are front and side views of the ground-penetrating support structure provided in an embodiment of the present invention;

[0041] Figure 6 This is a structural diagram of the guide bracket provided in an embodiment of the present invention;

[0042] Figure 7 A diagram of a gear guide rail structure provided in an embodiment of the present invention;

[0043] Figure 8 This is a structural diagram of a sliding guide rail provided in an embodiment of the present invention.

[0044] In the attached diagram: 1-AGV trolley; 2-rotary motor; 3-coupling; 4-rotating platform; 5-linear electric cylinder; 6-folding telescopic frame; 7-stepper motor; 8-ground penetrating bracket; 9-ground penetrating radar; 10-binocular camera;

[0045] 81-Guide bracket; 82-Gear; 83-Gear guide rail; 84-Sliding guide rail. Detailed Implementation

[0046] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0047] This embodiment provides an obstacle avoidance direct-buried cable detection device, including: a traveling module, an obstacle avoidance module, and a detection module; the traveling module, obstacle avoidance module, and detection module are fixedly connected in sequence; the traveling module is used to move the device to the location of the direct-buried cable to be detected; the obstacle avoidance module includes a vision unit and an obstacle avoidance mechanism; the vision unit is used to acquire information about surrounding obstacles so that the device generates or receives external input movement commands to avoid obstacles; the obstacle avoidance mechanism is used to move the detection module according to the movement commands to avoid obstacles and complete the detection of the direct-buried cable, and the movement methods include at least rotation and extension in the horizontal plane and lifting and lowering in the vertical plane.

[0048] It should be noted that the detection module can be ground-penetrating radar (GPR), a technology currently used for detecting directly buried cables. GPR utilizes broadband electromagnetic waves in pulse form to detect the location of underground targets, offering advantages such as high resolution, wide target detection range, and non-destructive testing. It is widely used in archaeology, engineering quality inspection, mineral resource exploration, and underground pipeline detection. The vision unit can be a binocular camera or other device capable of acquiring visual image information. The movement module can be an AGV (Automated Guided Vehicle).

[0049] When detecting buried cables in urban environments, a type of obstacle-avoidance buried cable detection device operates in an undeployed state when detecting unobstructed terrain. Figure 2 As shown, when encountering flower beds along streets with shrubs as obstacles, traditional detection trolleys cannot pass over these flower beds to detect buried cables. The obstacle-avoidance buried cable detection device provided in this embodiment, when facing complex terrain such as flower beds, steps, and ditches, can use a vision unit to capture images, combined with the rotation, extension, and lifting movements of the obstacle-avoidance module, to successfully avoid obstacles and reach any angle and location to detect buried cables, thereby improving the accuracy and efficiency of buried cable detection.

[0050] Please see Figure 1-3 In one embodiment of the present invention, the obstacle avoidance module achieves horizontal rotation through a rotating component, which includes a rotary motor 2, a coupling 3, and a rotating platform 4. The rotary motor 2 is mounted on the AGV trolley 1 and is connected to the rotating platform 4 via the coupling 3. The rotating platform 4 is controlled to rotate 360° by controlling the rotary motor 2.

[0051] The obstacle avoidance module also achieves horizontal extension and retraction through telescopic components, including a linear electric cylinder 5 and a folding telescopic frame 6. The linear electric cylinder 5 is mounted on the rotating platform 4, and the folding telescopic frame 6 is fixed to the end of the linear electric cylinder 5. The extension and retraction of the folding telescopic frame 6 are controlled by the linear push of the linear electric cylinder 5.

[0052] By rotating the rotating platform 4, the folding telescopic frame can be controlled to extend or retract at any angle of 360°, avoiding the inability of the detection device to reach due to various obstacles.

[0053] The folding telescopic frame has a retracted length of 50 centimeters and an extended length of 3 meters. It can cross obstacles up to 6 meters wide.

[0054] In addition, the obstacle avoidance module also achieves vertical plane lifting and lowering through a lifting component, which includes a stepper motor 7 and a ground-penetrating bracket 8. The ground-penetrating bracket 8 is installed at the telescopic end of the folding telescopic frame 6 and is connected to the stepper motor 7, which drives the ground-penetrating bracket 8 to move up and down.

[0055] In a further embodiment of the present invention, please refer to Figure 4-8 The ground-penetrating support 8 consists of a guide support 81, a gear 82, a gear guide rail 83, and a sliding guide rail 84. The bottom of the guide support has mounting holes for fixing the stepper motor 7, and the inherent gear 82 is fastened to the shaft at the end of the stepper motor 7.

[0056] The guide bracket has grooves on both sides. One groove can accommodate a gear guide rail 83, and the other groove can accommodate a sliding guide rail 84.

[0057] Gear 82 meshes tightly with gear guide rail 83 via gear teeth. Driven by stepper motor 7, the rotation of gear 82 drives gear guide rail 83 and sliding guide rail 84 to move up and down synchronously, thereby controlling the vertical displacement of ground penetrating radar 9 and binocular camera 10. This ensures the ground penetrating radar is in close contact with the ground surface, reduces interference from air currents on the radar detection signal, and improves the detection signal strength. The ground penetrating bracket 8 has a mounting plate at its bottom for fixing the ground penetrating radar 9.

[0058] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A device for detecting obstruction-avoiding directly buried cables, characterized in that, include: The module consists of a driving module, an obstacle avoidance module, and a detection module. The travel module, obstacle avoidance module, and detection module are fixedly connected in sequence; The travel module is used to move the device to the location of the buried cable to be detected; The obstacle avoidance module includes a vision unit and an obstacle avoidance mechanism; The vision unit is used to acquire information about surrounding obstacles so that movement commands for avoiding obstacles can be generated internally or input externally. The obstacle avoidance mechanism is used to move the detection module according to the movement command in order to avoid obstacles and complete the detection of the buried cable. The movement method includes at least rotation and extension in the horizontal plane and lifting in the vertical plane. The obstacle avoidance mechanism includes: a rotating component; The rotating component includes a rotary motor, a coupling, and a rotating platform; The housing of the rotary motor is fixed on the traveling module, and the output end is connected to the rotary platform through the coupling. The rotary motor controls the rotary platform to rotate in the horizontal plane based on the movement command; The obstacle avoidance mechanism also includes: a telescopic component; The telescopic component includes a linear electric cylinder and a folding telescopic frame; The linear electric cylinder and the folding telescopic frame are mounted on the rotating platform, and the telescopic end of the folding telescopic frame is connected to the output end of the linear electric cylinder. The linear electric cylinder controls the folding telescopic frame to extend and retract in the horizontal plane based on the movement command; The obstacle avoidance mechanism also includes: a lifting component; The lifting component includes a stepper motor and a ground-penetrating bracket; The stepper motor is installed at the telescopic end of the folding telescopic frame; The output end of the stepper motor is rotatably connected to the ground probe bracket, and when the stepper motor rotates, the ground probe bracket rises and falls in the vertical plane. Both the vision unit and the detection module are mounted on the ground-penetrating support; The ground-penetrating support includes: a guide support, a gear, a gear guide rail, and a sliding guide rail; The gear is fixed to the output end of the stepper motor; The guide bracket is fixedly connected to the stepper motor; One end of the gear guide rail and the sliding guide rail are fixedly connected and then slidably connected to the guide bracket, and the gear guide rail is meshed with the gear. The stepper motor controls the gear guide rail and the sliding guide rail to move up and down in the vertical plane within the guide bracket based on the movement command.

2. The obstacle avoidance direct-buried cable detection device according to claim 1, characterized in that, The guide bracket has grooves on both sides, and the gear guide rail and the sliding guide rail are respectively nested in the grooves on both sides in a vertical plane.

3. The obstacle avoidance direct-buried cable detection device according to claim 1, characterized in that, A mounting plate is also provided at the connection end of the gear guide rail and the sliding guide rail, and the mounting plate is used to fix the detection module and the vision unit.

4. The obstacle avoidance direct-buried cable detection device according to claim 1, characterized in that, The detection module is specifically a ground-penetrating radar.

5. The obstacle avoidance direct-buried cable detection device according to claim 1, characterized in that, The visual unit is specifically a binocular camera.

6. The obstacle avoidance direct-buried cable detection device according to claim 1, characterized in that, The travel module is specifically an AGV (Automated Guided Vehicle).

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