A cable detection system suitable for use in an electrical distribution network

Abstract

The application relates to the field of power distribution network monitoring, and provides a cable detection system suitable for a power distribution network, which comprises a network host, a running track arranged along a cable bridge, and a monitoring robot capable of moving on the running track; the monitoring robot comprises a master control module, a power supply module, a monitoring module, a walking control module and a wireless communication module; the controlled end of the walking control module is connected with the master control module, the input end is connected with the power supply module, and the output end is connected with a walking motor; the monitoring module is connected with the master control module, collects cable information, and transmits the cable information to the master control module; the wireless communication module is connected with the master control module and is used for wireless communication between the master control module and the network host; the application is applied in the power distribution network and can perform regular inspection on the cables in the high-altitude cable bridge all day long.

Description

Technical Field

[0001] This invention relates to the field of power distribution network monitoring, and more specifically, to a cable detection system suitable for power distribution networks. Background Technology

[0002] Cables are an important component of power distribution networks. Long-term use leads to cable aging. At the same time, cables will overheat when equipment is overloaded or when there is a cable fault. Regular cable inspection helps to detect problems in time. In power networks, for the sake of electrical safety and cable standards, most cables are installed in high-altitude cable trays. Workers need to work at heights to inspect them, which will affect their safety, increase labor costs, and make it inconvenient to carry out regular cable inspections around the clock. Summary of the Invention

[0003] The problem solved by this invention is how to provide a cable inspection system that can be used in power distribution networks to conduct regular inspections of cables in high-altitude cable trays around the clock.

[0004] To address the aforementioned problems, this invention provides a cable inspection system suitable for use in power distribution networks, comprising: a network host, a running track arranged along a cable tray, and a monitoring robot capable of moving on the running track. The monitoring robot includes a main control module, a power supply module, a monitoring module, a walking control module, and a wireless communication module. The controlled end of the walking control module is connected to the main control module, its input end is connected to the power supply module, and its output end is connected to a walking motor to control the direction and speed of the walking motor. The monitoring module is connected to the main control module. When the monitoring robot moves on the running track, the monitoring module collects cable information and transmits the cable information to the main control module. The wireless communication module is connected to the main control module for wireless communication between the main control module and the network host.

[0005] Furthermore, the monitoring module includes:

[0006] A temperature monitoring circuit, connected to the main control module, is used to transmit the collected temperature information to the main control module;

[0007] A distance sensor control circuit, connected to the main control module, is used to transmit the collected distance information to the cable tray monitoring point to the main control module;

[0008] An image acquisition circuit, connected to the main control module, is used to transmit the acquired image information to the main control module.

[0009] Furthermore, the walking control module includes a drive control circuit, a communication interface circuit, a motor detection circuit, and a three-phase motor drive circuit. The drive control circuit is connected to the main control module through the communication interface circuit. The controlled terminal of the three-phase motor drive circuit is connected to the drive control circuit, the input terminal is connected to the power supply module, and the output terminal is connected to the walking motor. Under the control of the drive control circuit, the DC voltage of the power supply module is converted into the three-phase power required by the walking motor to control the walking direction and speed of the walking motor. The acquisition terminal of the motor detection circuit is connected to the three-phase motor drive circuit, and the output terminal is connected to the drive control circuit.

[0010] Furthermore, the motor detection circuit includes a three-channel voltage acquisition circuit, a reference voltage circuit, and a three-channel current acquisition circuit. The reference voltage circuit includes a first operational amplifier. The first lead of the positive input terminal of the first operational amplifier is connected to the power module via a first resistor, and the second lead is grounded via a second resistor. The output terminal of the first operational amplifier provides reference voltages for the three current acquisition circuits respectively, and the negative input terminal of the first operational amplifier is connected to the output terminal of the first operational amplifier.

[0011] Furthermore, the three-phase motor drive circuit includes first to sixth MOSFETs and first to third sensing resistors. The gates of the first to sixth MOSFETs are respectively connected to the six PWM output ports of the drive control circuit. The drains of the first, third, and fifth MOSFETs are respectively connected to the power module, and their sources are respectively connected to the drains of the second, fourth, and sixth MOSFETs. The source of the second MOSFET is grounded through the first sensing resistor, and its drain is connected to the first phase terminal of the walking motor. The source of the fourth MOSFET is grounded through the second sensing resistor, and its drain is connected to the second phase terminal of the walking motor. The source of the sixth MOSFET is grounded through the third sensing resistor, and its drain is connected to the third phase terminal of the walking motor. The input terminals of the three voltage acquisition circuits are respectively connected to the three phase terminals of the walking motor, and their output terminals are connected to the drive control circuit.

[0012] Furthermore, the three current acquisition circuits have the same structure. The first current acquisition circuit includes a second operational amplifier and a third resistor. The positive input terminal of the second operational amplifier is connected to the reference voltage. The first and second terminals of the first detection resistor are respectively connected to the negative and positive input terminals of the second operational amplifier. The output terminal of the second operational amplifier is connected to the drive control circuit. The third resistor is disposed between the output terminal and the negative input terminal of the second operational amplifier.

[0013] Furthermore, the wireless communication module includes a wireless chip, an amplifier circuit, an external gain circuit, and a bandpass filter circuit.

[0014] Furthermore, the amplification circuit includes a seventh MOS transistor and an eighth MOS transistor. The gate of the seventh MOS transistor is connected to the transmitting end of the wireless chip, the source is grounded, the first lead of the drain is connected to a 12V voltage via a first inductor, and the second lead is connected to the gate of the eighth MOS transistor via a first capacitor and a first Π-shaped filter. The gate of the eighth MOS transistor is connected to a 5V voltage via a second inductor, the source is grounded, the first lead of the drain of the eighth MOS transistor is connected to a 12V voltage via a third inductor and a fourth inductor, and the second lead is connected to the transmitting antenna via a second Π-shaped filter and a second capacitor.

[0015] Furthermore, the external gain circuit includes a first transistor and inductors five through eight. The first lead of the base of the first transistor is connected to a 12V voltage via resistors four and five. The second lead is connected to the first terminal of the fifth inductor. The first lead of the second terminal of the fifth inductor is grounded via an inductor six. The second lead is connected to the receiving antenna via a capacitor three. The emitter of the first transistor is grounded. The first lead of the collector of the first transistor is connected to a 12V voltage via an inductor seven and resistors five. The second lead is connected to the input terminal of the bandpass filter circuit via an inductor eight. The output terminal of the bandpass filter circuit is connected to the receiving terminal of the wireless chip.

[0016] Furthermore, the wireless communication module also includes a bias power supply circuit, the input terminal of which is connected to the power module, the controlled terminal of which is connected to the wireless chip, and the output terminal of which is connected to the amplifier circuit and the external gain circuit respectively.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] In use, users can configure the robot's inspection frequency, path, and speed via a computer or other device connected to the network host. The main control module receives the configuration information via a wireless communication module and controls the walking control module to drive the robot's movement. Simultaneously, the monitoring module is activated. While the robot is moving along its track, the monitoring module collects cable information and transmits it to the main control module. The main control module then transmits the cable information to the network host. This allows the robot to perform inspections 24 / 7 according to preset times and tasks. When the network host detects an anomaly in the cable information, it can alert the staff. Staff only need to review and handle the alert after receiving it, saving labor costs and achieving regular automatic cable inspection. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall principle structure of an embodiment of the present invention;

[0020] Figure 2 This is a schematic diagram illustrating the principle structure of the walking control module according to an embodiment of the present invention;

[0021] Figure 3 This is a schematic diagram of the principle structure of the drive control circuit according to an embodiment of the present invention;

[0022] Figure 4 This is a schematic diagram of the principle structure of a three-phase motor drive circuit according to an embodiment of the present invention;

[0023] Figure 5 This is a schematic diagram of the principle structure of the reference voltage circuit in an embodiment of the present invention;

[0024] Figure 6 This is a schematic diagram of the principle structure of the current acquisition circuit in an embodiment of the present invention;

[0025] Figure 7 This is a schematic diagram of the principle structure of the wireless communication module according to an embodiment of the present invention;

[0026] Figure 8 This is a schematic diagram of the principle structure of the wireless chip according to an embodiment of the present invention;

[0027] Figure 9 This is a schematic diagram of the principle structure of the amplifier circuit in an embodiment of the present invention;

[0028] Figure 10 This is a schematic diagram of the principle structure of the external gain circuit in an embodiment of the present invention;

[0029] Figure 11 This is a schematic diagram of the principle structure of the bandpass filter circuit according to an embodiment of the present invention.

[0030] Explanation of reference numerals in the attached figures:

[0031] 1-Main control module; 2-Power supply module; 3-Monitoring module; 4-Walking control module; 5-Wireless communication module; 6-Network host; 41-Drive control circuit; 42-Three-phase motor drive circuit; 43-Motor detection circuit; 44-Communication interface circuit; 45-Walking motor; 51-Wireless chip; 52-Amplifier circuit; 53-External gain circuit; 54-Bandpass filter circuit; 55-Bias power supply circuit. Detailed Implementation

[0032] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0033] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0034] In the description of this specification, references to terms such as "embodiment," "one embodiment," and "one implementation" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or implementation is included in at least one embodiment or illustrative implementation of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or implementation. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or implementations.

[0035] like Figure 1 As shown, the present invention provides a cable inspection system suitable for power distribution networks, comprising: a network host 6, a running track arranged along a cable tray, and a monitoring robot that can move on the running track. The monitoring robot includes a main control module 1, a power supply module 2, a monitoring module 3, a walking control module 4, and a wireless communication module 5. The controlled end of the walking control module 4 is connected to the main control module 1, the input end is connected to the power supply module 2, and the output end is connected to a walking motor 45 to control the direction and speed of the walking motor 45. The monitoring module 3 is connected to the main control module 1. When the monitoring robot moves on the running track, the monitoring module 3 collects cable information and transmits the cable information to the main control module 1. The wireless communication module 5 is connected to the main control module 1 for wireless communication between the main control module 1 and the network host 6.

[0036] It should be noted that by setting a running track along the cable tray, such as a track along the left or right side of the cable tray for the robot to slide on, the monitoring robot can move along the track. In use, the user can configure the robot's inspection frequency, path, and speed via a computer or other device connected to the network host 6. The main control module 1 receives the configuration information via the wireless communication module 5 and, based on the settings, controls the walking control module 4 to drive the robot's movement. Simultaneously, the monitoring module 3 is activated. As the monitoring robot moves along the running track, the monitoring module 3 collects cable information and transmits it to the main control module 1. The main control module 1 then transmits the cable information to the network host 6. In this way, the robot can... The robot performs inspections around the clock according to preset times and tasks. When the network host 6 receives cable information and detects an anomaly, it can alarm the staff. The staff only need to review and handle the alarm after receiving it. The main control module 1 can use a control chip of model DRA712. The monitoring robot can also be equipped with a storage module and a positioning module as needed. The positioning module can locate the position and is used when the inspection area is large to make it easier to confirm the location of the anomaly. The storage module is used to record the detected cable information. The robot is powered by DC battery. The power module 2 can use a voltage conversion chip to convert the battery voltage and provide working power to various parts.

[0037] In one embodiment of the present invention, the monitoring module 3 includes:

[0038] A temperature monitoring circuit, connected to the main control module 1, is used to transmit the collected temperature information to the main control module 1;

[0039] A distance sensor control circuit, connected to the main control module 1, is used to transmit the collected distance information to the cable tray monitoring point to the main control module 1;

[0040] An image acquisition circuit, connected to the main control module 1, is used to transmit the acquired image information to the main control module 1.

[0041] It should be noted that during the inspection, the robot collects cable temperature data in real time, captures images and videos of the cables inside the cable tray, and transmits them to the network host 6. Based on image recognition and cable temperature data collection, it identifies problematic areas, such as overheating or damage. Since the track is set along the left or right side of the cable tray, the distance between the robot and specific monitoring points on the cable tray, such as the other side of the tray or the support rods at the bottom of the tray, should be fixed. When the network host 6 detects a distance difference exceeding the set value, it can determine that the cable tray has deformed and can notify staff for confirmation.

[0042] In one embodiment of the present invention, the walking control module 4 includes a drive control circuit 41, a communication interface circuit 44, a motor detection circuit 43, and a three-phase motor drive circuit 42. The drive control circuit 41 is connected to the main control module 1 through the communication interface circuit 44. The controlled terminal of the three-phase motor drive circuit 42 is connected to the drive control circuit 41, the input terminal is connected to the power supply module 2, and the output terminal is connected to the walking motor 45. Under the control of the drive control circuit 41, the DC voltage of the power supply module 2 is converted into the three-phase power supply required by the walking motor 45, thereby controlling the walking direction and speed of the walking motor 45. The acquisition terminal of the motor detection circuit 43 is connected to the three-phase motor drive circuit 42, and the output terminal is connected to the drive control circuit 41.

[0043] It should be noted that, as Figure 2 As shown, the drive control circuit 41 receives instructions from the main control module 1 through the communication interface circuit 44, sends drive signals to the three-phase motor drive circuit 42, and simultaneously collects the voltage and current information of the motor. It then continues to adjust the motor power through the three-phase motor drive circuit 42 to ensure the motor rotates at the specified power, thereby ensuring movement at the set speed, forming a closed-loop control. In this way, the operator can divide key road sections in the program, dividing the cable tray into multiple segments and different levels. When running in the corresponding level section, the robot can use different speeds. Through the aforementioned closed-loop adjustment, precise speed adjustment can be ensured. Furthermore, it can be set that when an anomaly occurs, by adjusting the direction and speed, the robot can slowly and repeatedly monitor the abnormal part to confirm the result. The drive control circuit 41, as shown... Figure 3 As shown, the DRV8301 three-phase brushless DC motor driver U1 is used for gate driving of three-phase motors. It includes three half-bridge drivers and programmable overcurrent and overvoltage protection.

[0044] In one embodiment of the present invention, the motor detection circuit 43 includes a three-channel voltage acquisition circuit, a reference voltage circuit, and a three-channel current acquisition circuit. The reference voltage circuit includes a first operational amplifier. The first lead of the positive input terminal of the first operational amplifier is connected to the power module 2 via a first resistor, and the second lead is grounded via a second resistor. The output terminal of the first operational amplifier provides reference voltages for the three current acquisition circuits respectively. The negative input terminal of the first operational amplifier is connected to the output terminal of the first operational amplifier.

[0045] It should be noted that the three-channel voltage and current acquisition circuit can accurately acquire the voltage and current data of the three phases of the motor. The drive control circuit 41 can determine the motor's operating status, whether there is overcurrent or other conditions, and provide protection. Simultaneously, it can acquire the motor's operating power to determine the travel speed. The reference voltage circuit provides a reference voltage for the current acquisition circuit, such as... Figure 5As shown, the voltage output by the power module 2 is divided by the first resistor R37 and the second resistor R38, and then amplified by the first operational amplifier U9 to form a stable 1.65V reference voltage that is not affected by voltage fluctuations.

[0046] In one embodiment of the present invention, the three-phase motor drive circuit 42 includes first to sixth MOSFETs and first to third sensing resistors. The gates of the first to sixth MOSFETs are respectively connected to the six PWM output ports of the drive control circuit 41. The drains of the first, third, and fifth MOSFETs are respectively connected to the power module 2, and their sources are respectively connected to the drains of the second, fourth, and sixth MOSFETs. The source of the second MOSFET is grounded through the first sensing resistor, and its drain is connected to the first phase terminal of the walking motor 45. The source of the fourth MOSFET is grounded through the second sensing resistor, and its drain is connected to the second phase terminal of the walking motor 45. The source of the sixth MOSFET is grounded through the third sensing resistor, and its drain is connected to the third phase terminal of the walking motor 45. The input terminals of the three voltage acquisition circuits are respectively connected to the three phase terminals of the walking motor 45, and their output terminals are connected to the drive control circuit 41.

[0047] It should be noted that, as Figure 4As shown, in the three-phase motor drive circuit 42, the first MOSFET Q4 and the second MOSFET Q7 supply power to the first phase of the traveling motor 45. The drive control circuit 41 controls the interval switching of the first MOSFET Q4 and the second MOSFET Q7 through a PWM signal, thereby supplying power to the first phase. Changing the duty cycle of this PWM signal adjusts the conduction angle of the first MOSFET Q4 and the second MOSFET Q7, thus changing the supply voltage and current to the first phase. Similarly, the third MOSFET Q6 and the fourth MOSFET Q9 supply power to the second phase of the traveling motor 45. The drive control circuit 41 adjusts the power supply to the second phase of the traveling motor 45 by adjusting the PWM signal to the third MOSFET Q6 and the fourth MOSFET Q9. The fifth MOSFET Q5 and the sixth MOSFET Q8 supply power to the third phase of the traveling motor 45. The drive control circuit 41 adjusts the power supply to the third phase of the traveling motor 45 by adjusting the PWM signal to the fifth MOSFET Q5 and the sixth MOSFET Q8, thereby controlling the motor power and adjusting the traveling speed. By controlling the power supply through the orderly intervals of three sets of MOSFETs, the DC power from the battery is converted into AC power to drive the three-phase AC motor. Simultaneously, changing the power supply sequence (e.g., from the first to the third phase in reverse order, from the third to the first phase) allows for changes in motor direction, thus altering the robot's movement. In case of anomalies, by adjusting the direction and speed, the robot can perform slow and repeated monitoring of the abnormal portion to confirm the result and accurately acquire monitoring data. The first detection resistor R80, the second detection resistor R81, and the third detection resistor R82 are respectively set in the circuits corresponding to the three-phase motor terminals. The current through these three detection resistors represents the current through the three phases of the motor. Voltage acquisition employs a voltage divider method. In the first voltage acquisition circuit, capacitor C67, resistors R60 and R62 form a voltage divider circuit; in the second voltage acquisition circuit, capacitor C68, resistors R61 and R64 form a voltage divider circuit; and in the third voltage acquisition circuit, capacitor C69, resistors R63 and R65 form a voltage divider circuit.

[0048] In one embodiment of the present invention, the three current acquisition circuits have the same structure. The first current acquisition circuit includes a second operational amplifier and a third resistor. The positive input terminal of the second operational amplifier is connected to the reference voltage. The first and second terminals of the first detection resistor are respectively connected to the negative and positive input terminals of the second operational amplifier. The output terminal of the second operational amplifier is connected to the drive control circuit 41. The third resistor is disposed between the output terminal and the negative input terminal of the second operational amplifier.

[0049] It should be noted that the three current acquisition circuits respectively collect the current passing through three detection resistors to confirm the current status of the three phases of the motor, such as... Figure 4As shown, the first end of the first detection resistor R80 is the positive terminal, which is the connection terminal with the first phase of the walking motor 45 when the second MOSFET Q7 is turned on. The second end is the direction terminal, which is the ground terminal. The first and second ends of the first detection resistor R80 are connected to the negative input terminal and the positive input terminal of the second operational amplifier U11, respectively. The voltage across the first detection resistor R80 is input to the second operational amplifier U11 in reverse. At the same time, a stable 1.65V reference voltage, unaffected by fluctuations, is applied to the positive input terminal of the second operational amplifier U11. After differential amplification, the voltage is output to the drive control circuit 41, ensuring that the current detection is not affected by interference and is more stable.

[0050] In one embodiment of the present invention, the wireless communication module 5 includes a wireless chip 51, an amplifier circuit 52, an external gain circuit 53, and a bandpass filter circuit 54.

[0051] It should be noted that the wireless chip 51, such as Figure 8 As shown, the model number is CC1310F128RGZ, which is a low-power wireless SoC.

[0052] In one embodiment of the present invention, the amplifier circuit 52 includes a seventh MOS transistor and an eighth MOS transistor. The gate of the seventh MOS transistor is connected to the transmitting end of the wireless chip 51, the source is grounded, the first lead of the drain is connected to a 12V voltage via a first inductor, the second lead is connected to the gate of the eighth MOS transistor via a first capacitor and a first Π-shaped filter, the gate of the eighth MOS transistor is connected to a 5V voltage via a second inductor, the source is grounded, the first lead of the drain of the eighth MOS transistor is connected to a 12V voltage via a third inductor and a fourth inductor, and the second lead is connected to the transmitting antenna via a second Π-shaped filter and a second capacitor.

[0053] It should be noted that, as Figure 9As shown, the seventh MOSFET Q610 is used for primary amplification, and the eighth MOSFET Q611 is used for secondary amplification of the transmitted signal to improve the gain range. The eighth MOSFET Q611 is a high-power MOSFET. A 5V bias voltage is connected to the base of the eighth MOSFET Q611 through the second inductor L8 to ensure that the eighth MOSFET Q611 can still be biased when the transmitted signal is small, allowing for signal amplification and transmission. The first inductor L621 and the third inductor L623 are placed between the output terminals of the seventh and eighth MOSFETs Q610 and the 12V power supply to achieve... The high gain effect is achieved by using the first capacitor C753 and the second capacitor C758 to isolate the coupling and effectively reduce interference. The second Π-shaped filter and the first Π-shaped filter are used to filter out clutter signals and make the signal more stable. The first Π-shaped filter includes an inductor L620 and capacitors C755 and C102 connected to the two ends of the inductor L620, respectively. The second Π-shaped filter includes an inductor L622 and capacitors C757 and C100 connected to the two ends of the inductor L622, respectively. After being amplified by two stages of external PA, the output power of the wireless chip 51 can reach 15W.

[0054] In one embodiment of the present invention, the external gain circuit 53 includes a first transistor and a fifth to eighth inductor. The first lead of the base of the first transistor is connected to a 12V voltage via a fourth resistor and a fifth resistor. The second lead is connected to the first terminal of the fifth inductor. The first lead of the second terminal of the fifth inductor is grounded via a sixth inductor. The second lead is connected to a receiving antenna via a third capacitor. The emitter of the first transistor is grounded. The first lead of the collector of the first transistor is connected to a 12V voltage via a seventh inductor and a fifth resistor. The second lead is connected to the input terminal of the bandpass filter circuit 54 via an eighth inductor. The output terminal of the bandpass filter circuit 54 is connected to the receiving terminal of the wireless chip 51.

[0055] It should be noted that the external gain circuit 53, as shown in the figure, is a type of circuit that provides external gain. Figure 10 As shown, the signal received by the antenna first passes through the third capacitor C76, which is a coupling capacitor. Then, it is processed by the fifth inductor L624 and the sixth inductor L20 before being sent to the base of the first transistor Q612 to bias it. The 12V power supply is connected to the first transistor Q612 through the seventh inductor L19 and the fifth resistor R743 to amplify the received signal. After amplification, the signal is output from the first transistor Q612 through the eighth inductor C767 to the bandpass filter circuit 54. The gain achieved by the external gain circuit 53 can reach 15dB, which can improve the noise figure of the receiver and thus increase the communication distance. The bandpass filter circuit 54 is as follows... Figure 11 As shown, by combining two sets of inductors and capacitors in series and parallel, out-of-band signal suppression can be achieved, with an out-of-band suppression of up to 30 dB.

[0056] In one embodiment of the present invention, the wireless communication module 5 further includes a bias power supply circuit 55, the input terminal of which is connected to the power module 2, the controlled terminal is connected to the wireless chip 51, and the output terminal is connected to the amplifier circuit 52 and the external gain circuit 53 respectively.

[0057] It should be noted that, as Figure 7 As shown, the bias power supply to the amplifier circuit 52 and the external gain circuit 53 is controlled by the wireless chip 51, which turns on when transmitting and receiving signals, providing the 12V power supply and 5V bias voltage of the power module 2 to the amplifier circuit 52 and the external gain circuit 53.

[0058] While the disclosure is as stated above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of this disclosure, and all such changes and modifications will fall within the protection scope of this invention.

Claims

1. A cable detection system suitable for use in power distribution networks, characterized in that, include: The system includes a network host (6), a running track along the cable tray, and a monitoring robot that can move on the running track. The monitoring robot includes a main control module (1), a power module (2), a monitoring module (3), a walking control module (4), and a wireless communication module (5). The controlled end of the walking control module (4) is connected to the main control module (1), the input end is connected to the power module (2), and the output end is connected to the walking motor (45) to control the direction and speed of the walking motor (45). The monitoring module (3) is connected to the main control module (1). When the monitoring robot moves on the running track, the monitoring module (3) collects cable information and transmits the cable information to the main control module (1). The wireless communication module (5) is connected to the main control module (1) for wireless communication between the main control module (1) and the network host (6).

2. The cable detection system suitable for use in power distribution networks according to claim 1, characterized in that, The monitoring module (3) includes: A temperature monitoring circuit is connected to the main control module (1) and is used to transmit the collected temperature information to the main control module (1); The distance sensor control circuit is connected to the main control module (1) and is used to transmit the collected distance information to the cable tray monitoring point to the main control module (1); The image acquisition circuit is connected to the main control module (1) and is used to transmit the acquired image information to the main control module (1).

3. The cable detection system suitable for use in power distribution networks according to claim 2, characterized in that, The walking control module (4) includes a drive control circuit (41), a communication interface circuit (44), a motor detection circuit (43), and a three-phase motor drive circuit (42). The drive control circuit (41) is connected to the main control module (1) through the communication interface circuit (44). The controlled end of the three-phase motor drive circuit (42) is connected to the drive control circuit (41), the input end is connected to the power supply module (2), and the output end is connected to the walking motor (45). Under the control of the drive control circuit (41), the DC voltage of the power supply module (2) is converted into the three-phase power supply required by the walking motor (45), and the walking direction and speed of the walking motor (45) are controlled. The acquisition end of the motor detection circuit (43) is connected to the three-phase motor drive circuit (42), and the output end is connected to the drive control circuit (41).

4. The cable detection system suitable for use in power distribution networks according to claim 3, characterized in that, The motor detection circuit (43) includes a three-channel voltage acquisition circuit, a reference voltage circuit, and a three-channel current acquisition circuit. The reference voltage circuit includes a first operational amplifier. The first lead of the positive input terminal of the first operational amplifier is connected to the power module (2) through a first resistor, and the second lead is grounded through a second resistor. The output terminal of the first operational amplifier provides reference voltages for the three current acquisition circuits respectively. The negative input terminal of the first operational amplifier is connected to the output terminal of the first operational amplifier.

5. The cable detection system suitable for use in power distribution networks according to claim 4, characterized in that, The three-phase motor drive circuit (42) includes first to sixth MOS transistors and first to third detection resistors. The gates of the first to sixth MOS transistors are respectively connected to the six PWM output ports of the drive control circuit (41). The drains of the first, third and fifth MOS transistors are respectively connected to the power module (2), and the sources are respectively connected to the drains of the second, fourth and sixth MOS transistors. The source of the second MOS transistor is grounded through the first detection resistor, and the drain is connected to the first phase terminal of the walking motor (45). The source of the fourth MOS transistor is grounded through the second detection resistor, and the drain is connected to the second phase terminal of the walking motor (45). The source of the sixth MOS transistor is grounded through the third detection resistor, and the drain is connected to the third phase terminal of the walking motor (45). The input terminals of the three voltage acquisition circuits are respectively connected to the three phase terminals of the walking motor (45), and the output terminals are connected to the drive control circuit (41).

6. The cable detection system suitable for use in power distribution networks according to claim 5, characterized in that, The three current acquisition circuits have the same structure. The first current acquisition circuit includes a second operational amplifier and a third resistor. The positive input terminal of the second operational amplifier is connected to the reference voltage. The first and second terminals of the first detection resistor are respectively connected to the negative and positive input terminals of the second operational amplifier. The output terminal of the second operational amplifier is connected to the drive control circuit (41). The third resistor is set between the output terminal and the negative input terminal of the second operational amplifier.

7. The cable detection system suitable for use in power distribution networks according to claim 1, characterized in that, The wireless communication module (5) includes a wireless chip (51), an amplifier circuit (52), an external gain circuit (53), and a bandpass filter circuit (54).

8. The cable detection system suitable for use in power distribution networks according to claim 7, characterized in that, The amplifier circuit (52) includes a seventh MOS transistor and an eighth MOS transistor. The gate of the seventh MOS transistor is connected to the transmitting end of the wireless chip (51), the source is grounded, the first lead of the drain is connected to a 12V voltage through a first inductor, the second lead is connected to the gate of the eighth MOS transistor through a first capacitor and a first Π-shaped filter, the gate of the eighth MOS transistor is connected to a 5V voltage through a second inductor, the source is grounded, the first lead of the drain of the eighth MOS transistor is connected to a 12V voltage through a third inductor and a fourth inductor, and the second lead is connected to the transmitting antenna through a second Π-shaped filter and a second capacitor.

9. The cable detection system suitable for use in power distribution networks according to claim 8, characterized in that, The external gain circuit (53) includes a first transistor and inductors five through eight. The first lead of the base of the first transistor is connected to a 12V voltage via resistors four and five. The second lead is connected to the first end of the fifth inductor. The first lead of the second end of the fifth inductor is grounded via an inductor six. The second lead is connected to the receiving antenna via a capacitor three. The emitter of the first transistor is grounded. The first lead of the collector of the first transistor is connected to a 12V voltage via an inductor seven and resistor five. The second lead is connected to the input of the bandpass filter circuit (54) via an inductor eight. The output of the bandpass filter circuit (54) is connected to the receiving end of the wireless chip (51).

10. The cable detection system suitable for use in power distribution networks according to claim 9, characterized in that, The wireless communication module (5) further includes a bias power supply circuit (55), the input end of which is connected to the power supply module (2), the controlled end is connected to the wireless chip (51), and the output end is connected to the amplifier circuit (52) and the external gain circuit (53) respectively.

Images