Autonomous optical cable inspection robot and control method thereof

Abstract

The invention discloses an autonomous optical cable inspection robot and a control method thereof, and belongs to the technical field of inspection robots. The first ring arm and the second ring arm form the annular robot body and are connected in a hinged mode, the connecting lugs are integrally formed at the closed ends of the first ring arm and the second ring arm, threaded holes are formed in the surfaces of the first ring arm and the second ring arm, a plurality of threaded holes are formed in the surfaces of the first ring arm and the second ring arm, and threaded rods are in threaded connection with the threaded holes. Scale marks are arranged on the outer wall of the screw rod, a connecting frame of an inverted-U-shaped structure is rotationally arranged at the end, located on the inner side of the annular robot body, of the screw rod, a rotating handle is welded to the end, away from the connecting frame, of the screw rod, a hard spring sleeves one side of the rotating handle, and a rolling wheel is rotationally connected to the inner side of the connecting frame. The annular robot body can inspect optical cables with different diameters, and the application range of the annular robot body is widened.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and more specifically, to an autonomous optical cable inspection robot and a control method thereof. Background Art

[0002] Optical cables are an important component for achieving and ensuring communications. As they often pass through forested areas where people are seldom seen but animals are active, optical cables are often damaged or completely broken by rodents. Taking Anji Company as an example, animal bites account for about half of the total optical cable failure incidents each year. Most of the bites occur in areas with dense vegetation such as mountains, rivers, and forests. Traditional manual inspection methods have problems such as low timeliness and high inspection costs.

[0003] The existing patent is a suspended optical cable inspection robot, and the patent authorization number CN217362345U includes a ring-shaped robot body, a driving motor, a traveling wheel, a traveling wheel bracket, a communication unit, a camera unit, a controller and a battery. The traveling wheel bracket is connected to one side of the ring-shaped robot body, and the traveling wheel is rotatably mounted on the traveling wheel bracket. The driving motor is fixedly mounted on the traveling wheel bracket, and the driving motor is connected to the traveling wheel. The communication unit and the controller are both arranged inside the robot body. The camera unit includes a plurality of cameras arranged on the other side of the robot body opposite to the traveling wheel. The communication unit, the driving motor and the camera unit are all connected to the controller, and the battery is installed inside the body to power the robot. The present invention can replace the inspection personnel to inspect the optical cable. The ring structure is convenient for the inspection personnel to carry and install. The robot can stably move on the optical cable to collect the optical cable detection data.

[0004] The suspended autonomous optical cable inspection robot in patent authorization number CN217362345U can be put on the outer surface of the optical cable and move forward on the surface of the optical cable, completing the inspection task of the optical cable instead of the inspection personnel. When the robot receives the work instruction, the controller controls the drive motor to work, and the drive motor drives the traveling wheel to move forward along the optical cable, and the robot starts to work. However, the robot can only perform hanging inspections on optical cables with fixed diameters, resulting in a low scope of application of the inspection robot. In order to improve the scope of application of the inspection robot, we propose an autonomous optical cable inspection robot and its control method to solve the above-mentioned problems. Summary of the invention

[0005] 1. Technical issues to be solved

[0006] In view of the problems existing in the prior art, the purpose of the present invention is to provide an autonomous optical cable inspection robot and a control method thereof, which can inspect optical cables of different diameters and improve the application scope of the ring-shaped robot body.

[0007] 2. Technical solution

[0008] To solve the above problems, the present invention adopts the following technical solutions.

[0009] An autonomous optical cable inspection robot and a control method thereof, comprising a ring-shaped robot body, a first ring arm and a second ring arm constituting the ring-shaped robot body and being hingedly connected, and a connecting ear integrally formed at the closed ends of the first ring arm and the second ring arm, wherein the surfaces of the first ring arm and the second ring arm are both provided with threaded holes, and the threaded holes are provided in plurality;

[0010] A screw is screwed to the threaded hole, and a scale line is provided on the outer wall of the screw. A connecting frame with an inverted U-shaped structure is rotatably connected to one end of the screw located inside the annular robot body, and a rotating handle is welded to one end of the screw away from the connecting frame. A hard spring is sleeved on one side of the rotating handle, and a roller is rotatably connected to the inner side of the connecting frame;

[0011] A driving motor with a power output end drivingly connected to the roller is installed on the outer wall of one of the connecting frames;

[0012] The ends of the first ring arm and the second ring arm are fixedly connected with a mounting frame set at an angle, and there are multiple mounting frames. A panoramic camera is installed on the end surface of the mounting frame corresponding to the axis of the annular robot body.

[0013] Furthermore, there are three threaded holes, and the angle between the axis lines of two adjacent threaded holes corresponding to the center line of the first ring arm is 120°.

[0014] Furthermore, one end of the screw rod close to the connecting frame is provided with a smooth structure, and a bearing is installed at the portion where the connecting frame and the screw rod are combined.

[0015] Furthermore, one end of the hard spring abuts against the rotating handle, and the other end of the hard spring abuts against the outer wall of the annular robot body.

[0016] Furthermore, axles are installed at both ends of the roller, and the axles are connected to the connecting frame through bearings.

[0017] Furthermore, the power output end of the driving motor is connected to the wheel axle through a coupling.

[0018] Furthermore, the roller protrudes from the open end of the connecting frame, and the surface of the roller is provided with anti-slip grooves.

[0019] Furthermore, the bending angle of the mounting frame is set at 130-135°.

[0020] 9. A control method for an autonomous optical cable inspection robot, characterized in that it comprises the following steps:

[0021] Step 1: The first ring arm and the second ring arm are engaged with each other so that the main body of the ring robot is engaged with the optical cable to be detected, and then the first ring arm and the second ring arm are connected and fixed by bolts and connecting ears;

[0022] Step 2: Use the handle to rotate the screw rod, and make multiple screw rods rotate in the same displacement in coordination with the scale lines set on the axial position of the outer wall of the screw rod, until the roller abuts against the outer wall of the optical cable, and is rotatably connected to the screw rod through the connecting frame, so that the roller rolls in coordination with the axial position of the optical cable;

[0023] Step 3: Use the elastic force of the hard spring to prevent the screw from loosening to ensure that the position of the roller remains unchanged. Then use the drive motor to drive one of the rollers to rotate, so that the main body of the annular robot moves with the optical cable. Connect to the background monitoring and display system through the panoramic camera to complete autonomous optical cable inspection. It can inspect optical cables of different diameters.

[0024] 3. Beneficial effects

[0025] Compared with the prior art, the advantages of the present invention are:

[0026] (1) This solution uses a handle to rotate the screw rod, and cooperates with the scale lines set on the axial position of the outer wall of the screw rod to make multiple screw rods rotate in the same displacement until the roller abuts against the outer wall of the optical cable, and is rotatably connected to the screw rod through a connecting frame, so that the roller rolls in accordance with the axial position of the optical cable, and uses the elastic force of a hard spring to prevent the screw rod from loosening to ensure that the position of the roller remains unchanged, and then drives one of the rollers to rotate through a driving motor, so that the annular robot body moves in accordance with the optical cable, and is connected to the background monitoring and display system through a panoramic camera, thereby completing autonomous optical cable inspection, and being able to inspect optical cables of different diameters, thereby improving the scope of application of the annular robot body.

[0027] (2) In this solution, the roller protrudes from the open end of the connecting frame, and the surface of the roller is provided with anti-slip grooves, which can effectively increase the friction between the roller and the optical cable, thereby facilitating the roller to drive the annular robot body to move. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0029] Figure 2 It is a schematic diagram of the threaded hole structure of the present invention;

[0030] Figure 3 It is a schematic diagram of the opening of the first ring arm and the second ring arm of the present invention;

[0031] Figure 4 It is a schematic diagram of the scale line structure of the present invention;

[0032] Figure 5 It is a schematic diagram of the structure of the connecting frame of the present invention;

[0033] Figure 6 It is a schematic diagram of the mounting frame structure of the present invention.

[0034] Description of the numbers in the figure:

[0035] 1. First ring arm; 2. Second ring arm; 3. Connecting ear; 4. Threaded hole; 5. Screw; 6. Scale line; 7. Connecting frame; 8. Turning handle; 9. Roller; 10. Driving motor; 11. Hard spring; 12. Mounting frame; 13. Camera; 14. Ring robot body. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention; it is obvious that the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making creative work are within the scope of protection of the present invention.

[0037] Example:

[0038] See also Figure 1-6 , an autonomous optical cable inspection robot and a control method thereof, comprising a ring-shaped robot body 14, a first ring arm 1 and a second ring arm 2 which constitute the ring-shaped robot body 14 and are hingedly connected, and a connecting ear 3 integrally formed at the closed end of the first ring arm 1 and the second ring arm 2, a threaded hole 4 is opened on the surface of the first ring arm 1 and the second ring arm 2, and a plurality of threaded holes 4 are provided;

[0039] A screw rod 5 is screwed at the threaded hole 4, and a scale line 6 is arranged on the outer wall of the screw rod 5. One end of the screw rod 5 located inside the annular robot body 14 is rotatably provided with a connecting frame 7 arranged in an inverted U-shaped structure, and a rotating handle 8 is welded to the end of the screw rod 5 away from the connecting frame 7. A hard spring 11 is sleeved on one side of the rotating handle 8, and a roller 9 is rotatably connected to the inner side of the connecting frame 7;

[0040] A driving motor 10 is installed on the outer wall of one of the connecting frames 7 and is connected to the roller 9 by transmission at its power output end;

[0041] The ends of the first ring arm 1 and the second ring arm 2 are both fixedly connected with a mounting frame 12 arranged at an angle, and a plurality of mounting frames 12 are provided, and a panoramic camera 13 is installed on the end surface of the mounting frame 12 corresponding to the axis of the ring robot body 14;

[0042] It should be noted that when the autonomous optical cable inspection robot is in use, the first ring arm 1 and the second ring arm 2 are engaged so that the annular robot body 14 is engaged with the optical cable to be inspected, and then the first ring arm 1 and the second ring arm 2 are connected and fixed by bolts and connecting ears 3;

[0043] By using the handle 8 to rotate the screw 5, and cooperating with the scale line 6 set on the axial position of the outer wall of the screw 5, multiple screws 5 are rotated in the same displacement until the roller 9 abuts against the outer wall of the optical cable, and is rotatably connected to the screw 5 through the connecting frame 7, so that the roller 9 rolls in accordance with the axial position of the optical cable, and the elastic force of the hard spring 11 is used to prevent the screw 5 from loosening to ensure that the position of the roller 9 remains unchanged, and then one of the rollers 9 is driven by the driving motor 10 to rotate, so that the annular robot body 14 moves in accordance with the optical cable, and is connected to the background monitoring and display system through the panoramic camera 13, thereby completing autonomous optical cable inspection, and being able to inspect optical cables of different diameters, thereby improving the scope of application of the annular robot body 14.

[0044] like Figure 1 , Figure 2 As shown, there are three threaded holes 4, and the angle between the axis lines of two adjacent threaded holes 4 and the center line of the first ring arm 1 is 120°;

[0045] It should be noted that, by installing the screw rod 5 inside the threaded hole 4 , when the screw rod 5 is screwed in to the same displacement, optical cables with different diameters can be clamped.

[0046] like Figure 5 As shown, the end of the screw rod 5 close to the connecting frame 7 is provided with a smooth surface structure, and a bearing is installed at the portion where the connecting frame 7 and the screw rod 5 are combined;

[0047] It should be noted that the smooth end of the screw rod 5 rotates in coordination with the bearing at the connecting frame 7 , so that the roller 9 can rotate on its own, and the roller 9 rolls in coordination with the axial position of the optical cable.

[0048] like Figure 1 As shown, one end of the hard spring 11 abuts against the turning handle 8, and the other end of the hard spring 11 abuts against the outer wall of the annular robot body 14;

[0049] It should be noted that the elastic force of the hard spring 11 is used to prevent the screw rod 5 from loosening so as to ensure that the position of the roller 9 remains unchanged.

[0050] like Figure 4 As shown, axles are installed at both ends of the roller 9, and the axles are connected to the connecting frame 7 through bearings, and the power output end of the driving motor 10 is connected to the axles through a coupling;

[0051] It should be noted that it is ensured that the power transmitted by the driving motor 10 can be normally transmitted to the roller 9 .

[0052] like Figure 1 As shown, the roller 9 protrudes from the open end of the connecting frame 7, and the surface of the roller 9 is provided with anti-slip grooves;

[0053] It should be noted that the friction between the roller 9 and the optical cable can be effectively increased, thereby facilitating the roller 9 to drive the annular robot body 14 to move.

[0054] The bending angle of the mounting frame 12 is set at 130-135°.

[0055] When in use: the first ring arm 1 and the second ring arm 2 are embraced so that the ring robot body 14 is embraced on the optical cable to be detected, and then the first ring arm 1 and the second ring arm 2 are connected and fixed by bolts and connecting ears 3;

[0056] By using the handle 8 to rotate the screw 5, and cooperating with the scale line 6 set on the axial position of the outer wall of the screw 5, multiple screws 5 are rotated in the same displacement until the roller 9 abuts against the outer wall of the optical cable, and is rotatably connected to the screw 5 through the connecting frame 7, so that the roller 9 rolls in accordance with the axial position of the optical cable, and the elastic force of the hard spring 11 is used to prevent the screw 5 from loosening to ensure that the position of the roller 9 remains unchanged, and then one of the rollers 9 is driven by the driving motor 10 to rotate, so that the annular robot body 14 moves in accordance with the optical cable, and is connected to the background monitoring and display system through the panoramic camera 13, thereby completing the autonomous optical cable inspection, and can inspect optical cables of different diameters.

[0057] The above is only a preferred specific implementation of the present invention; however, the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solution and its improved conception within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An autonomous optical cable inspection robot, comprising a ring-shaped robot body (14), a first ring arm (1) and a second ring arm (2) constituting the ring-shaped robot body (14) and being hingedly connected, and a connecting ear (3) integrally formed at the closed end of the first ring arm (1) and the second ring arm (2), characterized in that: The surfaces of the first ring arm (1) and the second ring arm (2) are both provided with threaded holes (4), and a plurality of threaded holes (4) are provided; A screw rod (5) is threadedly connected to the threaded hole (4), and a scale line (6) is arranged on the outer wall of the screw rod (5). One end of the screw rod (5) located inside the annular robot body (14) is rotatably connected to a connecting frame (7) arranged in an inverted U-shaped structure. A rotating handle (8) is welded to the end of the screw rod (5) away from the connecting frame (7), and a hard spring (11) is sleeved on one side of the rotating handle (8). A roller (9) is rotatably connected to the inner side of the connecting frame (7); A driving motor (10) having a power output end drivingly connected to the roller (9) is installed on the outer wall of one of the connecting frames (7); The ends of the first ring arm (1) and the second ring arm (2) are both fixedly connected to a mounting frame (12) arranged at an angle, and a plurality of mounting frames (12) are provided. A panoramic camera (13) is installed on the end surface of the mounting frame (12) corresponding to the axis of the ring-shaped robot body (14).

2. The autonomous optical cable inspection robot according to claim 1, characterized in that: Specifically, three threaded holes (4) are provided, and the angle between the axis lines of two adjacent threaded holes (4) corresponding to the center line of the first ring arm (1) is 120°.

3. The autonomous optical cable inspection robot according to claim 1, characterized in that: One end of the screw rod (5) close to the connecting frame (7) is provided with a smooth surface structure, and a bearing is installed at the portion where the connecting frame (7) and the screw rod (5) are combined.

4. The autonomous optical cable inspection robot according to claim 1, characterized in that: One end of the hard spring (11) abuts against the turning handle (8), and the other end of the hard spring (11) abuts against the outer wall of the annular robot body (14).

5. The autonomous optical cable inspection robot according to claim 1, characterized in that: Wheel axles are installed at both ends of the roller (9), and the wheel axles are connected to the connecting frame (7) via bearings.

6. The autonomous optical cable inspection robot according to claim 5, characterized in that: The power output end of the driving motor (10) is connected to the wheel axle via a coupling.

7. The autonomous optical cable inspection robot according to claim 1, characterized in that: The roller (9) protrudes from the open end of the connecting frame (7), and the surface of the roller (9) is provided with anti-slip grooves.

8. The autonomous optical cable inspection robot according to claim 1, characterized in that: The bending angle of the mounting frame (12) is set at 130-135°.

9. A control method for an autonomous optical cable inspection robot, characterized in that: It includes the following steps: Step 1: The first ring arm (1) and the second ring arm (2) are engaged with each other so that the ring robot body (14) is engaged with the optical cable to be detected, and then the first ring arm (1) and the second ring arm (2) are connected and fixed by using bolts and connecting ears (3); Step 2: The screw rod (5) is rotated by using a rotating handle (8), and the multiple screw rods (5) are rotated in the same displacement in coordination with the scale lines (6) set at the axial position of the outer wall of the screw rod (5), until the roller (9) abuts against the outer wall of the optical cable, and is rotationally connected to the screw rod (5) through the connecting frame (7), so that the roller (9) rolls in coordination with the axial position of the optical cable; Step 3: Use the elastic force of the hard spring (11) to prevent the screw (5) from loosening to ensure that the position of the roller (9) remains unchanged, then drive one of the rollers (9) to rotate through the drive motor (10), so that the annular robot body (14) moves with the optical cable, and connects to the background monitoring and display system through the panoramic camera (13), thereby completing autonomous optical cable inspection, and can inspect optical cables of different diameters.

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