CN102097765A - Running state inspection method of high voltage line - Google Patents
Running state inspection method of high voltage line Download PDFInfo
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- CN102097765A CN102097765A CN 201010596339 CN201010596339A CN102097765A CN 102097765 A CN102097765 A CN 102097765A CN 201010596339 CN201010596339 CN 201010596339 CN 201010596339 A CN201010596339 A CN 201010596339A CN 102097765 A CN102097765 A CN 102097765A
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Abstract
The invention discloses a running state inspection method of a high voltage line. An inspection device which can travel on an aerial earth wire in a wireless remote control way can carry out video inspection by carrying a camera device. The running state inspection method comprises the steps of hanging lines, inspection and crossing obstacles. The method can overcome the defects of low precision, low efficiency, large labor intensity, dead zone existence, and the like in the traditional manual line inspection method; the way of crossing obstacles through the inspection device is simple and practical; compared with the way of crossing obstacles in the traditional inspection device, the method disclosed by the invention has strong obstacle crossing capacity and capability of crossing larger obstacles, such as towers, and the like; the continuous inspection to a section of longer line can be realized through one line hanging; and the method disclosed by the invention has important significant on guaranteeing safety running of power transmission lines and communication lines.
Description
Technical field
The present invention relates to the high-tension line damage detecting method, the method that the inspection device that particularly a kind of utilization is walked detects high-tension line on the hanging net operation circuit.
Background technology
In recent years, construction along with the high-tension line backbone network, the ultra-high-tension power transmission line of hanging net operation is more and more, operational defect also progressively comes out simultaneously, for example: disconnected strand of the outer strand of the OPGW Optical Fiber composite overhead Ground Wire that frequency is occurred frequently, the disconnected thigh of this skin not only forms communication security and threatens, and along with the increase of its broken lot length, the reduction of permanent way machine intensity also can constitute serious threat to the safety of transmission line.According to the disconnected stock market-circumstance condition investigation statistics of power transmission line, disconnected strand generally is that outer monofilament takes place disconnected strand, therefore, can adopt the video image routine inspection mode to disconnected the patrolling and examining of stock market-circumstance condition of power transmission line.
At present, method for inspecting commonly used is the manual inspection method, and this method workload is big, condition is arduous, it is low to patrol and examine precision, particularly to the mountain area with cross over patrolling and examining of great rivers circuit, there is very big difficulty, even has some projects of patrolling and examining to be difficult to finish by conventional method.For reach the purpose of patrolling and examining comprehensively, the method for inspecting of helicopter aerial survey has appearred, and precision and efficient are all higher, but owing to maked an inspection tour condition effect such as regional geography, weather, have potential safety hazard, and line walking expense height.In addition, also occurred directly at the up equipment of walking to detect of patrolling and examining of transmission line, but the mode of this device spanning obstacle has determined it to have the not strong shortcoming of obstacle climbing ability.
Therefore, need a kind of method that the circuit operation conditions is patrolled and examined of research and development, overcome above-mentioned deficiency,, effectively avoid disconnected burst of damage of transmission line to cause accident, ensure the safe operation of power system communication with disconnected burst of damage of timely discovery transmission line.
Summary of the invention
In view of this, the invention provides a kind of high-tension line running status method for inspecting, can replace manual inspection to realize the high accuracy of high-tension line is patrolled and examined by this method, and the obstacle detouring mode of inspection device is with respect to the obstacle detouring mode of existing inspection device in this method, its obstacle climbing ability is stronger.
High-tension line running status method for inspecting of the present invention comprises hanging wire, patrols and examines and the leaping over obstacles operation;
(1) described hanging wire operation may further comprise the steps:
But a) will carry the inspection device that picture pick-up device and wireless remote remote control walk on overhead ground wire and be transported to the destination, described inspection device comprises walking arm I, walking arm II, guide rail and box assembly; Described walking arm I and walking arm II include rotary components, lifting assembly and walking assembly, described rotary components comprises electric rotating machine and the walking arm mount pad that is fixedly set on the guide rail, described lifting assembly comprises the cursor that is rotatably assorted with walking arm mount pad, lifting arm that is slidingly matched with cursor and the lifting motor that cooperates with the lifting arm transmission, described electric rotating machine transmission cooperates cursor, described walking assembly comprises wheel carrier, before and after be set up in parallel and on wheel carrier, be used for the driving wheel and the auxiliary wheel of walking on the line, wheel carrier is fixedly connected on the lifting arm top, is equipped with movable motor with the driving wheel transmission; Described box assembly comprises can be along guide rail casing that reciprocatingly slides and the drive motors that is arranged on the casing;
B) inspection device is transported on the pylon, allows driving wheel and auxiliary wheel, make driving wheel and auxiliary wheel hang up overhead ground wire, finish the operation of inspection device hanging wire positive conductor;
(2) the described operation of patrolling and examining may further comprise the steps:
A) work of Remote movable motor makes inspection device follow away the arm II to the arm I direction walking of walking, and the control picture pick-up device is taken the video image of high-tension line continuously;
B) video image is wirelessly transmitted to ground, and exports man-machine interface to, observe high-tension line by video image and whether take place outer disconnected strand, and obtain disconnected burst of position that takes place;
(3) described leaping over obstacles operation may further comprise the steps:
A) move behind the controlling and driving motor-driven casing, center of gravity is moved to walking arm II place;
B) lifting motor of control walking arm I drives lifting arm lifting walking assembly, makes driving wheel and auxiliary wheel leave overhead ground wire;
C) electric rotating machine of control walking arm II drives the cursor rotation of walking arm II, makes the walking arm I arm II that detours away rotate and avoid obstacle;
D) the movable motor drive driving wheel on the control walking arm II rotates inspection device is advanced, and walking arm I is surmounted obstacles;
E) electric rotating machine of the control walking arm II cursor reverse rotation of direction of rotation among the c set by step that drives walking arm II makes the walking arm I arm II that detours away rotate return;
F) lifting motor of control walking arm I drives lifting arm decline walking assembly, makes driving wheel and auxiliary wheel hang up overhead ground wire;
G) controlling and driving motor-driven casing reach moves to walking arm I place with center of gravity;
H) lifting motor of control walking arm II drives lifting arm lifting walking assembly, makes driving wheel and auxiliary wheel leave overhead ground wire;
I) electric rotating machine of control walking arm I drives the cursor rotation of walking arm I, makes the walking arm II arm I that detours away rotate and avoid obstacle;
J) the movable motor drive driving wheel on the control walking arm I rotates inspection device is advanced, and walking arm II is surmounted obstacles;
K) electric rotating machine of the control walking arm I cursor reverse rotation of direction of rotation among the i set by step that drives walking arm I makes the walking arm II arm I that detours away rotate return;
L) lifting motor of control walking arm II drives lifting arm decline walking assembly, makes driving wheel and auxiliary wheel hang up overhead ground wire.
Further, among the step a of described hanging wire operation, inspection device is divided into walking arm I, walking arm II, guide rail and box assembly four parts transports respectively, arrival is assembled behind the destination again.
The beneficial effect of the invention: high-tension line running status method for inspecting of the present invention, but carry picture pick-up device by the inspection device that the wireless remote remote control is walked and carry out video routing inspection on overhead ground wire, comprise hanging wire, patrol and examine and the leaping over obstacles operation that this method can overcome that existing artificial patrolling method precision is low, efficient is low, labour intensity is big, have shortcoming such as blind area; The mode of inspection device leaping over obstacles is simple, obstacle detouring mode with respect to existing inspection device, its obstacle climbing ability is strong, can cross over big obstacles such as pylon, by hanging wire can realize to one section than the patrolling and examining continuously of long transmission line, the safe operation that ensures transmission line and communication line is significant.
Description of drawings
Below in conjunction with drawings and Examples the present invention is further described.
Fig. 1 is the structural representation of inspection device;
Fig. 2 is the A-A cutaway view of Fig. 1;
Fig. 3 is the principle schematic of inspection device leaping over obstacles.
Embodiment
Fig. 1 is the structural representation of inspection device, and Fig. 2 is the A-A cutaway view of Fig. 1, and Fig. 3 is the principle schematic of inspection device leaping over obstacles, as shown in the figure: may further comprise the steps:
(1) hanging wire:
A) inspection device that will carry picture pick-up device is transported to the destination, and this inspection device comprises walking arm I 1, walking arm II 2, guide rail 3 and box assembly; Described walking arm I 1 and walking arm II 2 include rotary components, lifting assembly and walking assembly, described rotary components comprises electric rotating machine 4 and the walking arm mount pad 5 that is fixedly set on the guide rail 3, described lifting assembly comprises the cursor 6 that is rotatably assorted with walking arm mount pad 5, lifting arm 7 that is slidingly matched with cursor 6 and the lifting motor 8 that cooperates with lifting arm 7 transmissions, described electric rotating machine 4 transmissions cooperate cursor 6, described walking assembly comprises wheel carrier 9, front and back are set up in parallel driving wheel 10 and the auxiliary wheel 11 that is used for walking on the line on wheel carrier 9, wheel carrier 9 is fixedly connected on lifting arm 7 tops, is equipped with movable motor 12 with driving wheel 10 transmissions; Described box assembly comprises can be along guide rail 3 casing 13 that reciprocatingly slides and the drive motors 14 that is arranged on the casing 13;
B) climb up pylon by operating personnel, boom hoisting is installed;
C) lifting rope with boom hoisting puts down, and the operator on ground connects lifting rope and inspection device;
D) operator's pull-up lifting rope on ground is higher than the overhead ground wire position until driving wheel and auxiliary wheel;
E) operator on the pylon corrects the attitude of inspection device, allows driving wheel and auxiliary wheel to positive conductor, and the operator on ground slowly discharges lifting rope and hangs up overhead ground wire until driving wheel and auxiliary wheel;
F) operator on the pylon unloads boom hoisting, finishes the operation of inspection device hanging wire;
(2) finish hanging wire after, control inspection device walking is patrolled and examined:
A) make inspection device follow away the arm II to the arm I direction walking of walking by ground station's wireless remote remote-controlled walking machine operation, the control picture pick-up device is taken the video image of high-tension line continuously;
B) treatment facility that is installed on the inspection device is encoded to video information captured in the step a);
C) be installed in signal transmitter on the inspection device with rapid b) in video data behind the coding be wirelessly transmitted to ground;
D) signal receiver on ground receives and decode video data, exports on the display of ground station, observes high-tension line by video image and whether takes place outer disconnected strand, and obtain disconnected burst of position that takes place;
(3) when running into obstacle such as pylon, the control inspection device carries out the obstacle detouring action:
A) move behind the controlling and driving motor-driven casing, center of gravity is moved to walking arm II place;
B) lifting motor of control walking arm I drives lifting arm lifting walking assembly, makes driving wheel and auxiliary wheel leave overhead ground wire;
C) electric rotating machine of control walking arm II drives the cursor rotation of walking arm II, makes the walking arm I arm II that detours away rotate and avoid obstacle;
D) the movable motor drive driving wheel on the control walking arm II rotates inspection device is advanced, and walking arm I is surmounted obstacles;
E) electric rotating machine of the control walking arm II cursor reverse rotation of direction of rotation among the c set by step that drives walking arm II makes the walking arm I arm II that detours away rotate return;
F) lifting motor of control walking arm I drives lifting arm decline walking assembly, makes driving wheel and auxiliary wheel hang up overhead ground wire;
G) controlling and driving motor-driven casing reach moves to walking arm I place with center of gravity;
H) lifting motor of control walking arm II drives lifting arm lifting walking assembly, makes driving wheel and auxiliary wheel leave overhead ground wire;
I) electric rotating machine of control walking arm I drives the cursor rotation of walking arm I, makes the walking arm II arm I that detours away rotate and avoid obstacle;
J) the movable motor drive driving wheel on the control walking arm I rotates inspection device is advanced, and walking arm II is surmounted obstacles;
K) electric rotating machine of the control walking arm I cursor reverse rotation of direction of rotation among the i set by step that drives walking arm I makes the walking arm II arm I that detours away rotate return;
L) lifting motor of control walking arm II drives lifting arm decline walking assembly, makes driving wheel and auxiliary wheel hang up overhead ground wire, finishes the leaping over obstacles action, proceeds patrolling and examining of next section high-tension line.
In the present embodiment, among the step a of described hanging wire operation, inspection device is divided into walking arm I, walking arm II, guide rail and box assembly four parts to be transported respectively, assemble again after arriving the destination, every part weight is light, volume is less, so that the personnel of patrolling and examining carry when means of transportations such as mountain area can't arrive the zone and patrol and examine.
Explanation is at last, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement technical scheme of the present invention, and not breaking away from the aim and the scope of technical solution of the present invention, it all should be encompassed in the middle of the claim scope of the present invention.
Claims (2)
1. a high-tension line running status method for inspecting comprises hanging wire, patrols and examines and the leaping over obstacles operation, it is characterized in that:
(1) described hanging wire operation may further comprise the steps:
But a) will carry the inspection device that picture pick-up device and wireless remote remote control walk on overhead ground wire and be transported to the destination, described inspection device comprises walking arm I (1), walking arm II (2), guide rail (3) and box assembly; Described walking arm I (1) and walking arm II (2) include rotary components, lifting assembly and walking assembly, described rotary components comprises electric rotating machine (4) and is fixedly set in walking arm mount pad (5) on the guide rail (3), described lifting assembly comprises the cursor (6) that is rotatably assorted with walking arm mount pad (5), lifting arm (7) that is slidingly matched with cursor (6) and the lifting motor (8) that cooperates with lifting arm (7) transmission, described electric rotating machine (4) transmission cooperates cursor (6), described walking assembly comprises wheel carrier (9), front and back are set up in parallel driving wheel (10) and the auxiliary wheel (11) that is used for walking on the line on wheel carrier (9), wheel carrier (9) is fixedly connected on lifting arm (7) top, is equipped with movable motor (12) with driving wheel (10) transmission; Described box assembly comprises the casing (13) that can reciprocatingly slide along guide rail (3) and is arranged at drive motors (14) on the casing (13);
B) inspection device is transported on the pylon, allows driving wheel and auxiliary wheel, make driving wheel and auxiliary wheel hang up overhead ground wire, finish the operation of inspection device hanging wire positive conductor;
(2) the described operation of patrolling and examining may further comprise the steps:
A) work of Remote movable motor makes inspection device follow away the arm II to the arm I direction walking of walking, and the control picture pick-up device is taken the video image of high-tension line continuously;
B) video image is wirelessly transmitted to ground, and exports man-machine interface to, observe high-tension line by video image and whether take place outer disconnected strand, and obtain disconnected burst of position that takes place;
(3) described leaping over obstacles operation may further comprise the steps:
A) move behind the controlling and driving motor-driven casing, center of gravity is moved to walking arm II place;
B) lifting motor of control walking arm I drives lifting arm lifting walking assembly, makes driving wheel and auxiliary wheel leave overhead ground wire;
C) electric rotating machine of control walking arm II drives the cursor rotation of walking arm II, makes the walking arm I arm II that detours away rotate and avoid obstacle;
D) the movable motor drive driving wheel on the control walking arm II rotates inspection device is advanced, and walking arm I is surmounted obstacles;
E) electric rotating machine of the control walking arm II cursor reverse rotation of direction of rotation among the c set by step that drives walking arm II makes the walking arm I arm II that detours away rotate return;
F) lifting motor of control walking arm I drives lifting arm decline walking assembly, makes driving wheel and auxiliary wheel hang up overhead ground wire;
G) controlling and driving motor-driven casing reach moves to walking arm I place with center of gravity;
H) lifting motor of control walking arm II drives lifting arm lifting walking assembly, makes driving wheel and auxiliary wheel leave overhead ground wire;
I) electric rotating machine of control walking arm I drives the cursor rotation of walking arm I, makes the walking arm II arm I that detours away rotate and avoid obstacle;
J) the movable motor drive driving wheel on the control walking arm I rotates inspection device is advanced, and walking arm II is surmounted obstacles;
K) electric rotating machine of the control walking arm I cursor reverse rotation of direction of rotation among the i set by step that drives walking arm I makes the walking arm II arm I that detours away rotate return;
L) lifting motor of control walking arm II drives lifting arm decline walking assembly, makes driving wheel and auxiliary wheel hang up overhead ground wire.
2. high-tension line running status method for inspecting according to claim 1, it is characterized in that: among the step a of described hanging wire operation, inspection device is divided into walking arm I, walking arm II, guide rail and box assembly four parts transports respectively, arrival is assembled behind the destination again.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010105963394A CN102097765B (en) | 2010-12-20 | 2010-12-20 | Running state inspection method of high voltage line |
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| CN2010105963394A CN102097765B (en) | 2010-12-20 | 2010-12-20 | Running state inspection method of high voltage line |
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| CN102097765B CN102097765B (en) | 2012-08-22 |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102570349A (en) * | 2011-12-30 | 2012-07-11 | 武汉大学 | Snake-shaped robot capable of climbing for overhead transmission cables |
| CN104600628A (en) * | 2015-02-13 | 2015-05-06 | 深圳市富斯遥控模型技术有限公司 | Automatic inspection device and automatic inspection system for high-voltage wires |
| CN104909294A (en) * | 2015-06-03 | 2015-09-16 | 广东电网有限责任公司电力科学研究院 | Hoisting device applied to automatic loading and unloading of overhead high-voltage transmission line inspection robot |
| CN105470867A (en) * | 2016-01-05 | 2016-04-06 | 国网湖南省电力公司带电作业中心 | Unmanned aerial vehicle based automatic pole-climbing method and apparatus |
| CN105965524A (en) * | 2016-07-13 | 2016-09-28 | 国家电网公司 | Patrolling robot of iron tower and working method thereof |
| CN105973577A (en) * | 2016-04-25 | 2016-09-28 | 中交公路规划设计院有限公司 | Check vehicle for bridge cable inspection and using method thereof |
| CN106099750A (en) * | 2016-07-06 | 2016-11-09 | 包英扬 | A kind of electrical network long-distance monitorng device |
| CN106193640A (en) * | 2016-07-13 | 2016-12-07 | 国家电网公司 | A kind of steel tower inspecting robot and method of work thereof |
| CN107179479A (en) * | 2017-06-12 | 2017-09-19 | 西安工程大学 | Transmission pressure broken lot defect inspection method based on visible images |
| CN108927643A (en) * | 2018-07-19 | 2018-12-04 | 沈彦南 | A kind of sea horse damper attaching/detaching apparatus and method |
| CN112630594A (en) * | 2020-11-27 | 2021-04-09 | 中国计量大学 | A patrol and examine robot for cable detects |
| CN114389202A (en) * | 2021-12-01 | 2022-04-22 | 国网山西省电力公司临汾供电公司 | Overhead transmission line tension and pay-off safety cooperative control system and use method thereof |
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| CN109494612A (en) * | 2018-11-29 | 2019-03-19 | 国网山东省电力公司日照供电公司 | A kind of hanging wire crusing robot |
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| CN102570349B (en) * | 2011-12-30 | 2015-03-25 | 武汉大学 | Snake-shaped robot capable of climbing for overhead transmission cables |
| CN102570349A (en) * | 2011-12-30 | 2012-07-11 | 武汉大学 | Snake-shaped robot capable of climbing for overhead transmission cables |
| CN104600628A (en) * | 2015-02-13 | 2015-05-06 | 深圳市富斯遥控模型技术有限公司 | Automatic inspection device and automatic inspection system for high-voltage wires |
| CN104909294A (en) * | 2015-06-03 | 2015-09-16 | 广东电网有限责任公司电力科学研究院 | Hoisting device applied to automatic loading and unloading of overhead high-voltage transmission line inspection robot |
| CN104909294B (en) * | 2015-06-03 | 2017-02-22 | 广东电网有限责任公司电力科学研究院 | Hoisting device applied to automatic loading and unloading of overhead high-voltage transmission line inspection robot |
| CN105470867A (en) * | 2016-01-05 | 2016-04-06 | 国网湖南省电力公司带电作业中心 | Unmanned aerial vehicle based automatic pole-climbing method and apparatus |
| CN105470867B (en) * | 2016-01-05 | 2017-07-04 | 国网湖南省电力公司带电作业中心 | It is a kind of that bar method and its device are stepped on based on unmanned plane automatically |
| CN105973577B (en) * | 2016-04-25 | 2020-06-19 | 中交公路规划设计院有限公司 | Inspection vehicle for bridge cable detection and using method thereof |
| CN105973577A (en) * | 2016-04-25 | 2016-09-28 | 中交公路规划设计院有限公司 | Check vehicle for bridge cable inspection and using method thereof |
| CN106099750B (en) * | 2016-07-06 | 2017-09-12 | 梁磊 | A kind of power network long-distance monitorng device |
| CN106099750A (en) * | 2016-07-06 | 2016-11-09 | 包英扬 | A kind of electrical network long-distance monitorng device |
| CN106193640A (en) * | 2016-07-13 | 2016-12-07 | 国家电网公司 | A kind of steel tower inspecting robot and method of work thereof |
| CN106193640B (en) * | 2016-07-13 | 2018-10-02 | 合肥龙图腾信息技术有限公司 | A kind of steel tower inspecting robot and its working method |
| CN105965524A (en) * | 2016-07-13 | 2016-09-28 | 国家电网公司 | Patrolling robot of iron tower and working method thereof |
| CN107179479A (en) * | 2017-06-12 | 2017-09-19 | 西安工程大学 | Transmission pressure broken lot defect inspection method based on visible images |
| CN107179479B (en) * | 2017-06-12 | 2020-05-22 | 西安工程大学 | Visible light image-based transmission conductor strand scattering defect detection method |
| CN108927643A (en) * | 2018-07-19 | 2018-12-04 | 沈彦南 | A kind of sea horse damper attaching/detaching apparatus and method |
| CN112630594A (en) * | 2020-11-27 | 2021-04-09 | 中国计量大学 | A patrol and examine robot for cable detects |
| CN114389202A (en) * | 2021-12-01 | 2022-04-22 | 国网山西省电力公司临汾供电公司 | Overhead transmission line tension and pay-off safety cooperative control system and use method thereof |
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Owner name: CHONGQING QIANWEI INSTRUMENT CO., LTD. STATE GRID Free format text: FORMER OWNER: CHONGQING QIANWEI INSTRUMENT CO., LTD. Effective date: 20121206 |
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Effective date of registration: 20121206 Address after: Shuanglong road 401420 Chongqing city Qijiang County Gunan town No. 51 Patentee after: Qinan Power Supply Bureau of Chongqing Power Co. Patentee after: Chongqing Qianwei Instrument Co., Ltd. Patentee after: State Grid Corporation of China Address before: Shuanglong road 401420 Chongqing city Qijiang County Gunan town No. 51 Patentee before: Qinan Power Supply Bureau of Chongqing Power Co. Patentee before: Chongqing Qianwei Instrument Co., Ltd. |