Cable channel three-dimensional data acquisition device
By designing a data acquisition device that combines a rotating motor, rotor, magnetic suction structure, and support wheel structure, the problems of low efficiency and safety in three-dimensional data acquisition of underground cable channels were solved. It enables flexible data acquisition in complex terrain and narrow spaces, reduces energy consumption, and improves the adaptability and safety of the equipment.
Patent Information
- Application Number
- CN202520429726.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-12
- Publication Date
- 2026-01-02
- Estimated Expiration
- 2035-03-12
AI Technical Summary
Existing technologies are insufficient for efficient and safe 3D data acquisition of underground cable tunnels, especially in complex terrain and narrow spaces. Traditional equipment is inefficient, costly, and poses safety risks.
A three-dimensional data acquisition device for cable channels was designed, which combines a rotary motor, rotor, magnetic structure and support wheel structure to achieve multi-modal data acquisition. It can travel in narrow spaces and is positioned and attached to the top of the channel for energy saving. This allows drones to be attached to the top of the channel for data acquisition, enabling the drone to stay at a fixed point on the ceiling, reducing energy consumption and adapting to complex underground environments.
It enables flexible 3D data acquisition in complex underground environments, reduces energy consumption, improves the adaptability and safety of the equipment, and breaks through the limitations of traditional drones in low-lying passages.
Smart Images
Figure CN223751130U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to underground cable passage detection technical field, concretely related to a kind of cable passage three-dimensional data acquisition device. BACKGROUND
[0002] With the acceleration of urbanization, power cable passage as an important part of urban underground pipe network, undertakes the key function of electric energy transmission. Since cable passage is in closed, humid, complex electromagnetic interference environment for a long time, prone to insulation aging, partial discharge, mechanical damage and other hidden dangers, traditional manual inspection method has been difficult to meet the efficient, accurate operation and maintenance needs. In recent years, the combination of three-dimensional modeling and GIS (geographic information system) technology provides a new direction for cable passage digital management, which relies on high-precision, multi-dimensional field data acquisition.
[0003] The front cable passage data acquisition mainly relies on the following technical means:
[0004] Manual detection equipment: operating personnel carry handheld laser range finder, camera and other equipment into the passage, and generate rough three-dimensional model through segmented shooting and measurement. This way is inefficient, and there is a risk to personal safety.
[0005] Track inspection robot: through pre-laid guide rail to carry camera and sensor, realize automatic data acquisition. But this kind of equipment deployment cost is high, and cannot adapt to complex terrain such as vertical shaft, multi-branch passage, and flexibility is limited.
[0006] General unmanned aerial vehicle scheme: some manufacturers try to use small multi-rotor unmanned aerial vehicles for passage inspection, but their design is not optimized for underground environment, and there are significant defects:
[0007] Poor space adaptability: the rotor expands wide, and it is difficult to pass through narrow maintenance wellhead;
[0008] Endurance bottleneck: high power consumption in hovering state, single task duration is less than 10 minutes, which cannot complete long distance passage modeling.
[0009] For the problems in the related art, no effective solution has been proposed so far. UTILITY MODEL CONTENT
[0010] For the problems in the related art, the utility model proposes a kind of cable passage three-dimensional data acquisition device to overcome the above technical problems existing in the prior art.
[0011] Therefore, the specific technical scheme adopted by the utility model is as follows:
[0012] The utility model provides a kind of cable passage three-dimensional data acquisition device, including machine body structure, machine body structure includes rack, rotating motor, rotor, control module, rotating motor is fixedly installed on rack, the driving end of rotating motor is connected with rotor, one end of rack is fixedly connected with control module, the both ends of rack are fixedly connected with detection structure, the both sides of detection structure are connected with adjusting structure, adjusting structure is respectively connected with support wheel structure and magnetic attraction structure, and magnetic attraction structure is matched with magnetic metal plate.
[0013] Further, the detection structure includes a connecting slot, a connecting chuck, and a detection module. The connecting chuck is magnetically attached to the connecting slot, and the detection module is connected to the connecting chuck. The connecting slot is fixedly connected to the both ends of the rack.
[0014] Further, the adjusting structure includes a shaft body, a rotating head, an electric push rod, a cross rod, an extension rod, and a connecting shaft. Two rotating heads are rotatably connected to the shaft body. The electric push rod is fixedly connected to one side of the shaft body. The driving end of the electric push rod is rotatably connected to the cross rod. The extension rod is slidably connected to the cross rod. The connecting shaft is fixedly connected to one end of the extension rod. The shaft body is fixedly connected to the both sides of the connecting slot at the both ends of the rack.
[0015] Further, the support wheel structure includes a first transmission rod, a driving motor, and a driving wheel. The driving motor is fixedly connected to one end of the first transmission rod. The driving end of the driving motor is connected to the driving wheel. The first transmission rod is fixedly connected to the rotating head.
[0016] Further, the magnetic attraction structure includes a second transmission rod, a fixed shaft, and an electromagnet. The fixed shaft is fixedly connected to one end of the second transmission rod. The electromagnet is fixedly connected to the fixed shaft. The second transmission rod is fixedly connected to the rotating head.
[0017] The utility model has the advantages that:
[0018] Multi-modal maneuverability: The adjusting structure quickly switches between ground movement and air flight mode, breaking the limitation of traditional unmanned aerial vehicles that cannot operate in low channels, and adapting to complex underground environments.
[0019] Energy-saving ceiling hovering: The magnetic attraction structure allows the unmanned aerial vehicle to be attracted to the top metal plate of the channel, reducing hovering power consumption and prolonging data collection time.
[0020] Narrow space adaptability: After the support wheel structure is folded, the overall width is reduced, and the standard inspection wellhead can be crossed. After unfolding, the driving wheel touches the ground and moves stably, avoiding the risk of rotor collision. BRIEF DESCRIPTION OF DRAWINGS
[0021] In order to more clearly illustrate the technical schemes in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings described in the following embodiments are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.
[0022] Figure 1 It is a main body structure schematic diagram of a cable passage three-dimensional data acquisition device according to an embodiment of the present application.
[0023] Figure 2 It is a detection structure schematic diagram of a cable passage three-dimensional data acquisition device according to an embodiment of the present application.
[0024] Figure 3 It is a magnetic attraction structure schematic diagram of a cable passage three-dimensional data acquisition device according to an embodiment of the present application.
[0025] Figure 4 It is an adjustment structure schematic diagram of a cable passage three-dimensional data acquisition device according to an embodiment of the present application.
[0026] In the drawings:
[0027] 1, machine body structure; 101, rack; 102, rotary motor; 103, rotor; 104, control module; 2, detection structure; 201, connecting groove; 202, connecting chuck; 203, detection module; 3, adjustment structure; 301, shaft body; 302, rotary head; 303, electric push rod; 304, cross rod; 305, extension rod; 306, connecting shaft; 4, support wheel structure; 401, first transmission rod; 402, drive motor; 403, drive wheel; 5, magnetic attraction structure; 501, second transmission rod; 502, fixed shaft; 503, electromagnet; 6, magnetic attraction metal plate. DETAILED DESCRIPTION
[0028] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.
[0029] According to the embodiments of the present application, a cable passage three-dimensional data acquisition device is provided.
[0030] Embodiment one;
[0031] As Figures 1-4As shown, the cable passage three-dimensional data acquisition device according to the embodiment of the utility model, including body structure 1, body structure 1 includes frame 101, rotating motor 102, rotor 103, control module 104, frame 101 is fixedly installed with rotating motor 102, and the drive end of rotating motor 102 is connected with rotor 103, and one end of frame 101 is fixedly connected with control module 104, and both ends of frame 101 are fixedly connected with detection structure 2, and both sides of detection structure 2 are connected with adjusting structure 3, and adjusting structure 3 is connected with support wheel structure 4 and magnetic attraction structure 5 respectively, magnetic attraction structure 5 is matched with magnetic attraction metal plate 6, frame 101 is provided with four rotating motors 102, the drive shaft of rotating motor 102 is connected with rotor 103, control module 104 is built-in control chip and battery module, and is used for power supply and control to the body, detection structure 2 is detachable design, can be conveniently installed and disassembled, has cable passage data acquisition function, adjusting structure 3 can be expanded and rolled up with support wheel structure 4 and magnetic attraction structure 5, prevents the unmanned aerial vehicle from landing and driving, simultaneously, magnetic attraction metal plate 6 is installed at the top end of the cable passage, so that the unmanned aerial vehicle can be ceiling-mounted in the top end of the passage for temporary stay, data acquisition is carried out by staying scanning, prevents the unmanned aerial vehicle from hovering for a long time to cause excessive energy consumption.
[0032] Detection structure 2 includes connecting groove 201, connecting chuck 202, detection module 203, connecting chuck 202 is magnetically attracted and clamped on connecting groove 201, detection module 203 is connected on connecting chuck 202, connecting groove 201 is fixedly connected at both ends of frame 101, connecting chuck 202 is introduced by the engagement groove of connecting groove 201 and is magnetically attracted, then rotating connecting chuck 202 makes it clamped with connecting groove 201, detection module 203 is fixedly installed on connecting chuck 202, detection module 203 is generally integrated 360 ° rotating holder, carries LiDAR, binocular camera, temperature and humidity sensor array, and detection module 203 can be replaced according to actual demand.
[0033] The adjusting structure 3 comprises a shaft body 301, a rotating head 302, an electric push rod 303, a cross rod 304, an extension rod 305 and a connecting shaft 306, two rotating heads 302 are rotationally connected on the shaft body 301, the electric push rod 303 is fixedly connected on one side of the shaft body 301, the cross rod 304 is rotationally connected at a driving end of the electric push rod 303, the extension rod 305 is slidably connected on the cross rod 304, the connecting shaft 306 is fixedly connected at one end of the extension rod 305, the shaft body 301 is fixedly connected at two sides of the connecting clamping groove 201 at two ends of the rack 101, the supporting wheel structure 4 comprises a first transmission rod 401, a driving motor 402 and a driving wheel 403, the driving motor 402 is fixedly connected at one end of the first transmission rod 401, the driving wheel 403 is connected at a driving end of the driving motor 402, the first transmission rod 401 is fixedly connected with the rotating head 302, the magnetic attraction structure 5 comprises a second transmission rod 501, a fixed shaft 502 and an electromagnet 503, the fixed shaft 502 is fixedly connected at one end of the second transmission rod 501, the electromagnet 503 is fixedly connected on the fixed shaft 502, the second transmission rod 501 is fixedly connected at the rotating head 302 of the adjusting structure 3, the electric push rod 303 of the adjusting structure 3 can drive a cross point of the cross rod 304, so that the included angle of the cross rod 304 is changed, and then the relative position of the extension rod 305 and the cross rod 304 is changed, here, the connecting shaft 306 is connected on the first transmission rod 401 and the second transmission rod 501 in the supporting wheel structure 4 and the magnetic attraction structure 5 respectively, the included angle of the cross rod 304 is changed, so that the included angle of the transmission rod is changed, and then the transmission rod is unfolded, in the supporting wheel structure 4, the driving wheel 403 can contact the ground, through the driving motor 402, the body structure 1 has the ground moving function, so that the unmanned aerial vehicle can pass through the channel with low height by land, and in the magnetic attraction structure 5, the electromagnet 503 of the second transmission rod 501 can be raised and unfolded, and then the electromagnet 503 is electromagnetically attracted on the fixed-point magnetic metal plate 6, so that the unmanned aerial vehicle is fixedly and top-stayed, and then the unmanned aerial vehicle can scan the internal environment of the channel downward at the top of the channel, and the energy consumption of hovering is reduced.
[0034] In order to facilitate the understanding of the above technical scheme of the present application, the working principle or operation mode of the present application in the actual process will be described in detail.
[0035] In summary, by means of the above technical scheme of the utility model, the rotating motor 102 of the rack 101 is provided with four, the drive shaft of the rotating motor 102 is connected with the rotor 103, the control module 104 is built-in control chip and battery module, for the power supply and control of the machine body, the detection structure 2 is detachable design, can carry out convenient installation and disassembly, has cable channel data acquisition function, the adjusting structure 3 can cooperate with the support wheel structure 4 and the magnetic attraction structure 5 and expand and contract, prevent the unmanned aerial vehicle from landing and driving, simultaneously, the magnetic attraction metal plate 6 is installed at the top of the cable channel, so that the unmanned aerial vehicle can be ceiling in the top of the channel and temporarily stay, stay scanning and data acquisition, prevent the unmanned aerial vehicle from hovering for a long time and cause excessive energy consumption, the connecting chuck 202 is guided into magnetic attraction through the engagement groove of the connecting clamping groove 201, then the connecting chuck 202 is rotated to be clamped with the connecting clamping groove 201, the detection module 203 is fixedly installed on the connecting chuck 202, the detection module 203 is generally integrated 360 ° rotating holder, carries LiDAR, binocular camera, temperature and humidity sensor array, the detection module 203 can be replaced according to actual demand, the electric push rod 303 of the adjusting structure 3 can drive the intersection of the cross rod 304, so that the included angle of the cross rod 304 changes, and then the relative position of the extension rod 305 and the cross rod 304 is changed, here, the connecting shaft 306 is connected on the first transmission rod 401 and the second transmission rod 501 in the support wheel structure 4 and the magnetic attraction structure 5 respectively, the included angle of the cross rod 304 changes, the included angle of the transmission rod changes, and then the transmission rod is expanded, the driving wheel 403 can contact the ground in the support wheel structure 4, the body structure 1 has ground moving function through the driving motor 402, so that the unmanned aerial vehicle can pass through the channel with low height, and in the magnetic attraction structure 5, the electromagnet 503 of the second transmission rod 501 can be raised and expanded, and then the electromagnet 503 is electromagnetically attracted on the fixed-point magnetic attraction metal plate 6, realizing the fixed-point ceiling stay of the unmanned aerial vehicle, and then the unmanned aerial vehicle can scan the internal environment of the channel at the top of the channel, reducing the energy consumption of hovering.
[0036] The above only describes preferred embodiments of the utility model, and does not limit the utility model, and any modification, equivalent replacement, improvement, etc. within the spirit and principle of the utility model should be included in the protection scope of the utility model.
Claims
1. A cableway three-dimensional data acquisition device, characterized by, The utility model relates to a kind of unmanned aerial vehicle, including body structure (1), the body structure (1) includes rack (101), rotating motor (102), rotor (103), control module (104), rotating motor (102) is fixedly installed on the rack (101), the driving end of rotating motor (102) is connected with rotor (103), one end of the rack (101) is fixedly connected with control module (104), the both ends of the rack (101) are fixedly connected with detection structure (2), the both sides of detection structure (2) are connected with adjusting structure (3), adjusting structure (3) is respectively connected with support wheel structure (4) and magnetic attraction structure (5), magnetic attraction structure (5) is matched with magnetic metal plate (6).
2. The cable channel 3D data acquisition apparatus according to claim 1, wherein, The detection structure (2) includes connecting slot (201), connecting chuck (202), detection module (203), the connecting chuck (202) is magnetically attracted and clamped on the connecting slot (201), the detection module (203) is connected to the connecting chuck (202), and the connecting slot (201) is fixedly connected to the both ends of the rack (101).
3. The cableway 3D data acquisition device of claim 2, wherein, The adjusting structure (3) includes shaft body (301), rotating head (302), electric push rod (303), cross rod (304), extension rod (305), connecting shaft (306), two rotating heads (302) are rotatably connected to the shaft body (301).
4. The cableway 3D data acquisition device of claim 3, wherein, One side of the shaft body (301) is fixedly connected with the electric push rod (303), the driving end of the electric push rod (303) is rotatably connected with the cross rod (304), and the extension rod (305) is slidably connected to the cross rod (304).
5. The cableway 3D data acquisition device of claim 4, wherein, One end of the extension rod (305) is fixedly connected with the connecting shaft (306), and the shaft body (301) is fixedly connected to the both sides of the connecting slot (201) at the both ends of the rack (101).
6. A cableway three-dimensional data acquisition device according to claim 5, characterized in that, The support wheel structure (4) includes first transmission rod (401), driving motor (402), driving wheel (403), one end of the first transmission rod (401) is fixedly connected with driving motor (402), the driving end of the driving motor (402) is connected with driving wheel (403), and the first transmission rod (401) is fixedly connected with the rotating head (302).
7. A cableway three-dimensional data acquisition device according to claim 6, characterized in that, The magnetic attraction structure (5) includes second transmission rod (501), fixed shaft (502), electromagnet (503), one end of the second transmission rod (501) is fixedly connected with fixed shaft (502).
8. The cableway 3D data acquisition device of claim 7, wherein, The electromagnet (503) is fixedly connected to the fixed shaft (502), and the second transmission rod (501) is fixedly connected to the rotating head (302).