Cable tunnel centralized monitoring intelligent patrol device and method

Abstract

The invention discloses a cable tunnel centralized monitoring intelligent patrol device and method, and relates to the technical field of tunnel cable patrol, the device comprises a walking mechanism and a shooting mechanism, the walking mechanism comprises a power part, a walking part and a protective cover, the protective cover is internally provided with an installation space, the power part and the walking part are installed in the installation space, and the shooting mechanism is arranged in the installation space. The walking part is connected with the track, and the power part is in driving connection with the walking part and used for driving the walking part to run on the track; the shooting mechanism comprises a driving part, an action part and a shooting part, the first end of the action part is hinged to the protective cover, the driving part is in transmission connection with the action part and can drive the action part to swing in the advancing direction of the track, and the second end of the action part is hinged to the shooting part and used for making the shooting part move away from or close to the track; wherein the protective cover is provided with a sensing front end, the sensing front end is in contact with the track and can sense the pressure of the track on the front end of the protective cover, and the driving part is promoted to control the action part to swing forwards or backwards according to the pressure change condition; the method is realized based on the device. According to the patrol device and method, whether the advancing break angle exists or not is judged by sensing the pressure signals of the front end and the track, then the shooting mechanism is controlled to pass through the advancing break angle to conduct corresponding compensation swing, and therefore the shooting view angle is prevented from being greatly changed, and the shooting quality of the advancing break angle is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel cable inspection, and in particular, to an intelligent inspection device and method for centralized monitoring of cable tunnels. Background Art

[0002] Tunnel cables are laid according to the tunnel direction, on the bottom wall or side wall of the tunnel. Generally, they are bundled for wiring. For cables laid on the bottom wall, a chassis-type robot is mostly used for inspection operations, while for cables laid on the side wall, a suspended rail robot is mostly used for continuous inspection operations. The suspended rail robot can perform continuous image laying on the cables installed on the side wall to judge whether there may be faults in the cables according to the image content. Since it is necessary to ensure the integrity of cable shooting, generally, the running route of the suspended rail robot is roughly parallel to the laying route of the cables, that is, the laying route of the running track of the suspended rail robot is roughly parallel to the laying route of the cables.

[0003] In the prior art, the design of the suspended rail robot generally involves rolling connection of the suspended rail wheels with the track, and then the entire movement of the robot is realized by configuring a driving motor. In this process, the track wheels and the track mostly perform relatively smooth rolling, so the whole process runs relatively smoothly and the image acquisition quality can be guaranteed. However, for the situation where the track is uneven, such as having multiple slope angles (due to the presence of reinforcing ribs or other facilities during the formation of the tunnel top wall, the suspended track will bypass these obstacles, resulting in different sections of the track being inclined downward or upward, thus forming an angle between two adjacent sections), when the suspended rail robot passes through these slope angles, there will be a problem of sudden (vertical) turning, which leads to a large change in the shooting image angle in a short time, resulting in a large difference in the viewing angle of the shooting image after turning compared with the previous shooting image. On the one hand, it is difficult for the machine model to recognize, and on the other hand, it is easy to lose the cables in the shooting image content at that moment, ultimately resulting in low shooting quality at the slope angle and unable to guarantee the inspection accuracy at that place.

[0004] In view of this, the present application is specifically proposed. Summary of the Invention

[0005] The purpose of the present invention is to provide an intelligent inspection device and method for centralized monitoring of cable tunnels. The inspection device and method use the pressure signal between the induction front end and the track to judge whether there is a traveling angle, and then control the shooting mechanism to perform corresponding compensation swing when passing through the traveling angle, so as to avoid a large change in the shooting angle and ensure the shooting quality at the traveling angle.

[0006] The embodiments of the present invention are implemented as follows: In a first aspect, an intelligent inspection device for centralized monitoring of a cable tunnel includes a traveling mechanism and a photographing mechanism. The traveling mechanism includes a power unit, a traveling unit, and a protective cover. An installation space is provided inside the protective cover. The power unit and the traveling unit are installed in the installation space. The traveling unit is connected to a track, and the power unit is drivingly connected to the traveling unit and is configured to drive the traveling unit to travel on the track. The photographing mechanism includes a driving unit, an actuating unit, and a photographing unit. A first end of the actuating unit is hinged to the protective cover. The driving unit is drivingly connected to the actuating unit and is capable of driving the actuating unit to swing along the traveling direction of the track. A second end of the actuating unit is hinged to the photographing unit and is used to move the photographing unit away from or closer to the track. Wherein, the protective cover has a sensing front end. The sensing front end contacts the track and is capable of sensing the pressure of the track on the front end of the protective cover, and according to the change of the pressure, the driving unit is prompted to control the actuating unit to swing forward or backward.

[0007] In some optional embodiments, the actuating unit includes a main swing arm and a mounting seat. The mounting seat is connected to the bottom wall of the protective cover. One end of the main swing arm is hinged to the mounting seat through a rotating shaft, and the other end is connected to the photographing unit. The driving unit includes a first driving motor and a triggering assembly. The first driving motor is drivingly connected to the rotating shaft and is configured to swing the main swing arm forward or backward along the traveling direction of the track through the rotating shaft. The triggering assembly is connected to the rotating shaft in a clutch manner. When the triggering assembly is engaged with the rotating shaft, the first driving motor is disconnected from the rotating shaft, and the triggering assembly drives the rotating shaft and drives the main swing arm to swing. When the triggering assembly is disengaged from the rotating shaft, the first driving motor drives the rotating shaft and drives the main swing arm to swing.

[0008] In some optional embodiments, the actuating unit further includes a secondary swing arm. One end of the secondary swing arm is hinged to the end of the main swing arm away from the mounting seat through a coupling shaft. The other end of the secondary swing arm is hinged to the photographing unit. The driving unit further includes a second driving motor. The second driving motor is drivingly connected to the coupling shaft and is configured to swing the secondary swing arm forward or backward relative to the main swing arm along the traveling direction of the track through the coupling shaft.

[0009] In some alternative embodiments, the triggering assembly includes a sliding seat, a telescopic member, a triggering seat, and a gear set. The sliding seat is slidably mounted on the bottom wall of the protective cover and can slide closer to or away from the mounting seat. The telescopic member is connected between the sliding seat and the mounting seat and is used to drive the sliding seat to slide closer to or away from the mounting seat. The gear set includes a driving gear and a driven gear that mesh with each other. The driven gear is mounted on the rotating shaft, and the driving gear is rotatably mounted on the sliding seat. When the sliding seat approaches the mounting seat, the driving gear and the driven gear can mesh with each other. When the sliding seat moves away from the mounting seat, the driving gear and the driven gear are separated from each other. The triggering seat is located in the mounting space. The triggering seat is formed with an induction portion that is inductively connected to the induction front end, and the triggering seat is provided with a driving rack. The driving rack passes through the bottom wall of the protective cover and is used to mesh with the driving gear. When the induction portion receives the pressure signal from the induction front end, it can control the driving rack to drive the driving gear to rotate, thereby driving the driven gear to rotate the rotating shaft.

[0010] In some alternative embodiments, the triggering seat includes a triggering plate and a return spring. The induction portion is located on the upper surface of the triggering plate. One end of the driving rack is connected to the triggering plate, and the other end meshes with the driving gear. The return spring is disposed between the sliding seat and the lower surface of the triggering plate and is used to reset the triggering plate after it moves downward.

[0011] In some alternative embodiments, the housing of the telescopic member is fixedly connected to the mounting seat, the telescopic end of the telescopic member is fixedly connected to the sliding seat, and a support plate is fixed on the housing of the telescopic member. The support plate is provided with two sets of limiting members, and the two sets of limiting members are respectively used for front limiting and rear limiting of the sliding seat. One end of the support plate close to the triggering plate is provided with a displacement stopping plate. When the sliding seat moves away from the mounting seat, the displacement stopping plate is located directly below the triggering plate and is used to limit the downward movement of the triggering plate. When the sliding seat approaches the mounting seat, the displacement stopping plate moves out of the position directly below the triggering plate, and at this time the triggering plate can move downward.

[0012] In some alternative embodiments, the protective cover further has an induction rear end. The induction front end and the induction rear end are respectively arranged at both ends of the protective cover along the traveling direction of the track. The induction rear end contacts the track and can sense the pressure of the track on the rear end of the protective cover, and can prompt the driving portion to synchronously control the front swing or rear swing of the action portion according to the pressure change situation.

[0013] In some optional embodiments, an induction middle end is further included. The induction middle end is located between the induction front end and the induction rear end and is used to sense the maximum distance between the protective cover and the track during the relative movement.

[0014] In a second aspect, a method for intelligent inspection of cable tunnel centralized monitoring is provided, which applies the cable tunnel centralized monitoring intelligent inspection device described above. The method includes the following steps: judging whether there is a traveling fold angle on the track during the traveling process by using the pressure change signal of the induction front end. If there is a traveling fold angle, controlling the action part to swing a first angle in a first direction according to the angle size, and then controlling the action part to swing a second angle in a direction opposite to the first direction, where the first direction is the same as or opposite to the traveling direction, and both the first angle and the second angle are equal to half of the size of the traveling fold angle.

[0015] In some optional embodiments, when the pressure signal of the induction front end is the largest, the action part is further controlled to swing a second angle in a direction opposite to the first direction.

[0016] The beneficial effects of the embodiments of the present invention are as follows: The cable tunnel centralized monitoring intelligent inspection device provided by the embodiments of the present invention uses a traveling mechanism to travel on the track, and then uses a shooting mechanism that can swing along the traveling direction of the track to perform shooting operations in different states. When the induction front end continuously receives the pressure situation given by the track, it judges whether there is a (vertical) sudden change in the traveling direction. According to the degree of this sudden change situation, the action part and the shooting part are controlled to swing forward or backward along the traveling direction of the track, so as to cope with the situation of sudden change in the shooting angle, so that the shooting part swings in the compensation direction of the sudden change direction, thereby preventing a large change in the shooting angle during this period and causing a large change in the matching degree before and after image acquisition, reducing the judgment and recognition accuracy of the machine model or the possibility of partially or completely losing the object to be detected.

[0017] The cable tunnel centralized monitoring intelligent inspection method provided by the embodiments of the present invention uses the cable tunnel centralized monitoring intelligent inspection device provided by the above embodiments of the present invention. When it is judged that there is a traveling fold angle on the track during the traveling process by using the induction front end, the action part is controlled to perform a compensation swing according to the size of the fold angle. First, it swings an angle equal to half of the fold angle in the first direction, and then swings back to reset. Thus, when passing through this traveling fold angle, this method can ensure the shooting smoothness of the two sections of cables at the fold angle, avoid a large sudden change in the shooting angle direction, and ensure the accuracy of cable image acquisition.

[0018] Generally speaking, the cable tunnel centralized monitoring intelligent inspection device and method provided by the embodiments of the present invention can cope with the situation where there is a slope angle (generally less than 45 degrees) on the track, and avoid the sudden change of the shooting angle due to following the whole machine to change the direction without controlling the shooting angle when passing through the slope angle, which may lead to the inability of the background image recognition model to accurately recognize or judge the cable situation, and reduce the appearance of inspection blind spots at the turning angle of travel. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other relevant drawings can be obtained based on these drawings.

[0020] Figure 1 It is a schematic structural diagram of the inspection device provided by the embodiment of the present invention; Figure 2 It is a partial structural diagram of the traveling mechanism provided by the embodiment of the present invention; Figure 3 It is a schematic structural diagram of the shooting mechanism provided by the embodiment of the present invention; Figure 4 is Figure 3 A partial structural diagram of the shown shooting structure.

[0021] Reference numerals: 1 - traveling mechanism; 2 - shooting mechanism; 3 - track; 11 - power unit; 12 - traveling part; 13 - protective cover; 21 - driving unit; 22 - action part; 23 - shooting part; 131 - induction rear end; 211 - first driving motor; 212 - trigger assembly;; 213 - second driving motor; 221 - main swing arm; 222 - auxiliary swing arm; 223 - mounting seat; 2121 - sliding seat; 2122 - telescopic member; 2123 - trigger seat; 2124 - gear set; 21221 - support plate; 21222 - anti-shift plate; 21231 - induction part; 21232 - trigger plate; 21233 - return spring; 21234 - driving rack; 21241 - driving gear; 21242 - driven gear. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and shown in the accompanying drawings here can be arranged and designed in various different configurations.

[0023] Accordingly, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0024] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0025] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship in which the inventive product is customarily placed during use. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive distinction and should not be construed as indicating or implying relative importance.

[0026] In addition, the terms "parallel", "perpendicular", etc. do not mean that the components are required to be absolutely parallel or perpendicular, but may be slightly inclined. For example, "parallel" only means that its direction is more parallel relative to "perpendicular", and does not mean that the structure must be completely parallel, but may be slightly inclined.

[0027] In addition, the terms "horizontal", "vertical", "hanging", etc. do not mean that the components are required to be absolutely horizontal or hanging, but may be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but may be slightly inclined.

[0028] In the description of the present invention, it should also be noted that unless otherwise clearly specified and defined, the terms "arranged", "installed", "connected", "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be directly connected or indirectly connected through an intermediate medium, and may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. Embodiment

[0029] Please refer to Figure 1 and Figure 2The present embodiment provides an intelligent patrol device for centralized monitoring of cable tunnels, including a running mechanism 1 and a shooting mechanism 2, wherein the running mechanism 1 includes a power unit 11, a running unit 12 and a protective cover 13, wherein the protective cover 13 has an installation space therein for accommodating the running part of the entire patrol device, that is, the power unit 11 and the running unit 12 are installed in the installation space so that the protective cover 13 can physically protect the two. The running unit 12 is connected to the track 3, and the connection here refers to the running unit 12 being able to walk (walk upside down) on the track 3 by means of rolling contact. The power unit 11 is drivingly connected to the running unit 12, that is, the power unit 11 can provide power to the running unit 12 and drive the running unit 12 to travel (forward or backward) on the track 3.

[0030] The photographing mechanism 2 includes a driving unit 21, an action unit 22 and a photographing unit 23. The photographing mechanism 2 is located as a whole below the running mechanism 1 and is used to photograph and identify the cables on the side wall of the tunnel. Specifically, the first end of the action unit 22 is hinged to the protective cover 13, and the direction of the hinged swing is the same as the direction of travel of the track 3. The driving unit 21 is in transmission connection with the action unit 22, and can provide power for the posture change of the action unit 22, that is, it can drive the action unit 22 to swing along the direction of travel of the track 3 (forward or backward swing). The second end of the action unit 22 is hinged to the photographing unit 23 (the photographing unit 23 can maintain its posture under the action of gravity), which is used to move the photographing unit 23 away from or close to the track 3, which means that the photographing unit 23 can follow the action unit 22 to swing forward or backward on the one hand, and can also move close to or close to the track 3 on the other hand to realize the lifting function.

[0031] When dealing with the slope angle at Track 3, when the running gear 12 drives the action part 22 to follow the angle change during the traveling process, in order to avoid the sudden change of the shooting angle of the shooting part 23, it is necessary to consider the action transformation of the shooting part 23 to form a direction compensation to slow down the degree of the sudden change of the shooting angle of the shooting part 23, so as to ensure that the shooting time is as smooth as possible. Specifically, the protective cover 13 has a sensing front end (not shown), the sensing front end contacts the Track 3 and can sense the pressure of the Track 3 on the front end of the protective cover 13, and according to the change of this pressure, the driving part 21 is prompted to control the action part 22 to swing forward or backward, that is, according to the change of the pressure between the sensing front end and the Track 3, it is judged whether there is a slope angle at the Track 3. Thus, when this situation occurs, the driving part 21 controls the action part 22 to swing forward or backward accordingly. When the running gear 12 drives the action part 22 to follow the angle change, the shooting part 23 swings synchronously along the compensation direction (the downward angle is the same direction as the traveling direction, and the upward angle is the opposite direction of the traveling direction), so that the degree of sudden change of the shooting angle is relatively reduced. Thus, when the traveling mechanism 1 turns first, the shooting mechanism 2 rotates a certain angle to try to maintain the shooting angle of the previous moment. Then, when the traveling mechanism 1 turns to a certain extent, the cable to be photographed and captured also starts to turn at an angle. At this time, the rotation angle of the shooting mechanism 2 is controlled to be reset, and it continues to maintain the same relative state as the traveling mechanism 1 before. Thus, the cable after the angle change is photographed from this perspective, and the sudden change of the traveling mechanism 1 at the angle is completed. Subsequently, when the cable turns suddenly, the shooting angle tries to adapt to this sudden change and then performs a smooth shooting operation.

[0032] Through the above technical solution, the swing direction compensation mechanism is used to smoothly adjust the shooting angle when the traveling mechanism 1 faces the slope angle of the Track 3, avoiding the sudden change of the shooting angle of the shooting part 23 due to the angle change during the traveling process, that is, smoothing the angle change by adjusting the angle of the shooting part 23, so as to ensure the shooting quality. In other words, when it is judged or detected that there is a slope angle at the Track 3, the driving part 21 controls the action part 22 to perform corresponding forward or backward swing actions, and the shooting mechanism 2 rotates a certain angle in advance to try to maintain the shooting angle of the previous moment. When the traveling mechanism 1 turns to a certain extent, the shooting part 23 returns to the original angle and continues to maintain the same relative state as the traveling mechanism 1. Whether it is in the case of an upward or downward slope angle, the shooting angle of the shooting part 23 can be adjusted to adapt to different Track 3 conditions. Through this compensation mechanism, the change of the shooting angle can be effectively smoothed, ensuring the shooting quality and inspection efficiency.

[0033] Considering that when the driving unit 21 adjusts the action unit 22 to swing forward or backward, one is to adjust the shooting angle when encountering a slope angle, and the other is to adjust the shooting angle during normal smooth driving. Therefore, the two situations need to be distinguished, on the one hand to avoid the control logic from being too complicated, and on the other hand to make the two modes independently controlled. For details, please refer to Figure 1 and Figure 3 The action part 22 includes a main swing arm 221 and a mounting seat 223, and the mounting seat 223 is connected to the bottom wall of the protective cover 13, for example, by bolts. One end of the main swing arm 221 is hinged to the mounting seat 223 through a rotating shaft (i.e., the rotating shaft and the mounting seat 223 are hinged by components such as a rotating shaft, an axis hole, and a bearing, and the end of the main swing arm 221 is relatively fixed to the rotating shaft), and the other end is connected to the shooting part 23. The connection here mainly refers to the hinge, which allows the shooting part 23 to maintain the shooting state under the action of its own gravity. By hingedly connecting the two ends of the main swing arm 221, the swing direction control of the shooting part 23 is realized.

[0034] The driving unit 21 includes a first driving motor 211 and a trigger assembly 212. The first driving motor 211 is connected to the rotating shaft, that is, the first driving motor 211 is used to drive the rotating shaft, and through the rotating shaft, the main swing arm 221 is swung forward or backward along the travel direction of the track 3 to achieve shooting angle compensation in the above-mentioned swinging direction.

[0035] In order to control the swing of the main swing arm 221 under the normal driving mode under the control of the first driving motor 211, the trigger component 212 can control the swing of the main swing arm 221 when passing through the slope angle, and the trigger component 212 is connected with the rotating shaft by clutch, that is, the trigger component 212 can be directly connected or disconnected with the rotating shaft. When the trigger component 212 is connected with the rotating shaft (direct transmission connection), the first driving motor 211 is disconnected from the rotating shaft (disconnection of the relay), and the trigger component 212 drives the rotating shaft and drives the main swing arm 221 to swing, and enters the slope angle operation mode; when the trigger component 212 is disconnected from the rotating shaft (disconnected), the first driving motor 211 drives the rotating shaft and drives the main swing arm 221 to swing, and enters the normal operation mode.

[0036] Through the above technical solution, the triggering and switching of the two modes are realized, thereby reducing the complexity of the control logic and enabling independent control through the two modes. On this basis, in the two operation modes, the control logic can be independently operated to achieve faster control efficiency, such as the control of additional components. For details, please refer to Figure 3The action part 22 also includes an auxiliary swing arm 222, one end of the auxiliary swing arm 222 is hinged to the end of the main swing arm 221 away from the mounting seat 223 through a coupling (that is, the coupling and the main swing arm 221 are hinged by using components such as a coupling, an axis hole, and a bearing, and the end of the auxiliary swing arm 222 is relatively fixed to the coupling), and the other end of the auxiliary swing arm 222 is hinged to the shooting part 23.

[0037] The driving unit 21 further includes a second driving motor 213, which is connected to the coupling through a transmission shaft and is used to make the auxiliary swing arm 222 swing forward or backward relative to the main swing arm 221 along the travel direction of the track 3. Through the above technical solution, the shooting unit 23 is controlled by the main swing arm 221 to realize the main swing amplitude control along the travel direction of the track 3, and the auxiliary swing arm 222 realizes the lifting and lowering swing amplitude control of the shooting unit 23 along the travel direction of the track 3. And on the basis of this secondary control method, in the normal operation mode, the main swing arm 221 realizes the control of the large swing angle of the shooting unit 23, which is mainly to find the point in the horizontal position, and the auxiliary swing arm 222 realizes further swing point control at the large swing point, which is mainly to find the point in the vertical position; in the slope angle operation mode, the main swing arm 221 realizes the compensatory swing control of the shooting unit 23, which is mainly to control the smoothness of the shooting angle, and the auxiliary swing arm 222 realizes the centering swing of the shooting unit 23, which is mainly to match the cable angle to determine the swing switching time point. Therefore, the control program can be determined separately in different independent operation modes to achieve more diverse special functions.

[0038] In order to ensure the control sensitivity of the trigger component 212, in this embodiment, please refer to Figure 3 and Figure 4 The trigger assembly 212 includes a sliding seat 2121, a telescopic member 2122, a trigger seat 2123 and a gear set 2124. The sliding seat 2121 is slidably installed on the bottom wall of the protective cover 13, that is, the sliding seat 2121 is connected to the bottom wall of the protective cover 13 by means of a sliding groove or a sliding hole, and can slide close to or away from the mounting seat 223. The telescopic member 2122 is connected between the sliding seat 2121 and the mounting seat 223, and is used to drive the sliding seat 2121 to slide close to or away from the mounting seat 223, thereby providing a basis for connection and disconnection.

[0039] The gear set 2124 includes a driving gear 21241 and a driven gear 21242 that mesh with each other. The driven gear 21242 is installed (fixedly sleeved) on a rotating shaft, and the driving gear 21241 is rotatably installed (rotatably installed) on a sliding seat 2121 and can translate along with the sliding seat 2121 while rotating itself. When the sliding seat 2121 approaches the mounting seat 223, the driving gear 21241 and the driven gear 21242 can mesh with each other. When the sliding seat 2121 moves away from the mounting seat 223, the driving gear 21241 and the driven gear 21242 are separated from each other, thereby realizing the "clutch" connection between the driving gear 21241 and the driven gear 21242.

[0040] The trigger seat 2123 is located (movably installed) in the installation space. The trigger seat 2123 is formed with an induction portion 21231 that is inductively connected (signal-connected) to the induction front end. The trigger seat 2123 is provided with a driving rack 21234. The driving rack 21234 passes through the bottom wall of the protective cover (the perforation is a strip-shaped hole that allows the driving rack 21234 to move horizontally) and is used to mesh with the driving gear 21241 to realize the transmission connection between the two. When the induction portion 21231 receives the pressure signal from the induction front end, it controls the driving rack 21234 to drive the driving gear 21241 to rotate, thereby driving the driven gear 21242 to rotate the rotating shaft, and finally realizing the swing control of the main swing arm 221.

[0041] Through the above technical solution, the trigger assembly 212 can realize the "clutch" connection by using the method of gear meshing and transmission. This method is simple and reliable, and the physical structure is clearly separated and easier to control. On this basis, in order to ensure that the trigger seat 2123 can cooperate with the clutch connection, please continue to refer to Figure 4, the trigger base 2123 includes a trigger plate 21232 and a return spring 21233. The sensing portion 21231 is located on the upper surface of the trigger plate 21232 and can easily contact the deformed displacement portion of the sensing front end. One end of the driving rack 21234 is connected to the trigger plate 21232, and the other end meshes with the driving gear 21241. The return spring 21233 is disposed between the upper surface of the sliding seat 2121 and the lower surface of the trigger plate 21232 and is used to reset after the trigger plate 21232 moves downward. That is, when the sensing portion 21231 is triggered by the displacement change of the sensing front end, the entire sliding seat 2121 starts to translate, causing the driving gear 21241 to mesh with the driven gear 21242. Then, as the displacement change of the sensing front end increases, the entire trigger plate 21232 is pressed and continues to move downward, and the driving rack 21234 moves synchronously, causing the driving gear 21241 to rotate. When the pressure displacement of the sensing front end changes to the maximum extent, the trigger plate 21232 moves downward to the maximum position. Thereafter, as the pressure displacement decreases, the trigger plate 21232 gradually resets under the action of the return spring 21233. At this time, the driving gear 21241 rotates reversely to reset, and then the sliding seat 2121 translates to reset, thereby cooperating with the entire "clutch" connection process.

[0042] On the basis of the above technical solution, in order to prevent the trigger plate 21232 from moving erroneously under the action of the pressure displacement, that is, when it does not enter the slope corner operation mode and the trigger plate 21232 moves, the housing of the telescopic member 2122 is fixedly connected to the mounting seat 223, and the telescopic end of the telescopic member 2122 is fixedly connected to the sliding seat 2121. That is, the fixed end of the telescopic member 2122 is connected to the mounting seat 223, and the telescopic end of the telescopic member 2122 is connected to the sliding seat 2121, enabling the sliding seat 2121 to actively change its position closer to or farther from the mounting seat 223. A support plate 21221 is fixed on the housing of the telescopic member 2122. The support plate 21221 is provided with two sets of limit members, which are respectively used to limit the sliding seat 2121 forward and backward to prevent the sliding seat 2121 from moving excessively.

[0043] In addition, a displacement stop plate 21222 is provided at one end of the support plate 21221 close to the trigger plate 21232. The displacement stop plate 21222 is used to selectively limit the downward movement of the trigger plate 21232. When the sliding seat 2121 moves away from the mounting seat 223, this is the normal operation mode. The displacement stop plate 21222 is located directly below the trigger plate 21232 and is used to limit the downward movement of the trigger plate 21232. When the sliding seat 2121 moves close to the mounting seat 223, the slope angle folding operation mode is entered. The displacement stop plate 21222 disengages from the position directly below the trigger plate 21232, and at this time, the trigger plate 21232 can move downward (without limiting the trigger plate 21232). Through the foregoing technical solution, the selective limitation of the trigger plate 21232 is achieved by using the relatively fixed position of the telescopic member 2122, thereby avoiding the situation that the trigger plate 21232 is accidentally displaced downward under pressure when the slope angle folding operation mode is not entered.

[0044] In some embodiments, considering that during the process of passing through the slope angle fold, there is a consistent change relationship between the pressure change at the front end (induction front end) and the pressure change at the rear end in the traveling direction of the protective cover 13. Therefore, on the basis of using the pressure change at the induction front end, the pressure change at the rear end can be referred to simultaneously to obtain a more accurate judgment. That is, the protective cover 13 further has an induction rear end 131. The induction front end and the induction rear end 131 are respectively arranged at both ends (front end and rear end) of the protective cover 13 along the traveling direction of the track 3. The induction rear end 131 is in contact with the track 3 and can sense the pressure of the track 3 on the rear end of the protective cover 13. According to the pressure change situation, the driving part 21 is prompted to synchronously control the forward or backward swing of the action part 22. That is, on the basis of the pressure change situation at the induction front end, the pressure change situation at the induction rear end 131 is calculated synchronously, and the control of the forward or backward swing of the action part 22 is realized by integrating the calculation results of the two.

[0045] On the basis of the above technical solution, during the process of the front swing of the moving part 22 completing the reset and then swinging backward, the node where the swinging direction changes is determined according to the detected pressure change of the induction front end (and / or the induction rear end 131). During the process of the pressure increasing from small to large and then decreasing from large to small, the moment of the maximum pressure is the time point for controlling the reset and backward swing. At this time, the protective cover 13 and the track 3 at the corner present the state with the largest spacing distance. To collect this state, the inspection device further includes an induction middle end, which is located between the induction front end and the induction rear end 131, for example, installed on the power unit 11 or the running unit 12. The induction middle end is used to sense the maximum spacing distance between the protective cover 13 and the track 3 during the relative movement, and thus send a signal to the controller to implement the operation of swinging reset. Different from the solution where the induction part 21231 directly senses the pressure displacement change of the induction front end, this implementation method focuses more on signal detection to achieve active control rather than physical trigger passive control. In different implementation methods, either of the two methods can be selected for application, or both methods can be used simultaneously to ensure the smooth operation of the swinging reset operation.

[0046] This embodiment also provides a cable tunnel centralized monitoring intelligent inspection method, which applies the above-mentioned cable tunnel centralized monitoring intelligent inspection device. It should be noted that the cable tunnel centralized monitoring intelligent inspection device here refers to the minimum component technical solution that can achieve the technical effect of "judging whether there is a traveling corner by using the pressure signal between the induction front end and the track 3, and then controlling the shooting mechanism 2 to perform corresponding compensation swing when passing through the traveling corner, so as to avoid a large change in the shooting angle and ensure the shooting quality at the traveling corner". The method includes the following steps: S100: Use the pressure change signal of the induction front end to judge whether there is a traveling corner on the track 3 during the driving process. This step means judging whether there is a traveling corner on the track 3 through the pressure change signal of the induction front end. For example, if the pressure change signal of the induction front end suddenly increases to a certain extent, it means that the inspection device will pass through the slope corner of the track 3. At this time, it is necessary to consider controlling the shooting angle compensation swing and then enter the subsequent steps.

[0047] S200: If there is a traveling fold angle, control the motion part 22 to swing a first angle in a first direction according to the angle size, and then control the motion part 22 to swing a second angle in a direction opposite to the first direction. Wherein, the first direction is the same as or opposite to the traveling direction, and both the first angle and the second angle are equal to half of the traveling fold angle size. This step means that when performing the swing control for shooting angle compensation, calculate the size of the fold angle through the direction of the detected initial pressure signal, and then first control the motion part 22 to swing an angle equal to half of the fold angle in the direction same as (downward fold angle) or opposite to (upward fold angle) the traveling direction, and then swing back in the opposite direction. Through the foregoing technical solution, when the shooting angle changes due to the form of the slope fold angle, it is possible to first compensate and swing an angle equal to half of the fold angle and then swing back, and at this time, the front and back changes of the shooting angle of the cable can be ensured to be stable. It should be noted that if the cable laying direction is consistent with the routing direction of the slope fold angle, the above shooting angle compensation swing control method is adopted. If the cable laying direction remains unchanged and only a slope fold angle appears, there is no need to swing back after swinging forward. After passing through the slope fold angle, cancel the slope fold angle operation mode, and then use the first driving motor 211 to smoothly find the correct shooting angle.

[0048] Based on the above technical solution, that is, when the cable laying direction is consistent with the routing direction of the track 3, when the pressure signal at the induction front end is the largest, control the motion part 22 to swing a second angle in a direction opposite to the first direction, which means that when the pressure signal at the induction front end is the largest, at this time, the middle part of the inspection device passes through the middle position of the slope fold angle, the position where the shooting angle changes the most, and then the cable also starts to bend and route. It is necessary to make the shooting angle consistent with the initial relative state of the inspection device again, that is, it is necessary to enter the swing reset.

[0049] Through the above technical solution, by using the compensation method of step-by-step swing, it is ensured that the shooting angle smoothly transitions when passing through the slope fold angle, avoiding the instability of the picture caused by sudden changes. Through the smoothly transitioning angle adjustment, it is ensured that the device can accurately capture the state information of the cable with the same routing direction, improving the quality and reliability of the data.

[0050] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention. It should be noted that the structures or components illustrated in the drawings are not necessarily drawn to scale, and the present invention omits the description of well-known components and processing technologies and processes to avoid unnecessarily limiting the present invention.

Claims

1. An intelligent patrol device for centralized monitoring of cable tunnels, characterized in that, Comprising: A traveling mechanism, the traveling mechanism includes a power unit, a traveling unit, and a protective cover. An installation space is provided inside the protective cover. The power unit and the traveling unit are installed in the installation space. The traveling unit is connected to a track, and the power unit is drivingly connected to the traveling unit and is used to drive the traveling unit to travel on the track; A photographing mechanism, the photographing mechanism includes a driving unit, an operating unit, and a photographing unit. A first end of the operating unit is hinged to the protective cover. The driving unit is drivingly connected to the operating unit and can drive the operating unit to swing along the traveling direction of the track. A second end of the operating unit is hinged to the photographing unit and is used to move the photographing unit away from or closer to the track; Wherein, the protective cover has a sensing front end. The sensing front end contacts the track and can sense the pressure of the track on the front end of the protective cover, and according to the change of the pressure, the driving unit is prompted to control the operating unit to swing forward or backward.

2. The intelligent patrol device for centralized monitoring of cable tunnels according to claim 1, wherein The operating unit includes a main swing arm and a mounting seat. The mounting seat is connected to the bottom wall of the protective cover. One end of the main swing arm is hinged to the mounting seat through a rotating shaft, and the other end is connected to the photographing unit; The driving unit includes a first driving motor and a triggering assembly. The first driving motor is drivingly connected to the rotating shaft and is used to make the main swing arm swing forward or backward along the traveling direction of the track through the rotating shaft; the triggering assembly is connected to the rotating shaft in a clutch manner; When the triggering assembly is engaged with the rotating shaft, the first driving motor is disconnected from the rotating shaft, and the triggering assembly drives the rotating shaft and drives the main swing arm to swing; when the triggering assembly is disengaged from the rotating shaft, the first driving motor drives the rotating shaft and drives the main swing arm to swing.

3. The cable tunnel centralized monitoring intelligent inspection device according to claim 2, wherein, The operating unit further includes a secondary swing arm. One end of the secondary swing arm is hinged to the end of the main swing arm away from the mounting seat through a coupling. The other end of the secondary swing arm is hinged to the photographing unit; the driving unit further includes a second driving motor. The second driving motor is drivingly connected to the coupling and is used to make the secondary swing arm swing forward or backward relative to the main swing arm along the traveling direction of the track through the coupling.

4. The intelligent patrol device for centralized monitoring of cable tunnels according to claim 2, characterized in that, The triggering assembly includes a sliding seat, a telescopic member, a triggering seat, and a gear set. The sliding seat is slidably installed on the bottom wall of the protective cover and can slide closer to or away from the mounting seat. The telescopic member is connected between the sliding seat and the mounting seat and is used to drive the sliding seat to slide closer to or away from the mounting seat; The gear set includes a driving gear and a driven gear that mesh with each other. The driven gear is installed on the rotating shaft, and the driving gear is rotatably installed on the sliding seat. When the sliding seat approaches the mounting seat, the driving gear and the driven gear can mesh with each other; when the sliding seat moves away from the mounting seat, the driving gear and the driven gear are separated from each other; The trigger base is located within the installation space. The trigger base is formed with an induction portion that is inductively connected to the induction front end, and the trigger base is provided with a driving rack. The driving rack passes through the bottom wall of the protective cover and is used to mesh with the driving gear. When the induction portion receives the pressure signal from the induction front end, it can control the driving rack to drive the driving gear to rotate, thereby driving the driven gear to cause the rotating shaft to rotate.

5. The intelligent patrol device for centralized monitoring of cable tunnels according to claim 4, characterized in that, The trigger base includes a trigger plate and a return spring. The induction portion is located on the upper surface of the trigger plate. One end of the driving rack is connected to the trigger plate, and the other end meshes with the driving gear. The return spring is disposed between the sliding seat and the lower surface of the trigger plate and is used to reset after the trigger plate moves downward.

6. The intelligent patrol device for centralized monitoring of cable tunnels according to claim 5, characterized in that, The housing of the telescopic member is fixedly connected to the mounting seat. The telescopic end of the telescopic member is fixedly connected to the sliding seat. A support plate is fixed on the housing of the telescopic member. The support plate is provided with two sets of limiting members, and the two sets of limiting members are respectively used to limit the sliding seat forward and backward. One end of the support plate close to the trigger plate is provided with a stop plate. When the sliding seat moves away from the mounting seat, the stop plate is located directly below the trigger plate and is used to limit the downward movement of the trigger plate. When the sliding seat moves close to the mounting seat, the stop plate moves away from the position directly below the trigger plate, and at this time the trigger plate can move downward.

7. The intelligent patrol device for centralized monitoring of cable tunnels according to claim 1, characterized in that, The protective cover further has an induction rear end. The induction front end and the induction rear end are respectively arranged at both ends of the protective cover along the traveling direction of the track. The induction rear end contacts the track and can sense the pressure of the track on the rear end of the protective cover. According to the change of this pressure, the driving portion is prompted to synchronously control the action portion to swing forward or backward.

8. The intelligent patrol device for centralized monitoring of cable tunnels according to claim 1 or 7, characterized in that, It further includes an induction middle end. The induction middle end is located between the induction front end and the induction rear end and is used to sense the maximum interval distance between the protective cover and the track during the relative movement.

9. An intelligent inspection method for centralized monitoring of cable tunnels, characterized in that, Apply the cable tunnel centralized monitoring intelligent patrol device according to any one of claims 1-8. The method includes the following steps: Use the pressure change signal of the induction front end to judge whether there is a traveling bend in the track during driving. If there is a traveling bend, control the action portion to swing a first angle in the first direction according to the angle size, and then control the action portion to swing a second angle in the direction opposite to the first direction. Among them, the first direction is the same as or opposite to the traveling direction, and both the first angle and the second angle are equal to half of the size of the traveling bend.

10. The intelligent inspection method for centralized monitoring of cable tunnels according to claim 9, characterized in that When the pressure signal of the induction front end is the largest, then control the action portion to swing a second angle in the direction opposite to the first direction.

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