Electric power tube bank operation robot based on visualization and path exploration functions

Abstract

The invention discloses an electric power tube bank operation robot based on visualization and path exploration functions, and mainly relates to the field of electric power overhaul. Comprising an obstacle crossing vehicle body, a plurality of walking wheels and a walking motor are arranged on the obstacle crossing vehicle body, a searchlight and a camera are arranged on the front side of the obstacle crossing vehicle body, a hanging hole is formed in the rear side of the obstacle crossing vehicle body, a traction rope is arranged on the hanging hole, an operation arm is rotationally connected to the top of the obstacle crossing vehicle body, and an operation motor is arranged at the top of the obstacle crossing vehicle body. A fixing shell is arranged at the end of the working arm, a barrier removing plate is slidably connected into the fixing shell, barrier removing frames are symmetrically and rotationally connected to the front side of the barrier removing plate, limiting plates are symmetrically arranged on the front side of the barrier removing plate, and a barrier removing net bag is arranged between the front ends of the two barrier removing frames. The beneficial effects of the invention are that the method can solve the technical problems of low operation efficiency and inaccurate positioning during the maintenance of the existing electric power duct bank, and greatly improves the operation efficiency and accuracy through the visual exploration of the internal conditions of the electric power duct bank.

Description

Technical Field

[0001] This invention relates to the field of power maintenance, specifically to a power pipeline laying robot based on visualization and path exploration functions. Background Technology

[0002] Electricity ducts are power channels designed to meet the requirements of substation cable entry and exit channels and overhead line burial, providing supporting power supply for the land along the route. Electricity ducts are also known as cable conduits, power cable conduits, cement cable conduits, etc. Their key characteristics are high strength and low frictional resistance. Electricity ducts are typically constructed concurrently with road construction or municipal pipeline installations.

[0003] When carrying out construction and acceptance of cable ducts, cable laying and emergency repair, route exploration and other work, problems such as lack of visualization, obstructed ducts, long time to clear blockages, and inaccurate route positioning are encountered.

[0004] Currently, the above problems are solved by using techniques such as dragging iron anchors to clear pipes, using powerful water guns to clear pipes, and manually visually determining the location of pipes. These methods have the following drawbacks: First, they are inefficient and waste a lot of resources; second, powerful water guns cannot clear flat and folded pipes, causing water accumulation; and third, they cannot effectively locate the position and depth of the pipes, leading to misjudgments and damage to the pipes or cables due to external construction. Summary of the Invention

[0005] The purpose of this invention is to provide a power duct maintenance robot based on visualization and path exploration functions. It can solve the technical problems of low operation efficiency and inaccurate positioning in existing power duct maintenance. By visually exploring the internal conditions of the power duct, it greatly improves the efficiency and accuracy of the operation.

[0006] To achieve the above objectives, the present invention employs the following technical solution: A power duct installation robot based on visualization and path exploration functions includes an obstacle-crossing vehicle body with multiple wheels and a motor to drive them. A searchlight and camera are located at the front of the vehicle body, and a mounting hole with a pull rope is located at the rear. A working arm is rotatably connected to the top of the vehicle body, and a working motor to drive it is also located there. A fixed housing is located at the end of the working arm, and a clearing plate is slidably connected within it. After the working arm rotates, the bottom of the clearing plate contacts the bottom of the power duct. A clearing frame is symmetrically rotatably connected to the front of the clearing plate, and symmetrically positioned limiting plates for use with the clearing frame are also located on the front of the clearing plate. A clearing net is located between the front ends of the two clearing frames.

[0007] Furthermore, the work robot also includes a control handle and VR glasses. The obstacle-crossing vehicle is equipped with a communication module, which is used to connect the control handle and the walking motor, VR glasses and camera.

[0008] Furthermore, the fixed shell has symmetrical through holes on both sides, and the clearing plate has symmetrical sliders on both sides. The sliders pass through the through holes and are slidably connected to them. The fixed shell is provided with a power rod for driving the clearing plate to slide.

[0009] Furthermore, the top of the clearing plate is provided with a groove, a fixing block is provided in the groove, a telescopic motor is provided on the fixing shell, the power rod is fixed on the output shaft of the telescopic motor, the power rod extends into the groove, and the power rod passes through the fixing block and is threadedly connected to it.

[0010] Furthermore, the bottom of the clearing plate is provided with an extension plate that contacts the bottom of the power duct. The width of the extension plate is greater than the width of the clearing plate, and the bottom of the extension plate is arc-shaped.

[0011] Furthermore, the top of the obstacle-crossing vehicle is provided with a support tube, and a rotating shaft is rotatably connected to the top of the support tube. The working arm is fixed on the rotating shaft, and the working motor is fixed inside the support tube. Both the output shaft and the rotating shaft of the working motor are provided with meshing first gears.

[0012] Furthermore, the working robot also includes a bracket set at the opening of the power duct, on which a steering roller and a winding device are rotatably connected, and the pull rope is wound around the winding device after passing around the steering roller.

[0013] Furthermore, a fixed shaft and a drive shaft are rotatably connected to both sides of the bracket, and a movable rod is provided on the winder. One end of the movable rod is slidably connected to the fixed shaft, and the other end of the movable rod is movably connected to the drive shaft. A winding motor is provided on the bracket, and a second gear that meshes with each other is provided on both the output shaft and the drive shaft of the winding motor.

[0014] Furthermore, both ends of the movable rod are symmetrically provided with limiting blocks, and both the fixed shaft and the drive shaft are provided with sliding grooves. The two ends of the movable rod are slidably connected in the sliding grooves of the fixed shaft and the drive shaft, respectively. The sidewalls of the sliding grooves are symmetrically provided with sliding holes, and the limiting blocks pass through the sliding holes and are slidably connected with them. A compression spring is provided between the end of the movable rod and the sliding groove on the drive shaft, and a locking block is provided between the movable rod and the drive shaft.

[0015] Furthermore, the drive shaft is symmetrically provided with insert blocks on its outer side, and the bottom of the locking block is provided with a slot. The insert blocks and the limiting blocks on the movable rod near the drive shaft are simultaneously movably inserted into the slots.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The present invention provides a solution by installing a searchlight and a camera on the obstacle-crossing vehicle. The vehicle's wheels are driven by a motor to rotate, allowing it to smoothly enter the interior of the power cable duct. The searchlight illuminates the interior of the duct, and the camera records the internal conditions. This provides a comprehensive view of the duct's interior, solving the technical problems of traditional cable duct exploration where manual access is impossible and the risk of poisoning in confined underground spaces. This significantly improves the efficiency of power cable duct maintenance, enables accurate location of internal defects, and enhances the accuracy of exploration and maintenance operations. 2. A working arm is rotatably connected to the top of the obstacle-crossing vehicle. A fixed shell is located at the top of the working arm, and a clearing plate is slidably connected inside the fixed shell. The bottom of the clearing plate contacts the bottom of the power duct. With this structure, when residual building materials or other debris are found inside the power duct, the working arm is driven to rotate by the working motor, causing the fixed shell at the end of the working arm to rotate to the front of the obstacle-crossing vehicle. The clearing plate inside the fixed shell slides down and contacts the bottom of the power duct. Then, the traveling wheels are driven to rotate by the traveling motor, and with the help of the pull rope pulling the obstacle-crossing vehicle, the clearing plate moves with the obstacle-crossing vehicle toward the opening of the power duct to scrape and clean the debris at the bottom of the power duct, thereby discharging the debris from the opening. This achieves effective cleaning of debris inside the power duct, avoiding potential damage to the laid cables during subsequent construction, and improving the safety and quality of power construction operations. 3. A clearing frame is symmetrically connected to the front of the clearing plate. A limiting plate for use with the clearing frame is also symmetrically located on the front of the clearing plate. A clearing net is located between the front ends of the two clearing frames. With this structure, when there are large objects inside the power duct, the clearing plate rotates to the front of the obstacle-crossing vehicle under the action of the working arm. The clearing frame on the front of the clearing plate automatically rotates forward under gravity and inertia and contacts the limiting plate, causing the clearing net between the front ends of the two clearing frames to unfold vertically. Then, as the obstacle-crossing vehicle moves towards the opening of the power duct, the clearing net can catch the large objects and drag them towards the opening, effectively cleaning large objects and further improving the cleaning effect inside the power duct, ensuring the cleanliness and safety of the construction environment inside the power duct. Attached Figure Description

[0017] Appendix Figure 1 This is a schematic diagram of the internal structure of the obstacle-crossing vehicle body of the present invention.

[0018] Appendix Figure 2 This is a three-dimensional structural diagram of the present invention.

[0019] Appendix Figure 3 This is a front view of the present invention.

[0020] Appendix Figure 4 This is an appendix to the present invention. Figure 3 A cross-sectional view along the AA direction.

[0021] Appendix Figure 5 This is an appendix to the present invention. Figure 4 A cross-sectional view along the BB direction.

[0022] Appendix Figure 6 This is a three-dimensional structural schematic diagram of the winder of the present invention.

[0023] Appendix Figure 7 This is a left view of the winder of the present invention.

[0024] Appendix Figure 8 This is an appendix to the present invention. Figure 7 A cross-sectional view along the CC direction.

[0025] Appendix Figure 9 This is an appendix to the present invention. Figure 8 A magnified view of part D in the middle.

[0026] The labels shown in the attached diagram: 1. Obstacle-crossing vehicle body; 2. Walking wheels; 3. Walking motor; 4. Searchlight; 5. Camera; 6. Mounting hole; 7. Pull rope; 8. Working arm; 9. Working motor; 10. Fixed shell; 11. Clearing plate; 12. Clearing frame; 13. Limiting plate; 14. Clearing net; 15. Communication module; 16. Through hole; 17. Sliding block; 18. Power rod; 19. Groove; 20. Fixed block; 21. Telescopic motor; 22. Extension plate; 23. Support tube; 24. Rotating shaft; 25. First gear; 26. Bracket; 27. Steering roller; 28. Winder; 29. ​​Fixed shaft; 30. Drive shaft; 31. Movable rod; 32. Winding motor; 33. Second gear; 34. Limiting block; 35. Slide groove; 36. Slide hole; 37. Compression spring; 38. Locking block; 39. Insertion block; 40. Slot. Detailed Implementation

[0027] The present invention will be further illustrated below with reference to specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, it should be understood that after reading the teachings of this invention, those skilled in the art can make various alterations or modifications to the invention, and these equivalent forms also fall within the scope defined in this application.

[0028] Reference Figures 1-3The present invention describes a power pipe laying robot based on visualization and path exploration functions. The main structure includes an obstacle-crossing vehicle body 1, which is made of high-strength carbon fiber sheet, making it lightweight and high-strength, thus improving the equipment's endurance while ensuring sufficient structural strength. The obstacle-crossing vehicle body 1 is equipped with multiple wheels 2, each with a connecting shaft fixed to it via welding or integral molding. The connecting shaft is rotatably connected to the side of the obstacle-crossing vehicle body 1 via bearings. The wheels 2 are made of polypropylene, ensuring sufficient wear resistance while maintaining high structural strength and resistance to damage. The obstacle-crossing vehicle body 1 is fixed with... A walking motor 3 is provided to drive the walking wheels 2 to rotate. Specifically, the output shaft of the walking motor 3 is connected to the connecting shaft on the walking wheels 2 via a synchronous belt, thereby enabling the walking motor 3 to drive the rotation of the walking wheels 2. The front side of the obstacle-crossing vehicle body 1 is equipped with a searchlight 4 and a camera 5. The searchlight 4 uses an LED light source with a luminous flux of 600lm and a color temperature of 6000K, considering low power consumption while meeting the requirements for visual illumination inside the power duct. The camera 5 uses infrared imaging and wireless transmission, with a resolution of 12 megapixels, employing a CMOS sensor, a C-Mount lens interface, and a Camera protocol. Link, 4K image. The rear side of the obstacle-crossing vehicle body 1 is fixed with a mounting hole 6 by welding or bolts. A pull rope 7 is attached to the mounting hole 6. The pull rope 7 has a certain length. When the obstacle-crossing vehicle body 1 enters the power duct, one end of the pull rope 7 moves with the obstacle-crossing vehicle body 1 after unwinding, while the other end remains at the duct opening. This facilitates the auxiliary pulling of the obstacle-crossing vehicle body 1 when it returns to the duct opening, making the return of the obstacle-crossing vehicle body 1 smoother. In use, this structure utilizes a walking motor 3 to drive multiple walking wheels 2 to rotate, allowing the obstacle-crossing vehicle body... 1. It automatically moves inside the power duct and uses the searchlight 4 to illuminate the inside of the power duct, so that the camera 5 can accurately capture and record the internal environment of the power duct. This allows the internal conditions of the power duct to be transmitted in real time, and the operator can visualize and control the internal conditions of the power duct from the outside. This makes it easier to find defects and debris inside the power duct, improves the accuracy of subsequent operations, enables convenient exploration of the internal inspection or maintenance of the power duct, prevents the risk of poisoning that may be caused by personnel entering, and improves the efficiency and safety of exploration operations inside the power duct. The top of the obstacle-crossing vehicle body 1 is rotatably connected to a working arm 8 via a pin or hinge. A working motor 9, which drives the working arm 8, is fixed to the top of the obstacle-crossing vehicle body 1 by welding or bolts. The working motor 9 can drive the working arm 8 to rotate vertically or horizontally. When the obstacle-crossing vehicle body 1 is moving normally, the working motor 9 drives the working arm 8 to rotate vertically, so that the center of gravity of the entire device is directly above the obstacle-crossing vehicle body 1, making the movement of the obstacle-crossing vehicle body 1 more stable inside the power duct. When debris is detected, the working motor 9 drives the working arm 8 to rotate horizontally, facilitating the cleaning of debris at the bottom of the power duct. A fixing shell 10 is fixed to the end of the working arm 8 by welding or bolts, and the fixing shell 10 is perpendicular to the working arm 8. A clearing plate 11 is slidably connected inside the fixed housing 10. Specifically, the clearing plate 11 passes through one end of the fixed housing 10 and is slidably connected inside the fixed housing 10 after passing through the through position. After the working arm 8 rotates, the bottom of the clearing plate 11 contacts the bottom of the power pipe. With this structure, when the working motor 9 drives the working arm 8 to rotate horizontally, the fixed housing 10 is in a vertical state. Under the action of gravity, the clearing plate 11 inside the fixed housing 10 automatically slides vertically until the bottom of the clearing plate 11 contacts the bottom of the power pipe. Afterwards, when the clearing vehicle moves back towards the pipe opening, the clearing plate 11 can move with the obstacle-crossing vehicle 1, thereby moving and scraping away the debris at the bottom of the power pipe towards the pipe opening, achieving effective cleaning of the debris inside the power pipe. The towing rope 7 can be pulled from the pipe opening to assist in moving the obstacle-crossing vehicle 1, making the clearing of debris smoother. The front side of the obstacle-clearing plate 11 is symmetrically connected to the obstacle-clearing frame 12 via pins or hinges. The front side of the obstacle-clearing plate 11 is symmetrically fixed with a limiting plate 13 for use with the obstacle-clearing frame 12 via welding or bolts. The limiting plate 13 is perpendicular to the obstacle-clearing plate 11. This structure allows the obstacle-clearing frame 12 to rotate from a state parallel to the obstacle-clearing plate 11 to a state perpendicular to the obstacle-clearing plate 11. When the obstacle-clearing frame 12 is perpendicular to the obstacle-clearing plate 11, it contacts the limiting plate 13, preventing further rotation and effectively limiting the position of the obstacle-clearing frame 12. An obstacle-clearing device is provided between the front ends of the two obstacle-clearing frames 12. The net 14, made of nylon or polyester rope, is distributed in the vertical plane between the front ends of the two clearing frames 12. When the working arm 8 rotates to the lateral position, making the clearing plate 11 vertical, the front clearing frame 12 automatically rotates to the lateral position under gravity and inertia. This causes the net 14 between the front ends of the two clearing frames 12 to rotate into the vertical plane. As it moves with the obstacle-crossing vehicle 1, it can catch large debris and pull it towards the pipe opening, thus effectively clearing large stones and other debris. Combined with the clearing plate 11 scraping and cleaning small debris, this improves the cleaning effect inside the power duct, ensuring the cleanliness and safety of the working environment inside the power duct.This improved the efficiency and safety of subsequent cable installation work.

[0029] The operation method of the power duct laying robot based on visualization and path exploration functions includes the following steps: S1. Tie the towing rope 7 to the mounting hole 6 on the rear side of the obstacle crossing vehicle 1, put the obstacle crossing vehicle 1 into the power duct from the pipe opening, and control the walking motor 3 through the wireless controller to drive the walking wheel 2 to rotate, thereby realizing the remote movement control of the obstacle crossing vehicle 1 inside the power duct. S2. When the obstacle-crossing vehicle 1 moves inside the power duct, the searchlight 4 illuminates the inside of the power duct, which makes it easier for the camera 5 to clearly record the environment inside the power duct. This allows the image of the environment inside the power duct to be transmitted to the outside in real time. The operator can monitor the internal environment of the power duct in real time from an external monitor or other display device, making it easier to find internal defects or debris. S3. When the obstacle crossing vehicle 1 encounters debris, the working motor 9 is controlled by the wireless controller, so that the working motor 9 drives the working arm 8 to rotate. The working arm 8 rotates from vertical to horizontal, so that the fixed shell 10 at the front end of the working arm 8 rotates to the front side of the obstacle crossing vehicle 1 and becomes vertical. Under the action of gravity, the clearing plate 11 inside the fixed shell 10 automatically slides down until it contacts the bottom of the power pipe. S4. After the clearing plate 11 is rotated to the vertical position, under the action of gravity and inertia, the clearing frame 12 on the front side of the clearing plate 11 rotates from a state parallel to the clearing plate 11 to the horizontal position, so that the clearing net 14 between the front sides of the two clearing plates 11 rotates to the vertical position. S5. The walking motor 3 drives the obstacle crossing vehicle 1 to move back towards the pipe opening. The operator pulls the pull rope 7 at the pipe opening, so that when the obstacle crossing vehicle 1 returns, the clearing plate 11 scrapes away small debris at the bottom of the power pipe, while the clearing net 14 catches large debris, thus dragging both small and large debris towards the pipe opening until they are discharged from the pipe opening, achieving effective cleaning of debris inside the power pipe. S6. Repeat steps S1-S5 above to conduct multiple explorations and cleanings inside the power duct, preparing for subsequent cable laying or maintenance work.

[0030] Preferably, the robot also includes a control handle and VR glasses. A battery is installed on the obstacle-crossing vehicle body 1 to power various motors. The wireless control handle is a DJI-RC-N3 model, weighing approximately 320g, with a battery life greater than 3.5 hours and a remote control distance greater than 1.2km. The VR glasses are a DJI-Goggles2 model, weighing 290g, with a battery life greater than 2 hours, a screen resolution of 1920x1080, a screen refresh rate of 120Hz, and a screen viewing angle of 51°. The obstacle-crossing vehicle body 1 is equipped with a communication module 15, which adopts an integrated PCB design. The communication module 15 enables the reception and transmission of wireless signals and connects the operating handle, the walking motor 3, the VR glasses, and the camera 5. Before use, the obstacle-crossing vehicle 1 is paired with the operating handle and the VR glasses. After that, the operating handle can be used to drive the obstacle-crossing vehicle 1 to move inside the power duct with the connection of the communication module 15. The internal situation of the power duct captured by the camera 5 is transmitted back to the VR glasses through the communication module 15, so that the operator can keep abreast of the internal situation of the power duct in real time, making the visualization operation of the exploration clearer and more convenient.

[0031] Preferably, the fixed shell 10 has symmetrical through holes 16 on both sides, and the clearing plate 11 has symmetrical sliders 17 fixed on both sides by welding or integral forming. The sliders 17 pass through the through holes 16 and are slidably connected to them. The fixed shell 10 is provided with a power rod 18 to drive the clearing plate 11 to slide. This structure utilizes the sliding movement of the sliders 17 in the through holes 16 to make the sliding structure of the clearing plate 11 relative to the fixed shell 10 more stable, thereby making the clearing plate 11 fit better when scraping and clearing the bottom of the power pipe, and further improving the clearing effect. The power rod 18 drives the clearing plate 11 to slide relative to the fixed shell 10. This structure can use the power rod 18 to control the sliding distance of the clearing plate 11, thereby meeting the clearing needs of power pipes of different sizes, so that the clearing plate 11 can contact the bottom of power pipes of different sizes, further improving the adaptability to clearing operations of power pipes of different sizes.

[0032] Preferred, refer to Figure 4The top of the clearing plate 11 is provided with a groove 19, which is recessed inward from the top of the clearing plate 11. A fixing block 20 is fixed in the groove 19 by welding or bolts. A telescopic motor 21 is fixed on the fixed shell 10 by welding or bolts. The power rod 18 is fixed to the output shaft of the telescopic motor 21 by welding or bolts. The power rod 18 extends into the groove 19, passes through the fixing block 20 and is threadedly connected to it. With this structure, when the telescopic motor 21 drives the power rod 18 to rotate, the threaded connection drives the fixing block 20 and the clearing plate 11 to move within the fixed shell 10. The sliding of the sliders 17 on both sides of the clearing plate 11 with the through holes 16 provides guidance, thereby achieving accurate sliding drive of the clearing plate 11 and further improving the accuracy of controlling the sliding distance of the clearing plate 11.

[0033] Preferably, the bottom of the clearing plate 11 is fixed with an extension plate 22 that contacts the bottom of the power pipe by welding or integral molding. The width of the extension plate 22 is greater than the width of the clearing plate 11, and the bottom of the extension plate 22 is arc-shaped. This structure allows the extension plate 22 at the bottom of the clearing plate 11 to cover a larger area of ​​the bottom of the power pipe, and allows the arc shape of the bottom of the extension plate 22 to fit better with the bottom of the power pipe. This allows the extension plate 22 to scrape away debris from a larger area of ​​the bottom when it moves, thereby improving the clearing effect.

[0034] Preferred, refer to Figure 5 The top of the obstacle-crossing vehicle body 1 is fixed with a support tube 23 by welding or bolting. The top of the support tube 23 is rotatably connected to a rotating shaft 24 by a bearing. The working arm 8 is fixed to the rotating shaft 24 by welding or bolting. The working motor 9 is fixed inside the support tube 23 by welding or bolting. The output shaft of the working motor 9 and the rotating shaft 24 are both fixed with meshing first gears 25 by welding or bolting. This structure hides the working motor 9 inside the support tube 23 and uses the meshing first gears 25 to drive the rotating shaft 24 and the working arm 8 to rotate, thereby realizing the rotation control of the working arm 8. This makes the overall structure more compact and the rotation control of the working arm 8 more accurate.

[0035] Preferred, refer to Figure 6 and Figure 7The working robot also includes a bracket 26 set at the opening of the power duct. The bracket 26 is in contact with the opening. A steering roller 27 and a winding device 28 are rotatably connected to the bracket 26 via bearings. The pull rope 7 passes around the steering roller 27 and is wound around the winding device 28. The steering roller 27 turns the pull rope 7. With this structure, when the obstacle-crossing vehicle 1 moves toward the inside of the power duct, the winding device 28 unwinds the pull rope 7, so that one end of the pull rope 7 can move with the obstacle-crossing vehicle 1. When the obstacle-crossing vehicle 1 returns to the opening, the winding device 28 is rotated to wind the pull rope 7, realizing the auxiliary pulling movement of the obstacle-crossing vehicle 1, making the pulling of the obstacle-crossing vehicle 1 more convenient and smooth.

[0036] Preferably, the bracket 26 has a fixed shaft 29 and a drive shaft 30 rotatably connected to its two sides via bearings. A movable rod 31 is fixed to the winder 28 by welding or bolts. One end of the movable rod 31 is slidably connected to the fixed shaft 29, and the other end is movably connected to the drive shaft 30. With this structure, when the pull rope 7 is unwound from the winder 28, the other end of the movable rod 31 slides towards the fixed shaft 29 and separates from the drive shaft 30, allowing the winder 28 to rotate synchronously with the fixed shaft 29, enabling the pull rope 7 to unwind freely. When it is necessary to pull the pull rope 7 to assist the obstacle-crossing vehicle 1 in returning to the pipe opening, the movable rod 31... The movable rod 31 slides toward the drive shaft 30, so that the other end of the movable rod 31 is connected to the drive shaft 30. The bracket 26 is fixed with a winding motor 32 by welding or bolts. The output shaft of the winding motor 32 and the drive shaft 30 are both fixed with meshing second gears 33 by welding or bolts. The winding motor 32 controls the rotation of the drive shaft 30 under the action of the second gear 33, thereby realizing the rotation drive of the movable rod 31 connected to the drive shaft 30, thereby realizing the automatic rotation and winding of the winding device 28, making the auxiliary pulling of the obstacle-crossing vehicle 1 back more labor-saving and convenient, thus further improving the convenience of obstacle clearing operation.

[0037] Preferred, refer to Figure 8 and Figure 9Both ends of the movable rod 31 are symmetrically fixed with limit blocks 34 by welding or bolts. Both the fixed shaft 29 and the drive shaft 30 are provided with sliding grooves 35, which are recessed inwards from their ends. The two ends of the movable rod 31 pass through the through-holes and are slidably connected within the sliding grooves 35 of the fixed shaft 29 and the drive shaft 30. Symmetrical through-holes 36 are provided on the sidewalls of the sliding grooves 35. The limit blocks 34 pass through the sliding holes 36 and are slidably connected to them. A compression spring 37 is provided between the end of the movable rod 31 and the sliding groove 35 on the drive shaft 30. A locking block 38 is provided between the movable rod 31 and the drive shaft 30. The limit block 34 at one end of the movable rod 31 is always slidably connected within the sliding hole 36 on the fixed shaft 29. This structure utilizes the sliding cooperation between the limit block 34 and the sliding hole 36 to ensure that the movable rod 31 can only be slidably connected within the sliding groove 35, thus allowing the movable rod 31 to only be relatively fixed. The fixed shaft 29 slides laterally while maintaining consistency with the fixed shaft 29 in the rotational direction. The compression spring 37 keeps the limiting block 34 at the other end of the movable rod 31 separated from the sliding hole 36 on the drive shaft 30, so that the movable rod 31 will not interfere with the drive shaft 30 when it rotates with the fixed shaft 29. This allows the pull rope 7 on the winder 28 to be unwound freely. When the pull rope 7 needs to be wound up, the movable rod 31 is slid towards the drive shaft 30, so that the limiting block 34 at the other end of the movable rod 31 slides into the sliding hole 36 of the drive shaft 30. The limiting block 34 is fixed by the locking block 38, realizing the connection between the movable rod 31 and the drive shaft 30. After that, the rotation of the drive shaft 30 and the movable rod 31 can be controlled by the winding motor 32 to realize the active rotation drive of the winder 28, making the connection or separation of the movable rod 31 and the drive shaft 30 smoother and more efficient.

[0038] Preferably, insert blocks 39 are symmetrically fixed to the outer side of the drive shaft 30 by welding or bolts. The bottom of the locking block 38 is provided with a slot 40. The insert blocks 39 and the limiting blocks 34 on the movable rod 31 near the drive shaft 30 are simultaneously movably inserted into the slot 40. With this structure, when the movable rod 31 slides toward the drive shaft 30, it compresses the compression spring 37. When the locking block 38 is sleeved on the outside of the insert blocks 39 and the limiting blocks 34, the limiting blocks 34 are kept facing away from the insert blocks 39 by the elastic force of the compression spring 37. The directional movement of block 39 causes the limiting block 34 and the insert block 39 to be inserted into the interior of the slot 40 and then fit against the side walls at both ends of the slot 40, thereby fixing the position of the limiting block 34. A stepped structure can also be set at the connection between the limiting block 34 and the side wall of the slot 40 to prevent them from separating during rotation, ensuring the limiting effect on the position of the limiting block 34, thereby effectively fixing the relative position of the movable rod 31 and the drive shaft 30, ensuring the smoothness and stability of the winding device 28 during rotation and winding.

[0039] Working Principle: This invention uses a searchlight 4 and a camera 5 mounted on an obstacle-crossing vehicle 1. A walking motor 3 drives the wheels 2 on the vehicle 1 to rotate, allowing the vehicle 1 to smoothly enter the interior of the power cable duct. Simultaneously, the searchlight 4 illuminates the interior of the duct, and the camera 5 records the internal conditions, providing a comprehensive view of the duct's interior. This solves the technical problems of traditional cable duct exploration where manual entry is impossible and there is a risk of poisoning in confined underground spaces. It significantly improves the efficiency of power cable duct maintenance, accurately locates internal defects, and enhances exploration capabilities. To ensure the accuracy of obstacle crossing and maintenance operations, a working arm 8 is rotatably connected to the top of the obstacle crossing vehicle 1. A fixed housing 10 is located at the top of the working arm 8, and a clearing plate 11 is slidably connected inside the fixed housing 10. The bottom of the clearing plate 11 contacts the bottom of the power duct. With this structure, when residual building materials or other debris are found inside the power duct, the working arm 8 is driven to rotate using the working motor 9. This causes the fixed housing 10 at the end of the working arm 8 to rotate to the front of the obstacle crossing vehicle 1. The clearing plate 11 inside the fixed housing 10 slides downwards and contacts the bottom of the power duct. Then, the traveling wheel 2 is driven to rotate using the traveling motor 3, and the traction rope 7 is used to assist in the obstacle crossing. The pulling action of the obstacle-crossing vehicle 1 causes the clearing plate 11 to move towards the opening of the power duct along with the obstacle-crossing vehicle 1, scraping and cleaning the debris at the bottom of the power duct, thereby discharging the debris from the opening. This effectively cleans the debris inside the power duct, preventing potential damage to the laid cables during subsequent construction and improving the safety and quality of power construction operations. A clearing frame 12 is symmetrically rotatably connected to the front side of the clearing plate 11. A limiting plate 13, used in conjunction with the clearing frame 12, is symmetrically provided on the front side of the clearing plate 11. A clearing net 14 is provided between the front ends of the two clearing frames 12. This structure provides protection inside the power duct. When dealing with larger debris, the clearing plate 11 rotates to the front of the obstacle-crossing vehicle 1 under the action of the working arm 8. The clearing frame 12 on the front side of the clearing plate 11 automatically rotates forward under the action of gravity and inertia and comes into contact with the limiting plate 13. This causes the clearing net 14 between the front ends of the two clearing frames 12 to unfold vertically. Afterward, when the obstacle-crossing vehicle 1 moves toward the opening of the power duct, the clearing net 14 can catch the large debris and drag it toward the opening, thus effectively cleaning the large debris. This further improves the cleaning effect of debris inside the power duct and ensures the cleanliness and safety of the construction environment inside the power duct.

Claims

1. A power pipe laying robot based on visualization and path exploration functions, comprising an obstacle-crossing vehicle body (1), wherein the obstacle-crossing vehicle body (1) is provided with multiple walking wheels (2), and the obstacle-crossing vehicle body (1) is provided with a walking motor (3) for driving the walking wheels (2) to rotate, characterized in that: The obstacle crossing vehicle body (1) is equipped with a searchlight (4) and a camera (5) on the front side. The obstacle crossing vehicle body (1) is equipped with a mounting hole (6) on the rear side. A pull rope (7) is provided on the mounting hole (6). A working arm (8) is rotatably connected to the top of the obstacle crossing vehicle body (1). A working motor (9) for driving the working arm (8) to rotate is provided on the top of the obstacle crossing vehicle body (1). A fixed shell (10) is provided at the end of the working arm (8). A clearing plate (11) is slidably connected inside the fixed shell (10). After the working arm (8) rotates, the bottom of the clearing plate (11) contacts the bottom of the power pipe. A clearing frame (12) is symmetrically rotatably connected to the front side of the clearing plate (11). A limiting plate (13) for use with the clearing frame (12) is symmetrically provided on the front side of the clearing plate (11). A clearing net (14) is provided between the front ends of the two clearing frames (12).

2. The power pipe laying robot based on visualization and path exploration functions according to claim 1, characterized in that: The work robot also includes a control handle and VR glasses. The obstacle-crossing vehicle body (1) is equipped with a communication module (15), which is used to connect the control handle and the walking motor (3), the VR glasses and the camera (5) with signals.

3. The power pipe laying robot based on visualization and path exploration functions according to claim 1, characterized in that: The fixed shell (10) has symmetrical through holes (16) on both sides, and the clearing plate (11) has symmetrical sliders (17) on both sides. The sliders (17) pass through the through holes (16) and are slidably connected to them. The fixed shell (10) is provided with a power rod (18) for driving the clearing plate (11) to slide.

4. The power pipe laying robot based on visualization and path exploration functions according to claim 3, characterized in that: The top of the clearing plate (11) is provided with a groove (19), and a fixing block (20) is provided in the groove (19). A telescopic motor (21) is provided on the fixing shell (10). The power rod (18) is fixed on the output shaft of the telescopic motor (21). The power rod (18) extends into the groove (19) and passes through the fixing block (20) and is threadedly connected to it.

5. The power pipe laying robot based on visualization and path exploration functions according to claim 1, characterized in that: The bottom of the clearing plate (11) is provided with an extension plate (22) that contacts the bottom of the power pipe. The width of the extension plate (22) is greater than the width of the clearing plate (11), and the bottom of the extension plate (22) is arc-shaped.

6. The power pipe laying robot based on visualization and path exploration functions according to claim 1, characterized in that: The top of the obstacle crossing vehicle body (1) is provided with a support tube (23), and the top of the support tube (23) is rotatably connected with a rotating shaft (24). The working arm (8) is fixed on the rotating shaft (24), and the working motor (9) is fixed inside the support tube (23). The output shaft of the working motor (9) and the rotating shaft (24) are both provided with a first gear (25) that meshes with each other.

7. The power pipe laying robot based on visualization and path exploration functions according to claim 1, characterized in that: The working robot also includes a bracket (26) set at the opening of the power pipe, on which a steering roller (27) and a winding device (28) are rotatably connected. The pulling rope (7) passes around the steering roller (27) and then winds itself around the winding device (28).

8. The power pipe laying robot based on visualization and path exploration functions according to claim 7, characterized in that: The bracket (26) is rotatably connected to a fixed shaft (29) and a drive shaft (30) on both sides respectively. The winder (28) is provided with a movable rod (31). One end of the movable rod (31) is slidably connected to the fixed shaft (29), and the other end of the movable rod (31) is movably connected to the drive shaft (30). The bracket (26) is provided with a winding motor (32). The output shaft of the winding motor (32) and the drive shaft (30) are both provided with a second gear (33) that meshes with each other.

9. The power pipe laying robot based on visualization and path exploration functions according to claim 8, characterized in that: Both ends of the movable rod (31) are symmetrically provided with limiting blocks (34). Both the fixed shaft (29) and the drive shaft (30) are provided with sliding grooves (35). Both ends of the movable rod (31) are slidably connected in the sliding grooves (35) of the fixed shaft (29) and the drive shaft (30), respectively. The sidewalls of the sliding grooves (35) are symmetrically provided with sliding holes (36). The limiting blocks (34) pass through the sliding holes (36) and are slidably connected to them. A compression spring (37) is provided between the end of the movable rod (31) and the sliding groove (35) on the drive shaft (30). A locking block (38) is provided between the movable rod (31) and the drive shaft (30).

10. The power pipe laying robot based on visualization and path exploration functions according to claim 9, characterized in that: The drive shaft (30) is symmetrically provided with inserts (39) on the outside, and the bottom of the locking block (38) is provided with a slot (40). The inserts (39) and the limiting blocks (34) on the movable rod (31) near the drive shaft (30) are simultaneously movably inserted into the slot (40).

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