CN116683346A - Obstacle-avoiding cable inspection robot in pipeline - Google Patents
Obstacle-avoiding cable inspection robot in pipeline Download PDFInfo
- Publication number
- CN116683346A CN116683346A CN202310783728.5A CN202310783728A CN116683346A CN 116683346 A CN116683346 A CN 116683346A CN 202310783728 A CN202310783728 A CN 202310783728A CN 116683346 A CN116683346 A CN 116683346A
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- China
- Prior art keywords
- obstacle avoidance
- inclined support
- robot
- bracket
- inspection robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000007689 inspection Methods 0.000 title claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 14
- 230000001360 synchronised effect Effects 0.000 claims description 9
- 230000008859 change Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000001502 supplementing effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009529 body temperature measurement Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The technical scheme adopted by the robot comprises a moving device and an obstacle avoidance device, wherein the moving device comprises a left bracket and a right bracket, each of the left bracket and the right bracket comprises an inclined support plate, a roller and a driving motor, and the two inclined support plates are arranged in a splayed shape; the obstacle avoidance device comprises a telescopic device arranged between the left bracket and the right bracket, two ranging sensors respectively facing to the left front and the left front, and a controller in signal connection with the telescopic device and the ranging sensors. The invention realizes side support by utilizing the inclined support plates, and arranges the two inclined support plates into a splayed shape, so that the invention has larger lower space, and is convenient for avoiding cables and obstacles with smaller volume; the obstacle avoidance device can measure the transverse distance of the pipeline in the front area of the robot in real time, and timely change the transverse width of the robot, and when the pipeline is deformed due to external force and the space in the pipeline is reduced, the robot can continue to operate through the deformed position.
Description
Technical Field
The invention relates to the technical field of pipeline inspection equipment, in particular to an in-pipeline cable inspection robot capable of avoiding obstacles.
Background
The underground cable is used as an important part in the power system, the operation safety guarantee of the underground cable becomes a key link, the safety of the operation condition of the underground cable is directly related to the safe operation of the whole urban power system, and the underground cable can be influenced by various influences from the underground cable and external force and various faults occur in the long-term use process, so that the underground cable is required to be periodically checked and maintained. The traditional manual detection method is that a fault cable is detected by manually placing equipment in a pipe well (detection is carried out by means of a low-voltage pulse method, a classical bridge method, a high-voltage pulse method and the like), so that the operation condition of the cable between two manual operation areas is judged, and if the section of the line has no fault, the method is repeated until the fault point is found.
The manual detection has the problems of time consumption, labor consumption, low efficiency and the like, and the patent with the publication number of CN114709747B discloses a self-adaptive special-shaped space cable duct inspection robot, so as to replace manual inspection, and the robot can smoothly continue to advance under the condition of not contacting cables through axial rotation movement under the condition that obstacles or cables are arranged in a calandria, thereby completing a temperature measurement task. However, when the pipeline is deformed by external force, the space in the pipeline is reduced, and the robot cannot continue to work through the obstacle.
Disclosure of Invention
Aiming at the problem that the space in the pipeline is reduced to cause the robot to be unable to pass through in the prior art, the invention provides the cable inspection robot in the pipeline for avoiding obstacles.
The invention provides the following technical scheme: an obstacle avoidance in-conduit cable inspection robot, comprising:
the moving device comprises a left bracket and a right bracket, wherein the left bracket and the right bracket both comprise inclined support plates, idler wheels rotatably connected to the inclined support plates and a driving motor in transmission connection with the idler wheels, and the two inclined support plates are arranged in a splayed shape;
the obstacle avoidance device comprises a telescopic device arranged between the left bracket and the right bracket, two ranging sensors respectively facing to the left front and the right front, and a controller in signal connection with the telescopic device and the ranging sensors.
Preferably, the driving motor and the roller are arranged on one side of the two inclined support plates facing each other, the driving motor is in transmission connection with the roller through a synchronous belt transmission structure, and the synchronous belt transmission structure is arranged on the other side of the two inclined support plates far away from each other.
Preferably, the included angle between the two inclined support plates is 140 degrees.
Preferably, the telescopic device comprises a rotating motor arranged on the left bracket and a thread seat arranged on the right bracket, an output shaft of the rotating motor is connected with a screw rod, and the screw rod is in threaded connection with the thread seat.
Preferably, the telescopic device further comprises a guide rod arranged on the left bracket and a guide seat arranged on the right bracket, the guide rod is in sliding connection with the guide seat, and the guide rod is parallel to the screw rod.
Preferably, the inclined support plate of the right bracket is provided with an avoidance hole corresponding to the guide rod.
Preferably, the camera is connected to the U-shaped mounting table of the left bracket through an electric cradle head; the camera comprises an infrared camera and a visible light camera.
Preferably, the two ranging sensors are both arranged on the U-shaped mounting table, and the two ranging sensors face to the left front lower part and the right front lower part of the U-shaped mounting table respectively, so that ranging target points of the two ranging sensors on the inner wall of the pipeline are located in front of the rollers on two sides of the robot respectively.
Preferably, the U-shaped mounting table is further provided with a temperature sensor, a humidity sensor and a combustible gas sensor.
Preferably, the obstacle avoidance device further comprises a ranging sensor facing directly in front of the robot.
The beneficial effects of the invention are as follows: the inclined support plates are utilized to realize side support, and the two inclined support plates are arranged in a splayed shape, so that the inclined support plates have a larger lower space, and are convenient to avoid cables and obstacles with smaller volume; the obstacle avoidance device can measure the transverse distance of the pipeline in the front area of the robot in real time, and timely change the transverse width of the robot, and when the pipeline is deformed due to external force and the space in the pipeline is reduced, the robot can continue to operate through the deformed position.
Drawings
FIG. 1 is a three-dimensional schematic of an embodiment of the invention.
Fig. 2 is a top view of one embodiment of the present invention.
Fig. 3 is a top view of one embodiment of the telescoping device of the present invention.
Fig. 4 is a front view of an embodiment of the present invention.
Fig. 5 is a schematic diagram of a lateral distance L0 measurement according to an embodiment of the present invention.
Reference numerals: the device comprises a left bracket 11, a right bracket 12, a 13-inclined support plate, a 14-roller, a 15-driving motor, a 16-synchronous belt transmission mechanism, a 21-telescopic device, a 211-rotating motor, a 212-threaded seat, a 213-screw rod, a 214-guide rod, a 215-guide seat, a 22-ranging sensor, a 31-U-shaped mounting table, a 32-electric cradle head and a 33-camera.
Description of the embodiments
Embodiments of the present invention will be described in more detail below with reference to the drawings and reference numerals, so that those skilled in the art can practice the present invention after studying the specification. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The invention provides an in-pipeline cable inspection robot capable of avoiding obstacles, which is shown in figures 1-5 and comprises a moving device and an obstacle avoidance device.
The moving device is used for driving the robot to move along the axial direction of the pipeline, in the embodiment, the moving device comprises a left bracket 11 and a right bracket 12, and the left bracket 11 and the right bracket 12 respectively comprise an inclined support plate 13, a roller 14 rotatably connected to the inclined support plate 13 and a driving motor 15 in transmission connection with the roller 14. The two inclined support plates 13 are arranged in a splayed shape, and contact with two sides of the pipeline through the rollers 14 to form a support, so that the robot is positioned above the cable, and the splayed structure has a larger lower space, so that the cable and the obstacle with smaller volume can be avoided conveniently. The driving motor 15 can adopt a servo motor, and is in transmission connection with the roller 14 through a synchronous belt transmission structure 16, the synchronous belt transmission structure 16 comprises a driving wheel arranged on an output shaft of the driving motor 15, a driven wheel coaxial with the roller 14, and a synchronous belt sleeved between the driving wheel and the driven wheel, and the synchronous belt is also provided with a tensioning wheel. The driving motor 15 and the roller 14 are disposed on one side of the two inclined support plates 13 facing each other, and the synchronous belt transmission structure 16 is disposed on the other side of the two inclined support plates 13 facing away from each other. In this embodiment, the included angle between the two inclined support plates 13 is 140 °.
The obstacle avoidance device comprises a telescopic device 21 arranged between the left bracket 11 and the right bracket 12, two ranging sensors 22 respectively facing to the left front and the right front, and a controller in signal connection with the telescopic device 21 and the ranging sensors 22, and is used for changing the transverse width of the robot so as to be convenient for passing when the internal space tends to be narrow due to large-volume obstacles and deformation of the pipeline. The ranging sensor 22 may employ an ultrasonic ranging sensor or a laser ranging sensor, as shown in fig. 5, and the two ranging sensors are respectively used for detecting linear distances L1 and L2 between the ranging sensors and detected target points on the inner walls of the left and right front pipelines of the robot, and transmitting the linear distances to the controller, and the controller converts L1 and L2 into a lateral distance L0 between two ranging target points on the pipeline in the front region according to the installation angle and the installation interval of the two ranging sensors by combining trigonometric functions with the installation interval, wherein the lateral distance L0 is a linear distance between projection points of the two ranging target points on a plane perpendicular to the advancing direction D1 of the robot. When the lateral distance L0 is reduced in the front area due to the pipe deformation or the obstacle, the robot detects this change, and controls the telescopic device 21 to reduce its lateral width until the robot can pass.
In this embodiment, two ranging sensors 22 are disposed on a U-shaped mounting table 31 on the left bracket 11, and the two ranging sensors 22 respectively face to the left front lower side and the right front lower side of the U-shaped mounting table 31, so that the ranging target points of the two ranging sensors on the inner wall of the pipeline are located in front of the roller, and the obstacle in front of the roller can be detected.
In this embodiment, the telescopic device 21 includes a rotating motor 211 disposed on the left bracket 11, and a screw seat 212 disposed on the right bracket 12, an output shaft of the rotating motor 211 is connected with a screw rod 213, and the screw rod 213 is in threaded connection with the screw seat 212; the rotating motor 211 drives the screw rod to rotate, so that the distance between the left bracket 11 and the right bracket 12 is adjusted, and the transverse width of the robot is changed. Further, the telescopic device 21 further comprises a guide rod 214 arranged on the left bracket 11 and a guide seat 215 arranged on the right bracket 12, the guide rod 214 is slidably connected with the guide seat 215, and the guide rod 214 is parallel to the screw rod 213. The guide rod 214 and the guide seat 215 make the sliding between the left bracket 11 and the right bracket 12 more stable. Further, the inclined support plate 13 of the right bracket 12 is provided with a avoiding hole corresponding to the guide rod 214, so as to avoid interference between the inclined support plate 13 and the guide rod 214 during movement of the right bracket 12.
In this embodiment, the obstacle avoidance device further includes a ranging sensor facing the front of the robot, the ranging sensor is disposed on the top of the robot, and when the ranging sensor detects that there is an obstacle in front, it indicates that the obstacle has a volume that the robot cannot pass over, and the robot stops advancing.
The robot further comprises a camera 33, wherein the camera 33 is connected to the U-shaped mounting table 31 of the left bracket 11 through an electric cradle head 32; the camera 33 comprises an infrared camera and a visible light camera, and the visible light camera is also provided with a light supplementing lamp. The infrared camera is used for detecting the temperature change of the cable, and when the temperature of a certain position of the cable is obviously increased, the probability of potential safety hazard at the position is higher; the visible light camera and the light supplementing lamp are used for capturing cable images and checking whether the appearance of the cable images is damaged. The camera 33 is directed generally forward of the robot and is tilted 45 ° downward, and the camera 33 is turned to other angles by the motorized pan and tilt head 32.
The U-shaped mounting table 31 is also provided with a temperature sensor, a humidity sensor and a combustible gas sensor for detecting the environment in the pipeline.
The foregoing is a description of one or more embodiments of the invention, which are specific and detailed, but are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (10)
1. An obstacle avoidance in-pipeline cable inspection robot, comprising:
the moving device comprises a left bracket (11) and a right bracket (12), wherein the left bracket (11) and the right bracket (12) comprise inclined support plates (13), rollers (14) rotatably connected to the inclined support plates (13) and driving motors (15) in transmission connection with the rollers (14), and the two inclined support plates (13) are arranged in a splayed shape;
the obstacle avoidance device comprises a telescopic device (21) arranged between the left bracket (11) and the right bracket (12), two ranging sensors (22) respectively facing to the left front and the right front, and a controller in signal connection with the telescopic device (21) and the ranging sensors (22).
2. An obstacle avoidance in-line cable inspection robot as in claim 1 wherein: the driving motor (15) and the idler wheels (14) are arranged on one sides of the two inclined support plates (13) facing each other, the driving motor (15) is in transmission connection with the idler wheels (14) through a synchronous belt transmission structure (16), and the synchronous belt transmission structure (16) is arranged on the other sides of the two inclined support plates (13) far away from each other.
3. An obstacle avoidance in-line cable inspection robot as in claim 1 wherein: the included angle between the two inclined support plates (13) is 140 degrees.
4. An obstacle avoidance in-line cable inspection robot as in claim 1 wherein: the telescopic device (21) comprises a rotating motor (211) arranged on the left bracket (11) and a threaded seat (212) arranged on the right bracket (12), an output shaft of the rotating motor (211) is connected with a screw rod (213), and the screw rod (213) is in threaded connection with the threaded seat (212).
5. An obstacle avoidance in-line cable inspection robot as in claim 4 wherein: the telescopic device (21) further comprises a guide rod (214) arranged on the left bracket (11) and a guide seat (215) arranged on the right bracket (12), the guide rod (214) is in sliding connection with the guide seat (215), and the guide rod (214) is parallel to the screw rod (213).
6. An obstacle avoidance in-line cable inspection robot as in claim 5 wherein: the inclined support plate (13) of the right support (12) is provided with an avoidance hole corresponding to the guide rod (214).
7. An obstacle avoidance in-line cable inspection robot as in claim 1 wherein: the camera (33) is connected to the U-shaped mounting table (31) of the left bracket (11) through an electric cradle head (32); the camera (33) comprises an infrared camera and a visible light camera.
8. An obstacle avoidance in-line cable inspection robot as in claim 1 wherein: the two ranging sensors (22) are arranged on the U-shaped mounting table (31), and the two ranging sensors (22) are respectively oriented to the left front lower part and the right front lower part of the U-shaped mounting table (31), so that the ranging target points of the two ranging sensors on the inner wall of the pipeline are respectively positioned in front of the rollers on the two sides of the robot.
9. An obstacle avoidance in-line cable inspection robot as in claim 9 wherein: the U-shaped mounting table (31) is also provided with a temperature sensor, a humidity sensor and a combustible gas sensor.
10. An obstacle avoidance in-line cable inspection robot as in claim 1 wherein: the obstacle avoidance device also includes a ranging sensor facing directly in front of the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310783728.5A CN116683346A (en) | 2023-06-29 | 2023-06-29 | Obstacle-avoiding cable inspection robot in pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310783728.5A CN116683346A (en) | 2023-06-29 | 2023-06-29 | Obstacle-avoiding cable inspection robot in pipeline |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116683346A true CN116683346A (en) | 2023-09-01 |
Family
ID=87790936
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310783728.5A Pending CN116683346A (en) | 2023-06-29 | 2023-06-29 | Obstacle-avoiding cable inspection robot in pipeline |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116683346A (en) |
-
2023
- 2023-06-29 CN CN202310783728.5A patent/CN116683346A/en active Pending
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