Inspection robot and cable channel inspection system
By designing an inspection robot and cable trench inspection system, and utilizing the rolling contact of the walking mechanism and information acquisition components, the problems of low inspection efficiency and poor accuracy caused by the narrowness of cable trenches were solved, achieving efficient and accurate cable fault detection.
Patent Information
- Application Number
- CN202422929089.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-28
- Publication Date
- 2026-01-02
- Estimated Expiration
- 2034-11-28
AI Technical Summary
The cable trench is a small space located underground, making manual inspection inefficient and inaccurate, which makes it difficult to find cable faults.
Design an inspection robot equipped with a walking mechanism and an information acquisition component. When the robot moves along the track, the information acquisition component rolls into contact with the cable to collect cable information, including detection of short circuits, open circuits, smoke, and damage. Combined with an elastic reset mechanism, it adapts to changes in the distance between the track and the cable.
It improves the efficiency and accuracy of cable inspection, reduces jamming, facilitates fault finding, and achieves efficient and accurate cable condition monitoring.
Smart Images
Figure CN223757912U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of measurement, Internet of Things, and electric communication, and in particular to a patrol robot and a cable trench patrol system. BACKGROUND
[0002] A cable trench is an underground pipeline for laying and replacing power or telecommunication cable facilities, and is also an enclosure structure for laying cable facilities, having a rectangular, circular, or arched pipeline structure. The cables are arranged in the cable trench. Since the cables may be damaged, short-circuiting, and sparking, it is necessary to patrol and detect the cables in the cable trench.
[0003] Due to the small space of the cable trench, which is mostly set underground, an operation and maintenance personnel needs to open a cable cover plate to observe the cable equipment in the cable trench, and relies on a small camera to record the situation of the cables.
[0004] However, due to the concealment of the cable line and the great influence of manual shooting on the environment and experience, the shooting efficiency is low, and manual shooting has great limitations, which may result in unclear shooting and difficulty in finding cable faults, thereby causing inaccurate cable patrol. CONTENT OF THE INVENTION
[0005] The present application provides a patrol robot and a cable trench patrol system to improve the patrol efficiency and accuracy of the cables in the cable trench.
[0006] In a first aspect, the present application provides a patrol robot, comprising:
[0007] A robot body has a walking mechanism configured to cooperate with a track located in a cable trench, so that the robot body moves along the extension direction of the track under the action of a driving force through the walking mechanism;
[0008] An information acquisition assembly is rotationally connected to the robot body, and can rotate relative to the robot body about a defined axis under the action of a driving force, so that the information acquisition assembly is in rolling contact with the cables in the cable trench to acquire information and working conditions of the cables.
[0009] In a second aspect, the present application provides a cable trench patrol system, comprising a track and the above-mentioned patrol robot.
[0010] The track is arranged in the cable trench and extends along the extension direction of the cable trench, and the patrol robot is configured to move along the extension direction of the track. BRIEF DESCRIPTION OF DRAWINGS
[0011] The accompanying drawings, which are incorporated herein and constitute part of this specification, illustrate embodiments consistent with the application and, together with the description, further serve to explain the principles of the application.
[0012] Figure 1 A structural schematic view of a patrol robot provided in the present application;
[0013] Figure 2 A structural schematic view of a patrol robot provided in the present application; Figure 1 A structural schematic view of a patrol robot provided in the present application;
[0014] Figure 3 A structural schematic view of a patrol robot provided in the present application; Figure 1 A structural schematic view of a patrol robot provided in the present application;
[0015] BRIEF DESCRIPTION OF DRAWINGS
[0016] 10 - patrol robot;
[0017] 100 - robot body; 110 - walking mechanism; 111 - wheel carrier; 112 - walking wheel; 120 - driving motor; 130 - flexible transmission assembly; 131 - driving wheel; 132 - driven wheel; 133 - flexible member; 140 - outer shell; 141 - searchlight; 142 - camera; 150 - top shell;
[0018] 200 - information collection assembly; 210 - rotating member; 220 - information collection unit; 230 - balancing wheel; 240 - elastic return mechanism; 241 - mounting seat; 242 - elastic member; 243 - rotating seat;
[0019] 300 - track.
[0020] The specific embodiments have been shown and described in the foregoing disclosure and illustrate the generic principles of the application. The descriptions and drawings are not intended to limit the scope of the application but merely to explain the generic principles of the application. Other embodiments having more or fewer steps, or where additional or other steps perform the same or similar functions, are likewise intended to fall within the scope of the application. DETAILED DESCRIPTION
[0021] The exemplary embodiments will be described in detail herein with reference to the attached drawings. The description of the exemplary embodiments is intended to apply to all alternative embodiments, as would be understood by one skilled in the art. The following exemplary embodiments are described herein with reference to the figures. Wherever possible, the same reference numbers are used in the drawings and the following description to illustrate the same or similar components. It should be noted that the functionality related to one processing step can be carried out by more than one component and / or more than one processing step can be carried out by the same component.
[0022] The cable trench is an underground pipeline for laying and replacing power or telecommunication cable facilities, and is an enclosure structure for laying cable facilities, having a rectangular, circular, arched and other pipeline structure forms. The cables are arranged in the cable trench. Since the cables in the cable trench may be damaged, short-circuiting and sparking, etc., it is necessary to patrol and detect the cables in the cable trench.
[0023] However, since the cable trench space is small and mostly set underground, when manually patrolling and detecting the cables in the cable trench, the operation and maintenance personnel need to open the cable cover plate to observe the cable equipment in the cable trench, and rely on a small camera to record the situation of the cables. Since the cable line is hidden and the manual shooting is greatly affected by the environment and experience, there is a problem of low shooting efficiency, and the manual shooting has great limitations, which may cause unclear shooting and difficulty in finding cable faults, and there is a problem of inaccurate cable inspection.
[0024] The present application provides a kind of inspection robot and cable trench inspection system, by being arranged on the robot body of inspection robot walking mechanism, make robot body under the action of driving force move along the track in cable trench by walking mechanism, in addition, information acquisition component is arranged on the inspection robot, information acquisition component is rotationally connected with robot body, and is rollingly connected with the cable in cable trench, when robot body moves along the track in cable trench, information acquisition component is inspected to cable along the direction of cable extension, and the inspection efficiency is high, and accurate.
[0025] The technical solutions of the present application and how the technical solutions of the present application solve the above technical problems will be described in detail below with specific examples. The following specific examples can be combined with each other, and the same or similar concepts or processes may not be described again in some examples. The embodiments of the present application will be described below with reference to the drawings.
[0026] As Figure 1As shown, the inspection robot 10 comprises a robot body 100 and an information acquisition assembly 200, wherein the robot body 100 has a walking mechanism 110 configured to cooperate with a track 300 located in a cable trench, so that the robot body 100 moves along the extension direction of the track 300 under the action of a driving force; the information acquisition assembly 200 is rotationally connected with the robot body 100, and can rotate relative to the robot body 100 about a defined axis under the action of a driving force, so that the information acquisition assembly 200 is in rolling contact with the cable in the cable trench to acquire information and working status of the cable; the robot body 100 drives the entire inspection robot 10 to move along the extension direction of the track 300 in the cable trench, so that the information acquisition assembly 200 rolls on the cable, thereby enabling the information acquisition assembly 200 to inspect the cable along the extension direction of the cable. This inspection operation mode avoids the jamming caused by direct contact between the information acquisition assembly and the cable, so that the information acquisition of the cable by the inspection robot 10 is more smooth during the inspection process, the inspection efficiency is high, and the fault finding of the cable is convenient, and the inspection of the cable is more accurate.
[0027] In some embodiments, as shown in Figure 1 As the robot body 100 moves along the extension direction of the track 300, the information acquisition assembly 200 moves along the extension direction of the cable; when the distance between the track 300 and the cable in the cable trench becomes narrower, the information acquisition assembly 200 rotates counterclockwise relative to the robot body 100 under the action of a driving force; when the distance between the track 300 and the cable in the cable trench becomes wider, the information acquisition assembly 200 rotates clockwise relative to the robot body 100 under the action of a driving force, so that the inspection robot 10 inspects the cable in the cable trench more accurately.
[0028] In addition, as shown in Figure 1 The information acquisition assembly 200 in the inspection robot 10 comprises a rotating member 210, an information acquisition unit 220, and two balancing wheels 230; one end of the rotating member 210 is rotationally connected with the robot body 100, the information acquisition unit 220 is arranged at the other end of the rotating member 210, the two balancing wheels 230 are respectively located at the two sides of the information acquisition unit 220 along the extension direction of the cable, and the balancing wheels 230 are configured to be in rolling contact with the cable.
[0029] In some embodiments, the shape of the rotating member 210 includes, but is not limited to, shaft-shaped, slat-shaped, etc. The connection between the rotating member 210 and the robot body 100, and the connection between the rotating member 210 and the information acquisition unit 220 are all rotational connections. When the distance between the track 300 and the cable in the cable trench narrows, the rotating member 210 rotates counterclockwise relative to the robot body 100, thereby causing the information acquisition unit 220 and the balance wheel 230 to rotate counterclockwise relative to the robot body 100 around the rotating member 210. When the distance between the track 300 and the cable in the cable trench widens, the rotating member 210 rotates clockwise relative to the robot body 100, thereby causing the information acquisition unit 220 and the balance wheel 230 to rotate clockwise relative to the robot body 100 around the rotating member 210.
[0030] In some embodiments, the connection between the rotating component 210 and the robot body 100, and the connection between the rotating component 210 and the information acquisition unit 220 are both rotational connections. The connection methods include, but are not limited to, hinge connections, universal joint connections, linkage connections, coupling connections, etc.
[0031] In some embodiments, in order to achieve a more stable connection between the robot body 100 and the information acquisition unit 220, two or more rotating parts 210 can be used, with one end of each rotating part 210 rotatably connected to the robot body 100 and the other end rotatably connected to the information acquisition unit 220.
[0032] In some embodiments, the information acquisition component 200 of the inspection robot 10 may not include the balance wheel 230, or one or more balance wheels 230 may be provided on both sides of the information acquisition unit 220. For example, Figure 1 As shown, the information acquisition component 200 is equipped with two balance wheels 230, located on both sides of the information acquisition unit 220. When the distance between the track 300 and the cable changes in the cable trench, the rotating component 210 rotates relative to the robot body 100, thereby causing the information acquisition unit 220 and the balance wheels 230 to rotate relative to the robot body 100 around the rotating component 210. This allows the balance wheels 230 in the information acquisition unit 220 to directly contact the cable, thus enabling a rolling connection between the information acquisition unit 220 and the cable. Compared to the case where the information acquisition component 200 does not have balance wheels 230, this reduces the frictional resistance caused by the direct contact between the information acquisition unit 220 and the cable, preventing the inspection robot 10 from getting stuck during the inspection process. Furthermore, the balance wheels 230 are supported by the cable, thereby reducing the axial tension on the rotating component 210. In addition, the balance wheels 230 also assist the robot body 100 in stopping.
[0033] The information acquisition unit 220 comprises at least one of a short-circuit detection component, an open-circuit detection component, a smoke detection component, and a cable surface damage detection component, so that the inspection robot 10 has higher inspection efficiency, and it is more convenient to find various faults in the cable, and the inspection is more accurate.
[0034] In some embodiments, different detection components can be arranged on the information acquisition unit 220 according to the needs of the cable inspection data in the cable trench. When it is necessary to detect the overcurrent short circuit or open circuit of the cable, a short-circuit or open-circuit detection component, such as a magneto-electric sensor, a Hall sensor, a resistance sensor, an electronic circuit current sensor, a direct current leakage current sensor, etc., can be arranged on the information acquisition unit 220. When it is necessary to detect the short-circuit sparking of the cable, a smoke detection component, such as an ionic smoke sensor, a photoelectric smoke sensor, a laser smoke sensor, etc., can be arranged on the information acquisition unit 220. When it is necessary to detect the surface damage of the cable, a cable surface damage detection component, such as a cable detector, can be arranged on the information acquisition unit 220. In addition, when it is necessary to detect the current pressure of the cable, a pressure detection component, such as an electromagnetic voltage transformer, a Hall voltage sensor, a voltage dividing voltage sensor, an optical fiber voltage sensor, etc., can be arranged on the information acquisition unit 220. When it is necessary to detect the temperature of the cable, a temperature detection component, such as an infrared temperature sensor, a thermocouple sensor, a thermal imager sensor, an optical fiber sensor, a photoelectric sensor, etc., can be arranged on the information acquisition unit 220.
[0035] As shown in Figure 1 The inspection robot 10 further comprises an elastic reset mechanism 240, one end of the elastic reset mechanism 240 is connected with the robot body 100, and the other end is connected with the information acquisition assembly 200. The length of the elastic reset mechanism 240 is adjustable. The elastic reset mechanism 240 is configured to drive the information acquisition assembly 200 to rotate relative to the robot body 100 by adjusting its length. By arranging the elastic reset mechanism 240, the rotation of the information acquisition assembly 200 on the robot body 100 can be more efficiently controlled, and the inspection robot 10 can better adapt to the spacing between the track 300 and the cable in the cable trench.
[0036] In some embodiments, one end of the elastic reset mechanism 240 is connected with the robot body 100, and the other end is connected with the information acquisition assembly 200. As shown in Figure 1 The elastic reset mechanism 240 is connected with the rotating component 210 in the information acquisition assembly 200. The connection between the elastic reset mechanism 240 and the robot body 100 and the rotating component 210 can be fixed connection, which includes but is not limited to welding, threaded bolt connection, riveting, etc.
[0037] In some embodiments, the elastic reset mechanism 240 is configured to adjust its length, as shown in Figure 1 When the elastic reset mechanism 240 is lengthened, the rotating member 210 can be rotated counterclockwise relative to the robot body 100, thereby driving the information acquisition assembly 200 to rotate counterclockwise relative to the robot body 100 about the rotating member 210; when the elastic reset mechanism 240 is shortened, the rotating member 210 can be rotated clockwise relative to the robot body 100, thereby driving the information acquisition assembly 200 to rotate clockwise relative to the robot body 100 about the rotating member 210. By adjusting the length of the elastic reset mechanism 240, the information acquisition assembly 200 can be rotated relative to the robot body 100 to adapt to the spacing change between the track 300 and the cable in the cable channel.
[0038] As shown in Figure 1 The elastic reset mechanism 240 includes a mounting seat 241, an elastic member 242, and a rotating seat 243. The mounting seat 241 is connected to the robot body 100. The elastic member 242 is rotationally connected to the mounting seat 241. The other end of the elastic member 242 is rotationally connected to the rotating seat 243. The rotating seat 243 is connected to the information acquisition assembly 200.
[0039] In some embodiments, the elastic member 242 is rotationally connected between one end and the mounting seat 241, and rotationally connected between the other end and the rotating seat 243. The rotational connection mode includes but is not limited to hinge connection, universal joint connection, connecting rod connection, shaft coupling connection, etc. The connection between the mounting seat 241 and the robot body 100, and the connection between the rotating seat 243 and the information acquisition assembly 200 are fixed connections. The fixed connection mode includes but is not limited to welding, threaded bolt connection, riveting, etc.
[0040] In some embodiments, the elastic reset mechanism 240 adjusts its length through the elastic member 242. The elastic member 242 includes but is not limited to a telescopic rod, a piston rod, a spring, etc. In addition, the length of the elastic member 242 can be controlled by a driving device, for example, a driving motor. As shown in Figure 1 When the driving motor drives the elastic member 242 to lengthen, the elastic member 242 rotates counterclockwise relative to the mounting seat 241, so that the rotating member 210 also rotates counterclockwise relative to the robot body 100, thereby driving the information acquisition assembly 200 to rotate counterclockwise relative to the robot body 100 about the rotating member 210. When the driving motor of the elastic member 242 drives the elastic member 242 to shorten, the elastic member 242 rotates clockwise relative to the mounting seat 241, so that the rotating member 210 also rotates clockwise relative to the robot body 100, thereby driving the information acquisition assembly 200 to rotate clockwise relative to the robot body 100 about the rotating member 210.
[0041] As shown in Figure 3As shown, the inspection robot 10 further comprises a driving motor 120 and a flexible transmission assembly 130, the driving motor 120 drives the walking mechanism 110 to walk along the track 300 through the flexible transmission assembly 130.
[0042] As shown in Figure 2 and Figure 3 , the walking mechanism 110 comprises a wheel frame 111 and a walking wheel 112 rotatably arranged on the wheel frame 111; the flexible transmission assembly 130 comprises a driving wheel 131, a driven wheel 132 and a flexible member 133, the output shaft of the driving motor 120 is connected with the driving wheel 131, the driven wheel 132 is spaced apart from the walking wheel 112 along the extension direction of the track 300 and is rotatably arranged on the wheel frame 111, and the flexible member 133 is sleeved on the driving wheel 131 and the driven wheel 132.
[0043] In some embodiments, the walking mechanism 110 comprises one or more walking wheels 112, and the walking wheel 112 can be a rotary shaft, such as a circular shaft, a square shaft, a polygonal shaft, etc. In addition, as shown in Figure 2 , track rollers can be sleeved on both ends of the walking wheel 112, and the sleeving connection between the track rollers and the walking wheel 112 can be a fixed connection, including but not limited to welding, adhesive connection, etc., or a matching gear is arranged on the surface of the track roller in contact with the walking wheel 112, and the track roller is connected with the track 300 in the cable trench in a gear transmission manner, so that the walking mechanism 110 is connected with the track 300 in a rolling manner, and the frictional resistance between the walking mechanism 110 and the track 300 can be reduced.
[0044] In some embodiments, the driven wheel 132 in the flexible transmission assembly 130 can also be a rotary shaft, such as a circular shaft, a square shaft, a polygonal shaft, etc. In addition, as shown in Figure 2 , track rollers can be sleeved on both ends of the driven wheel 132, and the track rollers and the driven wheel 132 can be fixedly connected or connected with matching gears, and the track rollers are arranged on the driven wheel 132, so that the track rollers are connected with the track 300 in the cable trench in a rolling manner, so that the driven wheel 132 is connected with the track 300 in a rolling manner, and the frictional resistance between the driven wheel 132 and the track 300 can be reduced.
[0045] In some embodiments, the flexible member 133 is sleeved on the driving wheel 131 and the driven wheel 132, and the flexible member 133 includes but is not limited to a transmission belt, a transmission chain, etc. In addition, as shown in Figure 3As shown, the flexible member 133 is a synchronous belt in the transmission belt type, when the driving motor 120 drives the driving wheel 131 coaxially arranged with the output shaft of the driving motor 120 to rotate, the rotational kinetic energy of the driving wheel 131 is transmitted to the driven wheel 132 through the synchronous belt, so that the driven wheel 132 rotates along the extension direction of the track 300, and because the driven wheel 132 and the walking wheel 112 are arranged on the wheel frame 111 in the extension direction of the track 300, the driven wheel 132 drives the walking wheel 112 to rotate along the extension direction of the track 300, so that the whole walking mechanism 110 moves along the extension direction of the track 300, wherein, as shown, Figure 2 In order to increase the contact area of the driving wheel 131 and the driven wheel 132 with the flexible member 133 respectively, a circumferential protrusion can be arranged at the contact position of the driving wheel 131 and the driven wheel 132 with the flexible member 133, and the flexible member 133 is sleeved on the protrusion of the driving wheel 131 and the driven wheel 132, which can improve the transmission efficiency between the driving wheel 131 and the driven wheel 132.
[0046] In other embodiments, the driving wheel 131 can be a gear structure sleeved on the output shaft of the driving motor 120, and a corresponding gear is arranged at the corresponding position of the driven wheel 132, the gears on the driving wheel 131 and the driven wheel 132 are in direct contact, so that the transmission mode between the driving wheel 131 and the driven wheel 132 is gear transmission, in addition, in the case that the gears on the driving wheel 131 and the driven wheel 132 do not directly contact, the transmission between the driving wheel 131 and the driven wheel 132 can also be completed by sleeving a rack on the gears of the driving wheel 131 and the driven wheel 132, the above-mentioned modes can make the driving wheel 131 drive the driven wheel 132 to rotate under the drive of the driving motor 120, thereby driving the walking mechanism 110 to move, so that the whole patrol robot 10 moves along the extension direction of the track 300.
[0047] As shown, Figure 1 The robot body 100 includes a shell 140 and a top shell 150 arranged on the top of the shell 140, the wheel frame 111 is arranged between the shell 140 and the top shell 150, and at least one of a searchlight 141, a camera 142 and a wireless communication unit is arranged on the shell 140, and the information acquisition assembly 200 is rotationally connected with the shell 140.
[0048] In some embodiments, a connecting block is further arranged between the shell 140 and the top shell 150, the connecting block can be arranged in a number of two or more, for example, two, four, six, etc., and the two ends of the connecting block are fixedly connected with the shell 140 and the top shell 150 respectively, for example, welding, threaded bolt connection, riveting, etc., wherein, the threaded bolt connection can facilitate the disassembly of the robot body 100 from the track 300; the connecting block is also fixedly connected with the wheel frame 111, for example, Figure 1 and2 As shown, four connecting blocks are arranged in the robot body 100, and the wheel frame 111 is perforated at the positions corresponding to the connecting blocks in the vertical cross section of the connecting block, and the shape of the hole is the same as the tangential cross-sectional shape of the connecting block, so that the connecting block passes through the wheel frame 111 and is fixedly connected with the wheel frame 111, thereby enabling the shell 140, the top shell 150 and the walking mechanism 110 to be fixedly connected through the connecting block.
[0049] In some embodiments, as shown, Figure 3 As shown, the driving motor 120 and the driving wheel 131 of the inspection robot 10 are arranged in the top shell 150, and the driving motor 120 is fixedly arranged in the top shell 150.
[0050] In addition, in some embodiments, as shown, Figure 1 As shown, the shell 140 is also provided with a camera 142, which can monitor the environment in the cable trench when the track 300 in the cable trench of the inspection robot 10 moves in the extension direction, and can timely find the damage, fire and other conditions of the cable. In order to improve the monitoring clarity of the camera 142, a searchlight 141 can also be arranged on the shell 140 to increase the illumination of the environment in the cable trench. In addition, a wireless communication unit can also be arranged on the shell 140 or the top shell 150, and the monitoring data of the camera 142 and the data collected by the information collection unit 220 are uploaded to the wireless communication unit, and then sent to the monitoring operation platform through the wireless communication unit. The monitoring operation platform has a data display interface, an analysis interface, an operation setting, an alarm unit and the like, and the operation personnel can take corresponding solving measures through the display results of the monitoring operation platform.
[0051] In addition, in some embodiments, the start-stop state and other operation signals of the driving motor 120 in the inspection robot 10 can also be uploaded to the wireless communication unit, and then sent to the monitoring operation platform through the wireless communication unit. At the same time, the monitoring operation platform can also control the driving motor 120 through the wireless communication unit, and set the start time or the number of starts per day and the interval time of the driving motor 120 through the monitoring operation platform, so that the inspection robot 10 can be controlled artificially and automatically inspected according to the setting of the monitoring operation platform.
[0052] In some embodiments, the information collection assembly 200 in the inspection robot 10 is rotationally connected with the robot body 100, so that the information collection assembly 200 can be rotationally connected with the shell 140 in the robot body 100, and one end of the elastic reset mechanism 240 is fixedly connected with the robot body 100, so that one end of the elastic reset mechanism 240 can be fixedly connected with the shell 140 in the robot body 100.
[0053] The inspection robot 10 further comprises an information memory unit, which is in signal connection with the elastic reset mechanism 240. The information memory unit is configured to compare the current environment with the stored environment information, and when the current environment of the robot body 100 matches the stored environment information, the information memory unit controls the elastic reset mechanism 240 to move, so as to drive the information collection assembly 200 to rotate relative to the robot body 100 to a position matched with the current environment, so that the inspection robot 10 has certain memory and self-control ability.
[0054] In some embodiments, when the inspection robot 10 performs inspection for the first time, the length and the shortening of the elastic reset mechanism 240 can be controlled in a manual manner, so as to drive the information collection assembly 200 to rotate relative to the robot body 100 to adapt to the spacing between the track 300 and the cable in the cable channel. After the first-time inspection of the inspection robot 10 is completed, the signal of the length and the shortening of the elastic reset mechanism 240 and the corresponding environment information are stored in the information memory unit. When the inspection robot 10 performs inspection again, the information memory unit controls the elastic reset mechanism 240 to move according to the comparison between the current environment and the stored environment information, so as to drive the information collection assembly 200 to rotate relative to the robot body 100 to a position matched with the current environment, so that the inspection robot 10 has certain memory and self-control ability.
[0055] The embodiments of the present application further provide a cable channel inspection system, as shown in Figure 1 which comprises the track 300 and the above-described inspection robot 10.
[0056] As shown in Figure 1 , the driving motor 120 drives the walking mechanism 110 to walk along the track 300 through the flexible transmission assembly 130, so that the robot body 100 moves along the track 300, thereby driving the information collection assembly 200 to move along the extension direction of the cable and record the information and working state of the cable in the cable channel, so that the entire inspection robot 10 moves and works along the extension direction of the track 300.
[0057] In some embodiments, the cable channel is constructed in a ring shape, a branch shape, a tree shape, etc., and the track 300 in the cable channel is also constructed in the same shape. For example, the cable channel is constructed in a ring shape, and the track 300 in the cable channel is also constructed in a ring shape. The inspection robot 10 can move in a ring shape and perform cable information collection work. The inspection robot 10 can not need to perform backward movement or repeated movement on the same path, thereby improving the inspection efficiency.
[0058] In some embodiments, the inspection robot 10 in the cable trench inspection system is provided with a rechargeable battery in the top cover 150 or the shell 140, such as a nickel-hydrogen battery, a lithium-ion battery, a lead-acid battery, etc. For example, the inspection robot 10 uses a lithium iron phosphate battery in the lithium-ion battery. The battery power signal is transmitted to the monitoring operation platform through the wireless communication unit. The battery power can be monitored through the monitoring operation platform, and the battery power value required for the inspection robot 10 to be charged can be manually set in the monitoring operation platform. In addition, a charging pile for charging the battery of the inspection robot is arranged in the cable trench. When the power of the inspection robot 10 is lower than the set power value required for charging or is in an inoperative state, the inspection robot 10 can be controlled manually or automatically to the position of the charging pile arranged in the track 300 for charging. After the inspection robot 10 is fully charged, the charging pile is automatically powered off. In this way, under normal circumstances, the inspection robot 10 can be placed in the cable trench, and the inspection robot 10 can be prevented from being repeatedly removed from the track 300 to the outside of the cable trench for charging due to low power, saving the time of the inspection personnel and improving the inspection efficiency.
[0059] Each embodiment or implementation in the specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between embodiments can be referred to each other.
[0060] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the specification, the exemplary description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.
[0061] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.
Claims
1. A patrol robot characterized by comprising: The utility model relates to a cable information acquisition robot, comprising: a robot body (100) having a walking mechanism (110) configured to cooperate with a track (300) located in a cable trench to move the robot body (100) along an extension direction of the track (300) by the walking mechanism (110) under the action of a driving force; an information acquisition assembly (200) rotationally connected to the robot body (100), the information acquisition assembly (200) being rotatable relative to the robot body (100) about a defined axis under the action of a driving force to enable the information acquisition assembly (200) to be in rolling contact with a cable in the cable trench to acquire information and a working state of the cable.
2. The patrol robot according to claim 1, characterized in that, The information acquisition assembly (200) comprises a rotating member (210), an information acquisition unit (220), and two balancing wheels (230), one end of the rotating member (210) being rotationally connected to the robot body (100), the information acquisition unit (220) being arranged at the other end of the rotating member (210), two balancing wheels (230) being respectively located at two sides of the information acquisition unit (220) along an extension direction of the cable, and the balancing wheels (230) being configured to be in rolling contact with the cable.
3. The patrol robot according to claim 2, wherein, The information acquisition unit (220) comprises at least one of a short-circuit detection member, an open-circuit detection member, a smoke detection member, and a cable surface damage detection member.
4. The patrol robot according to any one of claims 1-3, characterized in that, Further comprising an elastic reset mechanism (240) having one end connected to the robot body (100) and the other end connected to the information acquisition assembly (200), the elastic reset mechanism (240) being adjustable in length and configured to drive the information acquisition assembly (200) to rotate relative to the robot body (100) by adjusting the length of the elastic reset mechanism (240).
5. The patrol robot according to claim 4, wherein, The elastic reset mechanism (240) comprises a mounting seat (241), an elastic member (242), and a rotating seat (243), the mounting seat (241) being connected to the robot body (100), the elastic member (242) being rotationally connected to the mounting seat (241), the other end of the elastic member (242) being rotationally connected to the rotating seat (243), and the rotating seat (243) being connected to the information acquisition assembly (200).
6. The inspection robot according to any one of claims 1-3, wherein, Further comprising a driving motor (120) and a flexible transmission assembly (130), the driving motor (120) driving the walking mechanism (110) to walk along the track (300) through the flexible transmission assembly (130).
7. The patrol robot according to claim 6, characterized in that, The walking mechanism (110) comprises a wheel frame (111) and a walking wheel (112) rotationally arranged on the wheel frame (111). The flexible transmission assembly (130) comprises a driving wheel (131), a driven wheel (132) and a flexible member (133), the output shaft of the driving motor (120) is connected with the driving wheel (131), the driven wheel (132) is arranged on the wheel frame (111) and is spaced apart from the walking wheel (112) along the extension direction of the track (300) and rotates, and the flexible member (133) is sleeved on the driving wheel (131) and the driven wheel (132).
8. The patrol robot according to claim 7, characterized in that, The robot body (100) comprises a shell (140) and a top shell (150) arranged on the top of the shell (140), the wheel frame (111) is arranged between the shell (140) and the top shell (150), at least one of a searchlight (141), a camera (142) and a wireless communication unit is further arranged on the shell (140), and the information acquisition assembly (200) is rotationally connected with the shell (140).
9. A cable tunnel inspection system characterized by, Comprise: a track (300) and the inspection robot (10) according to any one of claims 1-8; The track (300) is arranged in the cable trench and extends along the extension direction of the cable trench, and the inspection robot (10) is configured to move along the extension direction of the track (300).