Cable tunnel inspection trolley

Abstract

The invention relates to a cable tunnel inspection trolley, and belongs to the technical field of power system detection, the inspection trolley comprises a trolley body, a walking module, an image acquisition module, a gas recognition module, a temperature and humidity detection module, a main control module, a storage module and a wireless transmission module, the image acquisition module acquires images in a cable tunnel; the gas recognition module recognizes harmful gas in the tunnel; the temperature and humidity detection module detects the temperature and humidity in the tunnel; the cable fault detection module detects a fault cable; the main control module is connected with the walking module, the image acquisition module, the gas identification module, the temperature and humidity detection module and the cable fault detection module; the storage module is connected with the main control module and stores data detected by each module; and the wireless transmission module is connected with the main control module and uploads data detected by each module to a remote control terminal.

Description

Technical Field

[0001] The invention relates to the technical field of power system detection, and in particular to a cable tunnel inspection trolley. Background Art

[0002] With the acceleration of urban construction, in order to beautify the city, more and more cables are used in the transformation of power grids, gradually replacing overhead lines. Cable lines are buried underground, which leads to many factors of cable failure. It is difficult to accurately locate the fault type and fault point, so many cable tunnels have emerged. Cable tunnels refer to corridors or tunnel structures used to accommodate a large number of cables laid on cable racks. In addition to allowing tunnels to better protect cables, cable tunnels can also make it convenient for people to inspect and repair cables. With the continuous growth of electricity demand and the continuous expansion of the scale of the power grid, cable tunnels, as an important infrastructure of the power system, have become increasingly arduous in terms of inspection and maintenance.

[0003] At present, due to the unmanned tunnels, low terrain, humid environment, high voltage, strong current, relatively closed space and harmful gases, it is difficult and extremely dangerous to manually enter the inspection wells for inspection. Traditional tunnel monitoring only monitors the temperature and humidity as well as the air environment of the tunnel, and cannot effectively inspect the cable lines, thus laying many hidden dangers for the inspection of cable lines.

[0004] To this end, the present invention provides a cable tunnel inspection vehicle for solving any of the above-mentioned technical problems. Summary of the invention

[0005] The object of the present invention is to provide a cable tunnel inspection vehicle for solving any of the above-mentioned technical problems.

[0006] In order to achieve the above object, the present invention provides the following technical solutions: A cable tunnel inspection vehicle, comprising a vehicle body, a walking module, an image acquisition module, a gas identification module, a temperature and humidity detection module, a cable fault detection module and a main control module; The walking module is installed at the bottom of the trolley body; The image acquisition module is installed on the trolley body and is used to acquire images in the cable tunnel; The gas identification module is installed on the vehicle body to identify harmful gases in the tunnel; The temperature and humidity detection module is installed on the vehicle body to detect the temperature and humidity in the tunnel; The cable fault detection module is installed on the trolley body and is used to detect the location information of the fault point on the cable in the tunnel; The main control module is installed on the vehicle body and is connected to the walking module, image acquisition module, gas identification module, temperature and humidity detection module and cable fault detection module; The inspection vehicle also includes a storage module and a wireless transmission module; The storage module is installed on the vehicle body and connected to the main control module, and is used to store the data detected by the image acquisition module, the gas identification module, the temperature and humidity detection module, and the cable fault detection module; The wireless transmission module is installed on the vehicle body and connected to the main control module. It is used to upload the data detected by the image acquisition module, gas identification module, temperature and humidity detection module and cable fault detection module to the remote control terminal.

[0007] Further, the gas identification module includes: a carbon monoxide sensor and a hydrogen sulfide sensor; The control module is respectively connected to the carbon monoxide sensor and the hydrogen sulfide sensor to detect the carbon monoxide concentration and the hydrogen sulfide concentration in the cable tunnel.

[0008] Furthermore, the temperature and humidity detection module adopts a temperature and humidity sensor.

[0009] Further, the cable fault detection module includes an ultrasonic receiver, an electromagnetic wave receiver and a GPS positioning module; The control module is connected to the ultrasonic wave receiver, the electromagnetic wave receiver and the GPS positioning module respectively; The cable fault detection module is equipped with a pulse generator for injecting high-voltage pulses into the cable core of the cable in the tunnel. The pulse generator is connected to the cable core at the head end of the cable in the tunnel, and keeps the cable core at the end of the cable in the tunnel suspended; The ultrasonic receiver is used to receive the ultrasonic signal fed back from the fault point on the cable in the tunnel, and send the ultrasonic signal to the main control module; The electromagnetic wave receiver is used to receive the electromagnetic wave signal fed back from the fault point on the cable in the tunnel, and send the electromagnetic wave signal to the main control module; The main control module is used to receive and calculate the time difference between the time it receives the ultrasonic signal and the time it receives the electromagnetic wave signal. When the time difference is less than a preset threshold, it is determined that the inspection vehicle has reached the fault point of the cable in the tunnel, and the GPS location information of the inspection vehicle is collected through the GPS positioning module as the location information of the fault point reached, and then the location information of the fault point is sent to the remote control terminal through the wireless transmission module.

[0010] Furthermore, the image acquisition module is a camera.

[0011] Furthermore, the inspection vehicle also includes a fill light, which is installed on the vehicle body and is used to provide fill light for the camera.

[0012] Furthermore, the inspection vehicle also includes an infrared thermal imager, which is installed on the vehicle body; The main control module is connected to the infrared thermal imager; Infrared thermal imagers are used to scan cables in cable tunnels to detect the temperature of the cables; The main control module is used to store the temperature of the cable detected by the infrared thermal imager through the storage module, and is also used to upload the temperature of the cable detected by the infrared thermal imager to the remote control terminal through the wireless transmission module.

[0013] Furthermore, the main control module adopts a microcontroller of model STM32H743.

[0014] Furthermore, the inspection vehicle is also equipped with an alarm module, and the main control module is connected to the alarm module to control the alarm module to alarm when harmful gas exceeds the standard or the location information of the fault point on the cable in the tunnel is detected.

[0015] Furthermore, the alarm module is a buzzer.

[0016] Beneficial effects of the present invention: The inspection vehicle of the present invention can independently complete the inspection task, thereby improving the inspection efficiency and accuracy; The inspection vehicle of the present invention is equipped with a camera, an infrared thermal imager, a gas identification module, a temperature and humidity sensor, and a cable fault detection module, which can comprehensively and real-time monitor the environmental information in the tunnel and the status of the cables; The present invention is provided with a storage module and a wireless transmission module, which can collect, store and transmit inspection data in real time, and upload the detected data to a remote control terminal.

[0017] These and other objects, features and advantages of the present invention will be fully reflected in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The principle block diagram of the cable tunnel inspection vehicle of the present invention is shown. DETAILED DESCRIPTION

[0019] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art can think of other obvious variations. The basic principles of the present invention defined in the following description can be applied to other embodiments, variations, improvements, equivalents, and other technical solutions that do not deviate from the spirit and scope of the present invention.

[0020] It should be understood by those skilled in the art that, in the disclosure of the specification, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device including a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices. Therefore, the above terms should not be understood as limiting the present invention.

[0021] It is to be understood that the term "one" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the element may be multiple, and the term "one" should not be understood as a limitation on the quantity.

[0022] refer to Figure 1 A cable tunnel inspection vehicle according to a preferred embodiment of the present invention will be described in detail below, wherein the inspection vehicle includes a vehicle body, a walking module, an image acquisition module, a gas identification module, a temperature and humidity detection module, a cable fault detection module and a main control module.

[0023] The walking module is installed at the bottom of the trolley body and is used to enable the inspection trolley to walk in the cable tunnel.

[0024] The image acquisition module is installed on the trolley body and is used to collect images in the cable tunnel and detect abnormal conditions in the cable tunnel. These images are transmitted to the remote control terminal through the wireless transmission module for real-time monitoring and analysis.

[0025] The gas identification module is installed on the trolley body and is used to identify harmful gases in the tunnel.

[0026] The temperature and humidity detection module is installed on the vehicle body and is used to detect the temperature and humidity in the tunnel.

[0027] The cable fault detection module is installed on the trolley body and is used to detect the location information of the fault point on the cable in the tunnel.

[0028] The main control module is installed on the vehicle body and is connected to the walking module, image acquisition module, gas identification module, temperature and humidity detection module and cable fault detection module.

[0029] The main control module, as the core of the inspection vehicle, is installed on the vehicle body.

[0030] The main control module is connected to the walking module and is used to control the movement of the walking module.

[0031] The main control module is connected to the image acquisition module, and the main control module can obtain image data in the cable tunnel in real time through the image acquisition module.

[0032] The main control module is connected to the gas identification module and can monitor harmful gases in the cable tunnel.

[0033] The main control module is connected to the temperature and humidity detection module, and the main control module collects temperature and humidity information in the cable tunnel through the temperature and humidity detection module.

[0034] The main control module is connected to the cable fault detection module, which detects the status of the cables in the cable tunnel and promptly detects and reports potential fault hazards.

[0035] The inspection vehicle also includes a storage module and a wireless transmission module.

[0036] The storage module is installed on the vehicle body and connected to the main control module, and is used to store data detected by the image acquisition module, the gas identification module, the temperature and humidity detection module, and the cable fault detection module. In this embodiment, the storage module is a RAM memory.

[0037] The wireless transmission module is installed on the vehicle body and connected to the main control module. It is used to upload the data detected by the image acquisition module, gas identification module, temperature and humidity detection module and cable fault detection module to the remote control terminal. Specifically, the wireless transmission module adopts the LoRa low-power wide area network (LPWAN) technology, which is suitable for long-distance, low-power wireless transmission and is suitable for use in environments such as cable tunnels.

[0038] The inspection vehicle performs visual inspections, temperature and humidity measurements, gas detection, infrared thermal imaging and other inspections in real time in the cable tunnel, and transmits the sensed information in the cable trench to the ground base station for judging daily operating status.

[0039] When an accident occurs and personnel are urgently needed to enter the tunnel for repairs, the first thing to do is to use the car to quickly understand the temperature and humidity, harmful gas concentration, hot spot location and other status information in the cable trench, so as to ensure the safety of personnel during emergency repairs and improve the efficiency of repairs.

[0040] The inspection vehicle of the present invention can complete the inspection task autonomously, thus improving the inspection efficiency and accuracy; The inspection vehicle of the present invention is equipped with a camera, an infrared thermal imager, a gas identification module, a temperature and humidity sensor, and a cable fault detection module, which can comprehensively and real-time monitor the environmental information in the tunnel and the status of the cables; The present invention is provided with a storage module and a wireless transmission module, which can collect, store and transmit inspection data in real time, and upload the detected data to a remote control terminal.

[0041] Exemplarily, the gas identification module includes: a carbon monoxide sensor and a hydrogen sulfide sensor. The control module is connected to the carbon monoxide sensor and the hydrogen sulfide sensor respectively, and is used to detect the carbon monoxide concentration and the hydrogen sulfide concentration in the cable tunnel.

[0042] The temperature and humidity detection module adopts a temperature and humidity sensor, and the control module is connected to the temperature and humidity sensor to detect the temperature and humidity in the cable tunnel.

[0043] Exemplarily, the cable fault detection module includes an ultrasonic receiver, an electromagnetic wave receiver and a GPS positioning module.

[0044] The cable fault detection module is equipped with a pulse generator for injecting high-voltage pulses into the cable core of the cable in the tunnel. The pulse generator is connected to the cable core at the head end of the cable in the tunnel, and the cable core at the end of the cable in the tunnel is kept suspended. When the high-voltage pulse flows through the fault point on the cable in the tunnel to the metal shielding layer on its surface, the fault point on the cable in the tunnel will emit ultrasonic signals and electromagnetic wave signals.

[0045] The control module is connected with the ultrasonic wave receiver, the electromagnetic wave receiver and the GPS positioning module respectively.

[0046] The ultrasonic receiver is used to receive the ultrasonic signal fed back from the fault point on the cable in the tunnel, and send the ultrasonic signal to the main control module.

[0047] The electromagnetic wave receiver is used to receive the electromagnetic wave signal fed back from the fault point on the cable in the tunnel, and send the electromagnetic wave signal to the main control module. It can be understood that the ultrasonic receiver is installed close enough to the ultrasonic receiver.

[0048] The main control module is used to receive and calculate the time difference between the time it receives the ultrasonic signal and the time it receives the electromagnetic wave signal. When the time difference is less than a preset threshold, it is determined that the inspection vehicle has reached the fault point of the cable in the tunnel, and the GPS location information of the inspection vehicle is collected through the GPS positioning module as the location information of the fault point reached, and then the location information of the fault point is sent to the remote control terminal through the wireless transmission module.

[0049] It can be understood that the preset threshold is a preset time difference threshold.

[0050] In this embodiment, the ultrasonic wave receiver is an ultrasonic probe, and the electromagnetic wave receiver is an electromagnetic coil.

[0051] The image acquisition module is a camera, and the main control module is connected to the camera to process the image data in the cable tunnel collected by the camera; the wireless transmission module uploads the image data to the remote control terminal. In this embodiment, the camera is installed on the top of the front part of the trolley body to obtain a clear tunnel image.

[0052] The inspection vehicle also includes a fill light, which is installed on the vehicle body and is used to provide fill light for the camera, and can assist the camera to perform clear detection in a low-light environment.

[0053] The inspection vehicle also includes an infrared thermal imager, which is installed on the vehicle body.

[0054] The main control module is connected to the infrared thermal imager.

[0055] Infrared thermal imagers are used to scan cables in cable tunnels to detect the temperature of the cables.

[0056] The main control module is used to store the temperature of the cable detected by the infrared thermal imager through the storage module, and is also used to upload the temperature of the cable detected by the infrared thermal imager to the remote control terminal through the wireless transmission module.

[0057] In this embodiment, the main control module adopts a microcontroller of model STM32H743.

[0058] The inspection vehicle is also equipped with an alarm module, which is a buzzer. The main control module is connected to the alarm module and is used to control the alarm module to alarm when harmful gas exceeds the standard or the location information of the fault point on the cable in the tunnel is detected. Once the harmful gas exceeds the standard or the location information of the fault point on the cable in the tunnel is detected, the main control module will immediately trigger the alarm module to alarm.

[0059] For example, the wheels of the walking module are tracked wheels, which can wade through a small amount of water, have a stable mechanical structure and good obstacle-crossing ability to adapt to the complex environment in the tunnel. The tracked wheels are made of ABS material, have strong passability, and are waterproof up to IP5.

[0060] It should be understood by those skilled in the art that the embodiments of the present invention described above and shown in the accompanying drawings are only examples and do not limit the present invention. The advantages of the present invention have been fully and effectively achieved. The functional and structural principles of the present invention have been demonstrated and explained in the embodiments, and the embodiments of the present invention may be deformed or modified in any way without departing from the principles.

Claims

1. A cable tunnel inspection vehicle, characterized in that: The inspection vehicle includes a vehicle body, a walking module, an image acquisition module, a gas identification module, a temperature and humidity detection module, a cable fault detection module and a main control module; The walking module is installed at the bottom of the trolley body; The image acquisition module is installed on the trolley body and is used to acquire images in the cable tunnel; The gas identification module is installed on the vehicle body to identify harmful gases in the tunnel; The temperature and humidity detection module is installed on the vehicle body to detect the temperature and humidity in the tunnel; The cable fault detection module is installed on the trolley body and is used to detect the location information of the fault point on the cable in the tunnel; The main control module is installed on the vehicle body and is connected to the walking module, image acquisition module, gas identification module, temperature and humidity detection module and cable fault detection module; The inspection vehicle also includes a storage module and a wireless transmission module; The storage module is installed on the vehicle body and connected to the main control module, and is used to store the data detected by the image acquisition module, the gas identification module, the temperature and humidity detection module, and the cable fault detection module; The wireless transmission module is installed on the vehicle body and connected to the main control module. It is used to upload the data detected by the image acquisition module, gas identification module, temperature and humidity detection module and cable fault detection module to the remote control terminal.

2. The inspection vehicle according to claim 1, characterized in that: The gas identification module includes: carbon monoxide sensor and hydrogen sulfide sensor; The control module is respectively connected to the carbon monoxide sensor and the hydrogen sulfide sensor to detect the carbon monoxide concentration and the hydrogen sulfide concentration in the cable tunnel.

3. The inspection vehicle according to claim 2, characterized in that: The temperature and humidity detection module uses a temperature and humidity sensor.

4. The inspection vehicle according to claim 1, characterized in that: The cable fault detection module includes an ultrasonic receiver, an electromagnetic wave receiver and a GPS positioning module; The cable fault detection module is equipped with a pulse generator for injecting high-voltage pulses into the cable core of the cable in the tunnel. The pulse generator is connected to the cable core at the head end of the cable in the tunnel, and keeps the cable core at the end of the cable in the tunnel suspended; The control module is connected to the ultrasonic wave receiver, the electromagnetic wave receiver and the GPS positioning module respectively; The ultrasonic receiver is used to receive the ultrasonic signal fed back from the fault point on the cable in the tunnel, and send the ultrasonic signal to the main control module; The electromagnetic wave receiver is used to receive the electromagnetic wave signal fed back from the fault point on the cable in the tunnel, and send the electromagnetic wave signal to the main control module; The main control module is used to receive and calculate the time difference between the time it receives the ultrasonic signal and the time it receives the electromagnetic wave signal. When the time difference is less than a preset threshold, it is determined that the inspection vehicle has reached the fault point of the cable in the tunnel, and the GPS location information of the inspection vehicle is collected through the GPS positioning module as the location information of the fault point reached, and then the location information of the fault point is sent to the remote control terminal through the wireless transmission module.

5. The inspection vehicle according to claim 4, characterized in that: The image acquisition module is a camera.

6. The inspection vehicle according to claim 5, characterized in that: The inspection vehicle also includes a fill light, which is installed on the vehicle body and is used to provide fill light for the camera.

7. The inspection vehicle according to claim 1, characterized in that: The inspection vehicle also includes an infrared thermal imager, which is installed on the vehicle body; The main control module is connected to the infrared thermal imager; Infrared thermal imagers are used to scan cables in cable tunnels to detect the temperature of the cables; The main control module is used to store the temperature of the cable detected by the infrared thermal imager through the storage module, and is also used to upload the temperature of the cable detected by the infrared thermal imager to the remote control terminal through the wireless transmission module.

8. The inspection vehicle according to any one of claims 1 to 7, characterized in that: The main control module uses a microcontroller model STM32H743.

9. The inspection vehicle according to claim 4, characterized in that: The inspection vehicle is also equipped with an alarm module, and the main control module is connected to the alarm module to control the alarm module to alarm when harmful gas exceeds the standard or the location information of the fault point on the cable in the tunnel is detected.

10. The inspection vehicle according to claim 9, characterized in that: The alarm module is a buzzer.

Images