Visual intelligent inspection system and inspection method for cable

Abstract

The cable visual intelligent inspection system comprises a vehicle body, a power supply battery pack and a control assembly are arranged in the vehicle body, a lifting platform is arranged at the top of the vehicle body, a mechanical arm is arranged at the top of the lifting platform, and a camera and a flaw detection head are arranged at the free end of the mechanical arm; telescopic frames are arranged at the two ends of the two sides of the vehicle body respectively, a driving wheel is installed at the bottom of each telescopic frame, and the height from the vehicle body to the ground can be changed by adjusting the telescopic length of the telescopic frames. During use, the vehicle body can be driven by the electric driving wheels to run, the height of the vehicle body can be changed through stretching and retracting of the telescopic frame, the climbing capacity of the vehicle body is improved, meanwhile, the camera and the flaw detection head can point to any point under driving of the mechanical arm, and the flexibility is high; the vehicle body can be lifted, and the lifting platform can also be lifted, so that the mechanical arm can be lifted, and the mechanical arm drives the camera and the flaw detection head to check a cable at a high position.

Description

Technical Field

[0001] The present invention relates to the technical field of cable inspection, and in particular to a cable visual intelligent inspection system and inspection method. Background Art

[0002] With the development of our country, electric energy transmission is of paramount importance. Electric power transmission is one of the most important links in power engineering. Usually a large number of cables are needed to transmit cables, so a large number of cable equipment need to be built. After the construction of the power engineering is completed, the cable's usage status during the working process is usually detected. At this time, power engineering personnel are required to patrol the cables and detect the working status of the cables.

[0003] Cables in tunnels or cable trenches also need to be manually circulated, but the environment in tunnels or cable trenches is different from the external environment. It is dark inside and there may be noise, which makes it inconvenient to inspect in tunnels or cable trenches. To this end, we propose a cable visualization intelligent inspection system and inspection method. Summary of the invention

[0004] The present invention provides a cable visual intelligent inspection system and inspection method, which have the advantage of being able to inspect cables by manually controlling the driving of a vehicle body, and solve the problems raised in the above-mentioned background technology.

[0005] The technical solution of the present invention is implemented as follows: a cable visualization intelligent inspection system includes a vehicle body, a power supply battery pack and a control component are arranged in the vehicle body, a lifting platform is arranged on the top of the vehicle body, a mechanical arm is arranged on the top of the lifting platform, and a camera and a flaw detection head are arranged on the free end of the mechanical arm; telescopic frames are respectively arranged at both ends of both sides of the vehicle body, the telescopic direction of the telescopic frames is toward the bottom of the vehicle body, and a driving wheel is installed at the bottom of each telescopic frame. The height of the vehicle body from the ground can be changed by adjusting the telescopic length of the telescopic frame.

[0006] Preferably, the lifting platform includes a first arm and a second arm respectively arranged on both sides of the top of the vehicle body, the first arm and the second arm intersect in the middle and are rotatably connected; strip plates located above the first arm and the second arm are also provided on both sides of the top of the vehicle body, and the two strip plates are parallel; the top of the first arm and the bottom of the second arm are respectively rotatably connected to sliders, and the sliders are respectively slidably arranged on the supporting guide rails; wherein, the bottom of the first arm is rotatably connected to the top of the vehicle body, the top of the second arm is rotatably connected to the bottom of the strip plate, and the two supporting guide rails are respectively installed under the strip plate and on the top of the vehicle body; the two second arms are connected by a connecting rod, and a third telescopic drive is rotatably connected in the middle of the connecting rod, and the third telescopic drive is inclined and the bottom is rotatably connected to the top of the vehicle body.

[0007] Preferably, the bottom of the robot arm is mounted on a mounting plate, the mounting plate is located above the two strip plates, and the edge of the mounting plate is connected to the strip plates.

[0008] Preferably, each telescopic frame includes a bracket, one end of the bracket is fixed to the side of the vehicle body, and two first support rods of equal length are rotatably connected at the bottom of the other end of the bracket, and a second strip seat parallel to the bracket is provided in the middle of the two first support rods, and the two ends of the second strip seat are rotatably connected to the first support rod respectively; the middle of the side of the second strip seat is rotatably connected to one end of the first telescopic driver, the first telescopic driver is arranged obliquely upward and the other end is arranged in the first mounting seat, the side of the first mounting seat close to the vehicle body is rotatably connected to the fixed seat, and the fixed seat is installed on the vehicle body; the bottoms of the two first support rods are rotatably connected to the top of the connecting seat The connecting seat is parallel to the second bar seat, and two second support rods of equal length are rotatably connected at the bottom of the connecting seat. The middle parts of the two second support rods are provided with a first bar seat parallel to the second bar seat, and the two ends of the first bar seat are rotatably connected to the second support rod respectively; the middle part of the side surface of the first bar seat is rotatably connected to one end of the second telescopic driver, the second telescopic driver is inclined upward and the other end is arranged in the second mounting seat, the side surface of the second mounting seat is rotatably connected to one end of the strip arm, and the other end of the strip arm is connected to the connecting seat; the bottoms of the two second support rods are rotatably connected to the top of the steering support, and the steering support is parallel to the first bar seat.

[0009] Preferably, the driving wheel is arranged on the steering support, and each driving wheel arrangement includes a steering motor installed on the top of the steering support, and the rotating shaft of the steering motor extends to the bottom of the steering support; the bottom of the rotating shaft of the steering motor is connected to the top of the L-shaped wheel frame, and an electric driving wheel is provided below the steering motor, and the electric driving wheel is installed on the wheel axle, and one end of the wheel axle is connected to the side of the L-shaped wheel frame.

[0010] Preferably, the robotic arm is a six-axis robotic arm.

[0011] Preferably, the control component includes a controller, which is electrically connected to the rechargeable battery pack and is also electrically connected to a wireless transceiver module; the controller is also electrically connected to the camera, the flaw detection head, the robotic arm, the first telescopic drive, the second telescopic drive, the electric drive wheel, the steering motor, and the third telescopic drive.

[0012] Preferably, a posture sensor is also provided on the vehicle body, and an obstacle avoidance sensor is provided on the side of the vehicle body, and the obstacle avoidance sensor and the posture sensor are electrically connected to the controller respectively.

[0013] The present invention also provides an inspection method of a cable visual intelligent inspection system, comprising the following steps:

[0014] Step 1: First, establish a connection between the vehicle and the remote control through wireless signals. After the operator confirms that the vehicle can be controlled correctly through the remote control, the vehicle can be moved forward for inspection;

[0015] Step 2: During the inspection, the camera can send images back to the operator on the remote control in real time. The operator can also control the vehicle to drive to the accident site and stop, control the robotic arm to drive the flaw detection head to the cable, and let the flaw detection head send pulse signals to the cable and receive them in real time.

[0016] Step 3: Transmit the pulse signal to the remote control, and the operator can observe whether there is any damage inside the cable through the waveform diagram.

[0017] Compared with the prior art, when the present invention is in use, the vehicle body can travel driven by the electric drive wheels. The height of the vehicle body can be changed by extending and retracting the telescopic frame, so that the vehicle body's climbing ability is increased. At the same time, the camera and the flaw detection head can be pointed to any point driven by the mechanical arm, with high flexibility. Not only can the vehicle body be raised, but the lifting platform can also be raised, so that the height of the mechanical arm can be raised, allowing the mechanical arm to drive the camera and the flaw detection head to check the cables at high places. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a three-dimensional structural schematic diagram of the present invention.

[0020] Figure 2 It is a side view of the present invention.

[0021] Figure 3 It is the front view of the present invention.

[0022] Figure 4 The structure of the telescopic frame of the present invention is schematically shown in FIG. Figure 1 .

[0023] Figure 5 The structure of the telescopic frame of the present invention is schematically shown in FIG. Figure 2 .

[0024] In the figure: 1, vehicle body; 2, camera; 3, flaw detection head; 4, mechanical arm; 5, strip plate; 6, slider; 7, first support arm; 8, second support arm; 9, support rail; 10, mounting plate; 11, first telescopic drive; 12, connecting seat; 13, strip arm; 14, second support rod; 15, steering motor; 16, electric drive wheel; 17, first strip seat; 18, second mounting seat; 19, second telescopic drive; 20, bracket; 21, first mounting seat; 22, fixed seat; 23, second strip seat; 24, steering support; 25, L-shaped wheel frame; 26, first support rod; 27, third telescopic drive; 28, connecting rod; 29, wheel axle. DETAILED DESCRIPTION

[0025] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] Reference Figures 1 to 5 The present invention provides a technical solution: a cable visualization intelligent inspection system, including a vehicle body 1, a power supply battery pack and a control component are arranged in the vehicle body 1, the control component includes a controller, the controller is electrically connected to the rechargeable battery pack, and the controller is also electrically connected to a wireless transceiver module, the wireless transceiver module supports 4G, 5G, 6G or local area network signals, and the wireless transceiver module is connected to the remote control through wireless signals.

[0027] A lifting platform is provided on the top of the vehicle body 1. Figure 1 and Figure 2 As shown, the lifting platform includes a first arm 7 and a second arm 8 respectively arranged on both sides of the top of the vehicle body 1. The first arm 7 and the second arm 8 intersect in the middle and are connected in rotation. The first arm 7 and the second arm 8 intersect to form an "X"-shaped frame. When the "X"-shaped frame is opened and closed, the height can be changed. Strip plates 5 are also arranged on both sides of the top of the vehicle body 1 above the first arm 7 and the second arm 8. The two strip plates 5 are parallel to each other;

[0028] The top of the first arm 7 and the bottom of the second arm 8 are respectively rotatably connected to the slider 6, and the slider 6 is respectively slidably set on the support rails 9. The specific installation relationship is that the bottom of the first arm 7 is rotatably connected to the top of the vehicle body 1, and the top of the second arm 8 is rotatably connected to the bottom of the strip plate 5. The two support rails 9 are respectively installed under the strip plate 5 and on the top of the vehicle body 1, so that the "X"-shaped frame can be fixed on both sides of the top of the vehicle body 1;

[0029] The "X" frame requires a drive, such as Figure 1 and Figure 2As shown, the two second arms 8 are connected by a connecting rod 28, and a third telescopic driver 27 is rotatably connected to the middle of the connecting rod 28. The third telescopic driver 27 is tilted and the bottom is rotatably connected to the top of the vehicle body 1. When the third telescopic driver 27 is extended or retracted, it can drive the connecting rod 28 to reciprocate, and the connecting rod 28 will drive the "X"-shaped frame to open and close, thereby realizing a change in height.

[0030] like Figure 1 As shown, a mechanical arm 4 is provided on the top of the lifting platform, and the bottom of the mechanical arm 4 is mounted on a mounting plate 10, the mounting plate 10 is located above the two strip plates 5, and the edge of the mounting plate 10 is connected to the strip plates 5, so that the mechanical arm 4 can be fixed on the top of the lifting platform, and the two strip plates 5 on the top of the lifting platform are connected into a whole by the mounting plate 10, which further improves the stability of the lifting platform;

[0031] Among them, the robot arm 4 is a six-axis robot arm. Because the six-axis robot arm is highly flexible and can move in a large range, a camera 2 and a flaw detection head 3 are provided on the free end of the robot arm 4. The robot arm 4 can drive the camera 2 and the flaw detection head 3 to irradiate the cable. The camera 2 can directly observe the surface condition of the cable, and send out ultrasonic pulse waves through the flaw detection head 3, and receive the returned pulse waves, so as to observe the waveform and judge whether there is any damage inside the cable.

[0032] Furthermore, the vehicle body 1 of the present application can be raised and lowered, such as Figure 1 As shown, telescopic frames are respectively provided at both ends of both sides of the vehicle body 1, and the telescopic direction of the telescopic frames is toward the bottom of the vehicle body 1. Each telescopic frame includes a bracket 20, which is horizontally arranged, one end of the bracket 20 is fixed to the side of the vehicle body 1, and two first support rods 26 arranged in parallel and of equal length are rotatably connected at the bottom of the other end of the bracket 20, and a second strip seat 23 parallel to the bracket 20 is provided in the middle of the two first support rods 26, and the two ends of the second strip seat 23 are respectively rotatably connected to the first support rod 26;

[0033] The middle part of the side of the second strip seat 23 is rotatably connected to one end of the first telescopic driver 11. The first telescopic driver 11 is arranged to be tilted upward and the other end is arranged in the first mounting seat 21. The side of the first mounting seat 21 close to the vehicle body 1 is rotatably connected to the fixed seat 22, and the fixed seat 22 is installed on the vehicle body 1. In this way, the first telescopic driver 11 can be telescoped to drive the two second support rods 14 to rotate around the connecting seat 12 at the same time. Next, the bottoms of the two first support rods 26 are rotatably connected to the top of the connecting seat 12, the connecting seat 12 is parallel to the second strip seat 23, and two second support rods 14 arranged in parallel and of equal length are rotatably connected at the bottom of the connecting seat 12, and the middle parts of the two second support rods 14 are provided with a first strip seat 17 parallel to the second strip seat 23, and the two ends of the first strip seat 17 are rotatably connected to the second support rod 14 respectively, and the middle part of the side of the first strip seat 17 is rotatably connected to one end of the second telescopic driver 19, the second telescopic driver 19 is arranged obliquely upward and the other end is arranged in the second mounting seat 18, the side of the second mounting seat 18 is rotatably connected to one end of the strip arm 13, and the other end of the strip arm 13 is connected to the connecting seat 12, so that the second telescopic driver 19 can drive the two second support rods 14 to rotate around the connecting seat 12 at the same time, and the bottoms of the two second support rods 14 are rotatably connected to the top of the steering support 24, and the steering support 24 is parallel to the first strip seat 17;

[0034] It should be noted that the bracket 20, the connecting seat 12, the steering support 24, the second strip seat 23 and the first strip seat 17 are all arranged in parallel, and there are two first support rods 26 and two second support rods 14. Therefore, when the first support rod 26 is driven by the first telescopic driver 11 and the second support rod 14 is driven by the second telescopic driver 19 to rise and fall, the two first support rods 26 and the two second support rods 14 always remain parallel, and the bracket 20, the connecting seat 12, the steering support 24, and the second strip seat 23 also always remain parallel.

[0035] Further, such as Figure 1 As shown, a driving wheel is installed at the bottom of each telescopic frame, and the height of the vehicle body 1 from the ground can be changed by adjusting the telescopic length of the telescopic frame. The driving wheel is specifically installed on the steering support 24, that is, each driving wheel is provided with a steering motor 15 installed on the top of the steering support 24, and the rotating shaft of the steering motor 15 extends to the bottom of the steering support 24. The bottom of the rotating shaft of the steering motor 15 is connected to the top of the L-shaped wheel frame 25, and an electric driving wheel 16 is provided under the steering motor 15. The electric driving wheel 16 is installed on the wheel axle 29, and one end of the wheel axle 29 is connected to the side of the L-shaped wheel frame 25. The wheel hub in the steering motor 15 is an electric wheel hub. When the electric wheel hub is powered on, walking can be achieved, and the steering motor 15 provided can drive the electric driving wheel 16 to adjust the angle for easy steering;

[0036] It should be noted here that the four electric drive wheels 16 provide power at the same time, so that the vehicle body 1 has strong grip and carrying capacity. The four electric drive wheels 16 can be turned simultaneously under the drive of the steering motor 15, which is convenient for changing any driving direction on the spot, making the vehicle body more flexible.

[0037] Since the telescopic frame and the electric drive wheel are both arranged outside the vehicle body 1, they do not occupy the space inside the vehicle body 1, so the space inside the vehicle body 1 in the present application can accommodate more rechargeable battery packs, which can provide a longer inspection time. The controller is electrically connected to the camera 2, the flaw detection head 3, the mechanical arm 4, the first telescopic driver 11, the second telescopic driver 19, the electric drive wheel 16, the steering motor 15, and the third telescopic driver 27 respectively. The controller is a host or a PLC control board. The controller is the brain of the entire device and plays the functions of receiving, analyzing and transmitting signals.

[0038] Based on the above embodiment, further optimization can be performed by further providing a posture sensor on the vehicle body 1, and the posture sensor is electrically connected to the controller. Because during inspection, the vehicle body 1 is driven by the electric drive wheels to travel on the ground, and the road surface is not flat. During detection, the posture sensor is used to detect whether the vehicle body 1 is level. When the vehicle body 1 is not level, there must be at least one electric drive wheel with a lower height. At this time, the telescopic frame connected to the drive wheel can be controlled to adjust the height, and other telescopic frames can be coordinated to restore the vehicle body 1 to a horizontal position. At this time, the mechanical arm 4 can be controlled to drive the camera 2 and the flaw detection head 3 to perform detection, thereby improving the detection accuracy.

[0039] Based on the above embodiment, further optimization can be performed by providing an obstacle avoidance sensor and a positioning module on the side of the vehicle body 1. The positioning module and the obstacle avoidance sensor are electrically connected to the controller respectively. The obstacle avoidance sensor is used to detect surrounding objects to avoid collisions, while the positioning module can locate them. The positioning module supports Beidou positioning and LAN positioning.

[0040] Finally, the present invention also proposes an inspection method of a cable visual intelligent inspection system, comprising the following steps:

[0041] Step 1: First, establish a connection between the vehicle and the remote control through wireless signals. After the operator confirms that the vehicle can be controlled correctly through the remote control, the vehicle can be moved forward for inspection;

[0042] Step 2: During the inspection, the camera can send images back to the operator on the remote control in real time. The operator can also control the vehicle to drive to the accident site and stop, control the robotic arm to drive the flaw detection head to the cable, and let the flaw detection head send pulse signals to the cable and receive them in real time.

[0043] Step 3: Transmit the pulse signal to the remote control, and the operator can observe whether there is any damage inside the cable through the waveform diagram.

[0044] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A cable visual intelligent inspection system, comprising a vehicle body (1), wherein a power supply battery pack and a control component are arranged in the vehicle body (1), characterized in that: A lifting platform is provided on the top of the vehicle body (1), a mechanical arm (4) is provided on the top of the lifting platform, and a camera (2) and a flaw detection head (3) are provided on the free end of the mechanical arm (4); and, Telescopic frames are respectively provided at both ends of the vehicle body (1), the telescopic direction of the telescopic frames is toward the bottom of the vehicle body (1), and a driving wheel is installed at the bottom of each telescopic frame. The height of the vehicle body (1) from the ground can be changed by adjusting the telescopic length of the telescopic frame.

2. The cable visual intelligent inspection system according to claim 1, characterized in that: The lifting platform comprises a first arm (7) and a second arm (8) which are respectively arranged on both sides of the top of the vehicle body (1); the first arm (7) and the second arm (8) intersect in the middle and are rotatably connected; Strip plates (5) are also provided on both sides of the top of the vehicle body (1) and are located above the first support arm (7) and the second support arm (8), and the two strip plates (5) are parallel to each other; the top of the first support arm (7) and the bottom of the second support arm (8) are respectively rotatably connected to the sliders (6), and the sliders (6) are respectively slidably arranged on the support rails (9); The bottom of the first arm (7) is rotatably connected to the top of the vehicle body (1), the top of the second arm (8) is rotatably connected to the bottom of the strip plate (5), and two support rails (9) are respectively installed at the bottom of the strip plate (5) and the top of the vehicle body (1); The two second supporting arms (8) are connected via a connecting rod (28), and a third telescopic driver (27) is rotatably connected to the middle of the connecting rod (28). The third telescopic driver (27) is tilted and has a bottom that is rotatably connected to the top of the vehicle body (1).

3. The cable visual intelligent inspection system according to claim 2, characterized in that: The bottom of the mechanical arm (4) is mounted on a mounting plate (10), the mounting plate (10) is located above the two strip plates (5), and the edge of the mounting plate (10) is connected to the strip plates (5).

4. The cable visual intelligent inspection system according to claim 2, characterized in that: Each telescopic frame comprises a bracket (20), one end of the bracket (20) is fixed to the side of the vehicle body (1), two first support rods (26) arranged in parallel and of equal length are rotatably connected at the bottom of the other end of the bracket (20), a second strip seat (23) parallel to the bracket (20) is provided at the middle position of the two first support rods (26), and both ends of the second strip seat (23) are rotatably connected to the first support rods (26) respectively; The middle part of the side of the second strip seat (23) is rotatably connected to one end of the first telescopic driver (11); the first telescopic driver (11) is arranged obliquely upward and the other end is arranged in the first mounting seat (21); the side of the first mounting seat (21) close to the vehicle body (1) is rotatably connected to the fixing seat (22); and the fixing seat (22) is installed on the vehicle body (1); The bottoms of the two first support rods (26) are rotatably connected to the top of the connecting seat (12); the connecting seat (12) is parallel to the second bar seat (23); two second support rods (14) arranged in parallel and having equal lengths are rotatably connected to the bottom of the connecting seat (12); a first bar seat (17) parallel to the second bar seat (23) is provided in the middle of the two second support rods (14); and both ends of the first bar seat (17) are rotatably connected to the second support rods (14); The middle part of the side of the first bar seat (17) is rotatably connected to one end of the second telescopic driver (19), the second telescopic driver (19) is arranged obliquely upward and the other end is arranged in the second mounting seat (18), the side of the second mounting seat (18) is rotatably connected to one end of the bar arm (13), and the other end of the bar arm (13) is connected to the connecting seat (12); and The bottoms of the two second support rods (14) are rotatably connected to the top of the steering support (24), and the steering support (24) is parallel to the first strip seat (17).

5. The cable visual intelligent inspection system according to claim 4, characterized in that: The driving wheels are arranged on a steering support (24), and each driving wheel arrangement comprises a steering motor (15) mounted on the top of the steering support (24), and a rotating shaft of the steering motor (15) extends below the steering support (24); The bottom of the rotating shaft of the steering motor (15) is connected to the top of the L-shaped wheel frame (25), and an electric drive wheel (16) is arranged below the steering motor (15). The electric drive wheel (16) is installed on a wheel shaft (29), and one end of the wheel shaft (29) is connected to the side of the L-shaped wheel frame (25).

6. The cable visual intelligent inspection system according to claim 5, characterized in that: The mechanical arm (4) is a six-axis mechanical arm.

7. The cable visual intelligent inspection system according to claim 6, characterized in that: The control component includes a controller, the controller is electrically connected to the rechargeable battery pack, and the controller is also electrically connected to the wireless transceiver module; The controller is also electrically connected to the camera (2), the flaw detection head (3), the mechanical arm (4), the first telescopic drive (11), the second telescopic drive (19), the electric drive wheel (16), the steering motor (15), and the third telescopic drive (27).

8. The cable visual intelligent inspection system according to claim 7, characterized in that: The vehicle body (1) is also provided with a posture sensor, and the side of the vehicle body (1) is provided with an obstacle avoidance sensor, and the obstacle avoidance sensor and the posture sensor are respectively electrically connected to the controller.

9. An inspection method of a cable visual intelligent inspection system as claimed in claim 8, characterized in that: The following steps are involved: Step 1: First, establish a connection between the vehicle and the remote control through wireless signals. After the operator confirms that the vehicle can be controlled correctly through the remote control, the vehicle can be moved forward for inspection; Step 2: During the inspection, the camera can send images back to the operator on the remote control in real time. The operator can also control the vehicle to drive to the accident site and stop, control the robotic arm to drive the flaw detection head to the cable, and let the flaw detection head send pulse signals to the cable and receive them in real time. Step 3: Transmit the pulse signal to the remote control, and the operator can observe whether there is any damage inside the cable through the waveform diagram.

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