CN104991558A - Cable trench automatic inspection device - Google Patents
Cable trench automatic inspection device Download PDFInfo
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- CN104991558A CN104991558A CN201510388443.7A CN201510388443A CN104991558A CN 104991558 A CN104991558 A CN 104991558A CN 201510388443 A CN201510388443 A CN 201510388443A CN 104991558 A CN104991558 A CN 104991558A
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Abstract
The invention discloses a cable trench automatic inspection device. The cable trench automatic inspection device includes a mobile chassis; a tracked bogie is adopted as the mobile chassis; the body of the bogie is provided with a temperature and humidity sensor, a path detection camera, a data storage device and a power source supplying power for the whole automatic inspection device; the front end of the body of the bogie is provided with a lighting lamp; the body of the bogie is vertically provided with an electric push rod; the upper part of the electric push rod is provided with a holder; an imaging device is installed on the holder; two holder motors are installed in the holder; the upper part of the electric push rod is provided with a synchronous toothed wheel; the holder motors are in engaging transmission with the synchronous toothed wheel through a reduction gear, so that the holder can be driven to rotate freely in a horizontal direction; the state of a cable in a cable trench can be detected through various kinds of sensors, and the temperature and humidity of the cable trench can be detected by means of the temperature and humidity sensor, and therefore, the environmental state of the cable trench can be judged, and thus, problems such as damage to the cable caused by over-temperature of the cable in an operating process can be solved.
Description
[technical field]
The invention belongs to power system transmission line maintenance field, relate to a kind of cable duct automatic inspection device.
[background technology]
Underground cable ditch is requisite infrastructure in generating plant, transformer station.The cable laid in cable duct is for equipment such as relay protections, automatically control, communication, measurement, metering.In reality, there are some objective problem that can not be ignored in cable duct, produces and leave hidden danger: 1. underground cable ditch humidity ratio is comparatively large, and cable often can cause the decline of its insulating property because of making moist to generating plant, substation safety, insulation breakdown is caused, generation accident time serious; 2. cable duct relative closure, the too high meeting of temperature causes cable conductor material softening, and physical strength declines, organic insulation can agingly become fragile, and insulating property reduce, and even puncture, cable operating temperature is too high also holds fire hazardous, has a strong impact on production, causes heavy economic losses; 3. by geographic position restriction cable duct generally narrow, cable laying is intensive, it is large to lay area, by the artificial ruuning situation grasping cable duct cable comprehensively and accurately, work difficulty is very large.4. generating plant, transformer station mainly adopt the regular hand-held thermal imaging system of operations staff to enter cable duct to carry out infrared detection temperature, humidity work, poor working environment, and working strength is large, and workload is many and efficiency is low.For such actual production conditions of demand, in the urgent need to the machine of a kind of energy Real-time Feedback cable duct situation complicated and changeable, in time cable duct unsafe factor is eliminated in bud.
[summary of the invention]
The object of the invention is to overcome prior art defect, provide a kind of can the cable duct automatic inspection device of automatic detecting cable duct.
For achieving the above object, the present invention adopts following scheme:
A kind of cable duct automatic inspection device, comprise mobile chassis, mobile chassis adopts crawler type dolly, trolley is provided with Temperature Humidity Sensor, to explore the way video camera, data storage device and the power supply of powering for whole automatic inspection device, trolley front end is also provided with illuminating lamp, trolley vertically installs electric pushrod, electric pushrod top is provided with The Cloud Terrace, imaging device is arranged on The Cloud Terrace, two horizontal stage electric machines are installed in The Cloud Terrace, electric pushrod top is provided with synchronizing jugged wheel, horizontal stage electric machine is freely rotated to drive The Cloud Terrace in the horizontal direction by reduction gearing and synchronizing jugged engaged transmission of taking turns, described imaging device comprises visible light camera, LED illumination lamp and thermal imaging system.
Further, the pluggable battery of described power acquisition is connected with trolley screens.
Further, described crawler type dolly is made up of vehicle body and the pedrail mechanism being arranged on vehicle body both sides, and creeper undercarriage comprises multiple support wheel, the support wheel back up pad of installing support wheel and crawler belt, and crawler belt two ends are separately installed with inducer and driving wheel.
Further, described imaging device outside is provided with protecting cover, and crawler type dolly is provided with cover by vehicle body.
Further, described The Cloud Terrace is provided with and faces upward a swing arm, imaging device is arranged on The Cloud Terrace by facing upward a swing arm, can freely adjust imaging device luffing angle by facing upward a swing arm.
Further, described crawler type dolly is also provided with WIFI module.
Further, described crawler type dolly is also provided with GPS module.
Further, described horizontal stage electric machine adopts servomotor.
Beneficial effect of the present invention is as follows:
Cable duct automatic inspection device of the present invention comprises mobile chassis, mobile chassis adopts crawler type dolly, trolley is provided with Temperature Humidity Sensor, to explore the way video camera, with the power supply of powering for whole automatic inspection device, trolley front end is also provided with illuminating lamp, The Cloud Terrace installs imaging device, imaging device comprises visible light camera, LED illumination lamp and thermal imaging system, by various sensor detection streamer ditch cable status, by Temperature Humidity Sensor detection streamer ditch temperature and humidity, judge cable duct environmental aspect, avoid temperature course in cable operational process, cause the problems such as cable bad.
Patrol and examine procedure section human-saving, material resources; Alleviate personnel labor intensity, improve person works's environment; Real-Time Monitoring can be carried out, the generation of prevention hidden danger to cable duct; Inspection device also comprises data storage device to archives data, is convenient to analysis and modification; Cable duct monitoring efficiency is improved by this device automatic detecting, enough realize round-the-clock, comprehensive, the full autonomous intelligence of cable duct to patrol and examine and monitor, effective reduction labour intensity, reduce generating plant, transformer station's O&M cost, improve robotization and the intelligent level of normally patrolling and examining operation and management, for intelligent substation and unattended operation transformer station provide innovative technology for detection means and omnibearing safety guarantee.
[accompanying drawing explanation]
Fig. 1 is the structural front view of apparatus of the present invention
Fig. 2 is the side view of apparatus of the present invention
In figure: 1-illuminating lamp; 2-inducer; 3-support wheel back up pad; 4-support wheel; 5-crawler belt; 6-driving wheel; 7-Temperature Humidity Sensor; 8-electric pushrod; 9-is synchronizing jugged to take turns; 10-The Cloud Terrace; 11-protecting cover; 12-horizontal stage electric machine; 13-explores the way video camera; The pluggable power supply of 14-; 15-visible light camera; 16-LED illuminating lamp; 17-faces upward a swing arm; 18-thermal imaging system; 19-cover.
[embodiment]
Below in conjunction with accompanying drawing, the present invention is further illustrated, but the present invention is not limited to following examples.
See Fig. 1 and Fig. 2, cable duct automatic inspection device of the present invention, comprise mobile chassis, mobile chassis adopts crawler type dolly, trolley is provided with Temperature Humidity Sensor 7, to explore the way video camera 13, data storage device and the power supply of powering for whole automatic inspection device, trolley front end is also provided with illuminating lamp 1, trolley vertically installs electric pushrod 8, electric pushrod 8 top is provided with The Cloud Terrace 10, imaging device is arranged on The Cloud Terrace 10, two horizontal stage electric machines 12 are installed in The Cloud Terrace 10, electric pushrod 8 top is provided with synchronizing juggedly takes turns 9, horizontal stage electric machine 12 is freely rotated to drive The Cloud Terrace 10 in the horizontal direction by reduction gearing and synchronizing jugged 9 engaged transmission of taking turns, described imaging device comprises visible light camera 15, LED illumination lamp 16 and thermal imaging system 18.
The present invention is compared with traditional manual inspection cable methods, and troubleshooting of the present invention, location are fast, and work efficiency is high, effectively can be carried out the operating condition of monitoring cable ditch inner cable by humiture, audio frequency, vision signal, predict the running status of cable.
The pluggable battery 14 of described power acquisition is connected with trolley screens, conveniently charge safety and environmental protection, crawler type dolly is made up of vehicle body and the pedrail mechanism being arranged on vehicle body both sides, creeper undercarriage comprises multiple support wheel 4, the support wheel back up pad 3 of installing support wheel and crawler belt 5, and crawler belt 5 two ends are separately installed with inducer 2 and driving wheel 6; Compact structure, operates steadily, and span ability is strong, is applicable to the multiple landform of multiple cable duct.
In order to avoid device damage, imaging device outside is provided with protecting cover 11, and crawler type dolly is by vehicle body being provided with cover 19; Described The Cloud Terrace 10 is provided with and faces upward a swing arm 17, imaging device is arranged on The Cloud Terrace 10 by facing upward a swing arm 17, can freely adjust imaging device luffing angle by facing upward a swing arm 17, convenient adjustment imaging device shooting angle.
Further, described crawler type dolly is also provided with WIFI module, crawler type dolly is also provided with GPS module, both data directly can be preserved, also can by the video of WIFI module by shooting, humiture data, the data such as image are sent to ground by WIFI module, adopt local device to preserve.
Further, horizontal stage electric machine 12 adopts servomotor, and it is convenient to control, and can easily control image-forming module and freely rotate in surface level.
Cable duct inspection device system is network distribution type framework, and entirety is divided into three layers, is respectively base station layer, Communication Layer and terminating layer.1. base station layer is made up of inspection device backstage, DVR, hardware firewall and Based Intelligent Control and analyzing software system; 2. Communication Layer is made up of the equipment such as the network switch, wireless bridge, is responsible for the network channel setting up base station layer and intelligent terminal layer; 3. terminating layer comprises intelligent patrol detection device and stationary monitoring point etc.
Another feature of the present invention is: intelligent patrol detection device is by panel computer by the wifi form person that is sent to operating above ground of the data detected and image.
The present invention arranges inspection device by increase and the data detected and image is sent to the panel computer in operator's hand by wifi form, can not by advantages such as inside even from weather, in unattended or few man on duty transformer station, patrol task is performed to outdoor high-voltage equipment gradually, for Timeliness coverage and abatement apparatus defect, to prevent accident generation, guarantee that equipment safety operation has played certain effect.
Principle of work of the present invention: software startup, carries out systematic parameter initialization, and sets up the connection with camera and thermal imaging.If successful connection, then display video, connects unsuccessful, not display video.When APP enter main interface bring into operation time, start multiple thread and carry out parallel processing:
Thread 1: in real time read humiture and dolly commute information, checked by information displaying in main interface for users, reads the epidemic disaster alarm threshold value that user sets simultaneously, when exceeding this alarming value, taking pictures, stopping, sound and light alarm.
Thread 2: the video information of display front-facing camera in real time.
Thread 3: the video information of display cradle head camera in real time.
Thread 4: in real time display thermal infrared camera video information and in main interface display.
Thread 5: wait for that in real time the button that user presses also does corresponding process, be dynamic thread herein, user gives an order startup thread, completely terminates thread afterwards.Such as: when user presses dolly advance, first background host computer assembles the command character array needing to issue slave computer, then the thread that startup one is new, in new thread, PAD is as client computer, control panel is as main frame, first PAD sets up TCP with main frame and is connected, and after successful connection, PAD sends order to main frame, main frame receives order and return message, has this time communicated.
Thread 6: video link situation is read in circulation, interrupts if occur, re-starts connection.
When this device detects that cable breaks down, stop immediately advancing and sending sound and light alarm, the humiture that operating personnel show by panel computer, video image and electronic chart are to trouble spot quick position.
This device realizes the real-time Transmission of Monitoring Data by WIFI, simple operation, and apparatus structure is simple, applies this device and reduces testing staff's quantity, shorten detection time, safe, high by property, good economy performance compared with other cable temperature measuring equipments.
The difficulty that the present invention will solve and technical matters
(1) cable duct is narrow, and inspection device physical dimension is maximum in long 400mm × wide 300mm × high 450mm scope; Gross weight: below 15kg;
(2) inspection device has IP54 degree of protection, that is: have waterproof, protection against the tide, the function such as shockproof, dust-proof;
(3) inspection device has anti-electromagnetic radiation function;
(4) inspection device has wireless transmission function, real-time displays temperature, humidity and on-the-spot actual condition function;
(5) inspection device has setting and requires warning function;
(6) there is 2 hours automatic flying powers;
(7) carry, easy to operate, good looking appearance.
Claims (8)
1. a cable duct automatic inspection device, it is characterized in that: comprise mobile chassis, mobile chassis adopts crawler type dolly, trolley is provided with Temperature Humidity Sensor (7), to explore the way video camera (13), data storage device and the power supply of powering for whole automatic inspection device, trolley front end is also provided with illuminating lamp (1), trolley is vertically installed electric pushrod (8), electric pushrod (8) top is provided with The Cloud Terrace (10), imaging device is arranged on The Cloud Terrace (10), two horizontal stage electric machines (12) are installed in The Cloud Terrace (10), electric pushrod (8) top is provided with synchronizing jugged wheel (9), horizontal stage electric machine (12) is freely rotated to drive The Cloud Terrace (10) in the horizontal direction by reduction gearing and synchronizing jugged (9) engaged transmission of taking turns, described imaging device comprises visible light camera (15), LED illumination lamp (16) and thermal imaging system (18).
2. cable duct automatic inspection device according to claim 1, is characterized in that: described power acquisition pluggable battery (14) is connected with trolley screens.
3. cable duct automatic inspection device according to claim 1, it is characterized in that: described crawler type dolly is made up of vehicle body and the pedrail mechanism being arranged on vehicle body both sides, creeper undercarriage comprises multiple support wheel (4), the support wheel back up pad (3) of installing support wheel and crawler belt (5), and crawler belt (5) two ends are separately installed with inducer (2) and driving wheel (6).
4. the cable duct automatic inspection device according to any one of claim 1-3, is characterized in that: described imaging device outside is provided with protecting cover (11), and crawler type dolly is by vehicle body being provided with cover (19).
5. the cable duct automatic inspection device according to any one of claim 1-3, it is characterized in that: described The Cloud Terrace (10) is provided with and faces upward a swing arm (17), imaging device is arranged on The Cloud Terrace (10) by facing upward a swing arm (17), can freely adjust imaging device luffing angle by facing upward a swing arm (17).
6. the cable duct automatic inspection device according to any one of claim 1-3, is characterized in that: described crawler type dolly is also provided with WIFI module.
7. the cable duct automatic inspection device according to any one of claim 1-3, is characterized in that: described crawler type dolly is also provided with GPS module.
8. the cable duct automatic inspection device according to any one of claim 1-3, is characterized in that: described horizontal stage electric machine (12) adopts servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510388443.7A CN104991558A (en) | 2015-07-03 | 2015-07-03 | Cable trench automatic inspection device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510388443.7A CN104991558A (en) | 2015-07-03 | 2015-07-03 | Cable trench automatic inspection device |
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| CN104991558A true CN104991558A (en) | 2015-10-21 |
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|---|---|---|---|
| CN201510388443.7A Pending CN104991558A (en) | 2015-07-03 | 2015-07-03 | Cable trench automatic inspection device |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105774583A (en) * | 2016-03-06 | 2016-07-20 | 任荣源 | Intelligent route inspection method for transformer substation |
| CN106680290A (en) * | 2017-02-27 | 2017-05-17 | 周显威 | Multifunctional detection vehicle in narrow space |
| CN107046252A (en) * | 2017-04-14 | 2017-08-15 | 国网吉林省电力有限公司经济技术研究院 | A kind of conduit line intelligent inspection robot |
| CN107907159A (en) * | 2017-11-09 | 2018-04-13 | 北京许继电气有限公司 | A kind of power cable tunnel fortune inspection auxiliary device |
| CN108044631A (en) * | 2017-12-13 | 2018-05-18 | 国网浙江新昌县供电有限公司 | A kind of cable duct status checkout robot |
| CN108155595A (en) * | 2017-12-19 | 2018-06-12 | 国网浙江临海市供电有限公司 | Cable duct of substation intelligent patrol system |
| CN108183423A (en) * | 2017-12-05 | 2018-06-19 | 国网浙江省电力公司丽水供电公司 | A kind of mobile inspection tour system and method for Electric Power Patrol |
| CN108398954A (en) * | 2018-05-11 | 2018-08-14 | 国网湖南省电力有限公司 | Cable duct status checkout robot and cable duct status checkout method |
| CN109131016A (en) * | 2018-10-29 | 2019-01-04 | 辽宁工程技术大学 | A kind of multi-use architecture structure detection vehicle |
| CN109291035A (en) * | 2018-10-31 | 2019-02-01 | 深圳供电局有限公司 | Small-sized inspection robot and small-sized inspection robot system |
| CN109436162A (en) * | 2018-12-09 | 2019-03-08 | 山东文登抽水蓄能有限公司 | Hydroenergy storage station inspection intelligent balance vehicle |
| CN111555190A (en) * | 2020-05-28 | 2020-08-18 | 上海外高桥造船有限公司 | Marine robot for automatically laying cable |
| CN111880537A (en) * | 2020-07-28 | 2020-11-03 | 上海交通大学 | Tunnel cable intelligent inspection robot system |
| CN111998186A (en) * | 2020-08-17 | 2020-11-27 | 贵州电网有限责任公司 | Cable trench inspection robot |
| CN113884798A (en) * | 2021-09-30 | 2022-01-04 | 国网山东省电力公司烟台供电公司 | Electrified detection device of cable in narrow space of high-voltage cable ditch based on SIM card |
| CN118081787A (en) * | 2024-03-04 | 2024-05-28 | 西昌学院 | Inspection robot for power system |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105774583A (en) * | 2016-03-06 | 2016-07-20 | 任荣源 | Intelligent route inspection method for transformer substation |
| CN106680290B (en) * | 2017-02-27 | 2023-11-17 | 周显威 | Multifunctional detection vehicle in narrow space |
| CN106680290A (en) * | 2017-02-27 | 2017-05-17 | 周显威 | Multifunctional detection vehicle in narrow space |
| CN107046252A (en) * | 2017-04-14 | 2017-08-15 | 国网吉林省电力有限公司经济技术研究院 | A kind of conduit line intelligent inspection robot |
| CN107907159A (en) * | 2017-11-09 | 2018-04-13 | 北京许继电气有限公司 | A kind of power cable tunnel fortune inspection auxiliary device |
| CN108183423A (en) * | 2017-12-05 | 2018-06-19 | 国网浙江省电力公司丽水供电公司 | A kind of mobile inspection tour system and method for Electric Power Patrol |
| CN108044631A (en) * | 2017-12-13 | 2018-05-18 | 国网浙江新昌县供电有限公司 | A kind of cable duct status checkout robot |
| CN108155595A (en) * | 2017-12-19 | 2018-06-12 | 国网浙江临海市供电有限公司 | Cable duct of substation intelligent patrol system |
| CN108155595B (en) * | 2017-12-19 | 2024-07-12 | 国网浙江临海市供电有限公司 | Intelligent inspection system for cable trench of transformer substation |
| CN108398954A (en) * | 2018-05-11 | 2018-08-14 | 国网湖南省电力有限公司 | Cable duct status checkout robot and cable duct status checkout method |
| CN109131016A (en) * | 2018-10-29 | 2019-01-04 | 辽宁工程技术大学 | A kind of multi-use architecture structure detection vehicle |
| CN109291035A (en) * | 2018-10-31 | 2019-02-01 | 深圳供电局有限公司 | Small-sized inspection robot and small-sized inspection robot system |
| CN109436162A (en) * | 2018-12-09 | 2019-03-08 | 山东文登抽水蓄能有限公司 | Hydroenergy storage station inspection intelligent balance vehicle |
| CN111555190B (en) * | 2020-05-28 | 2021-05-07 | 上海外高桥造船有限公司 | Marine robot for automatically laying cable |
| CN111555190A (en) * | 2020-05-28 | 2020-08-18 | 上海外高桥造船有限公司 | Marine robot for automatically laying cable |
| CN111880537A (en) * | 2020-07-28 | 2020-11-03 | 上海交通大学 | Tunnel cable intelligent inspection robot system |
| CN111998186A (en) * | 2020-08-17 | 2020-11-27 | 贵州电网有限责任公司 | Cable trench inspection robot |
| CN111998186B (en) * | 2020-08-17 | 2022-05-06 | 贵州电网有限责任公司 | Cable trench inspection robot |
| CN113884798A (en) * | 2021-09-30 | 2022-01-04 | 国网山东省电力公司烟台供电公司 | Electrified detection device of cable in narrow space of high-voltage cable ditch based on SIM card |
| CN118081787A (en) * | 2024-03-04 | 2024-05-28 | 西昌学院 | Inspection robot for power system |
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Application publication date: 20151021 |
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