CN103855644B - Many rotary wind types Intelligent overhead-line circuit scanning test robot - Google Patents

Many rotary wind types Intelligent overhead-line circuit scanning test robot Download PDF

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Publication number
CN103855644B
CN103855644B CN201410096183.1A CN201410096183A CN103855644B CN 103855644 B CN103855644 B CN 103855644B CN 201410096183 A CN201410096183 A CN 201410096183A CN 103855644 B CN103855644 B CN 103855644B
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line
described
fall
control equipment
module
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CN201410096183.1A
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CN103855644A (en
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何守印
张立燕
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何守印
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Abstract

The invention discloses a kind of many rotary wind types Intelligent overhead-line circuit scanning test robot, including walking module, many rotor flyings system module, autonomous line of fall module, line upper mounting plate and ground station reception processing platform on line;On line, walking module includes traveling vehicle frame, walking support wheel, running wheel and movable motor, and the inner face of walking support wheel and outer face are respectively equipped with interior guiding circle and outer guiding circle;Many rotor flyings system module includes flying control equipment storehouse, rotor arm, rotor and flight motor, The Cloud Terrace, patrols and examines camera and the support that rises and falls, and the top in flying control equipment storehouse is connected with traveling vehicle frame by connecting pole;Autonomous line of fall module includes the multisensor module in left line of fall camera, right line of fall camera and flying control equipment storehouse;Line upper mounting plate and ground station reception processing platform wireless connections.Top flight can either patrol and examine transmission line of electricity online, again can the independently line of fall, off-line, it is achieved walk on line and patrol and examine, greatly reduce labor intensity and cost of labor, improve and patrol and examine efficiency.

Description

Many rotary wind types Intelligent overhead-line circuit scanning test robot

Technical field

The present invention relates to a kind of many rotary wind types Intelligent overhead-line road and patrol and examine technology, particularly relate to a kind of many rotary wind types intelligence and make somebody a mere figurehead Route inspecting robot.

Background technology

Power industry is related to the development of national economy and the orthobiosis of the people, and power overhead network is modern society Life line, especially high pressure and extra high voltage network.

High voltage overhead lines route shaft tower, wire, ground wire, insulator, wire clamp, conductor spacer, gold utensil etc. are constituted.Wherein structure The safety and steady becoming the electric energy transport net of whole transmission line of electricity runs and is national economy and the lives of the people normally utilize electric energy Basic premise, but owing to overhead transmission line is erected at field, under the conditions of complicated natural environment and special climate, operation Power transmission network there will be such-and-such problem, such as: wire or the disconnected stock of ground wire, broken lot, the deterioration of insulator cause Electric discharge and dodge, the gold utensil such as damper loosening cause damper migration, hang kite or woven bag etc. on circuit and hang Thing, strong wind cause line oscillation and then cause the natural disasters such as alternate electric discharge, line ice coating, bird's nest birds droppings stealth harm etc. Deng.Accordingly, it would be desirable to circuit is regularly maked an inspection tour, to check that power transmission is the most normal and fixes a breakdown, thus protect Card national grid safety and the normal conveying of electric energy.

In prior art, the method patrolling and examining overhead transmission line mainly has three kinds:

One is manual detection, by making an inspection tour the range estimation of personnel, or observes by telescope.This method is extremely difficult to reason The effect thought, particularly in mountain area with a varied topography, not only track walker's physical demands is big, and efficiency is low, reliability Low.

Another method with a kind of can on overhead transmission line stabilized walking, can be with real-time monitored line condition Intelligentized robot replaces manual patrol, the most both can improve the precision of line walking, can improve again work efficiency, Save substantial amounts of manpower.But, existing robot can only straightway line walking between two shaft towers, across obstacle Function is poor, needs robot by artificial climbing tower, served wire or the ground wire patrolling and examining circuit in application process On, upper and lower tower is very inconvenient, especially at the circuit of charging operation, brings potential safety hazard can to livewire work personnel, and Human cost is the highest.

Still an alternative is that and by Helicopter Technology, transmission line of electricity is maked an inspection tour, online by airborne video camera Make an inspection tour above road.This method is the most just flown by helicopter and the running status of circuit is passed through video image Mode be transferred to earth station, it is possible to preliminary solve the problem of patrolling and examining that line security runs, but there is also some problems, as Helicopter can only the most just carry out single angle, unidirectional observation, can only carry out video one-tenth more at a distance simultaneously Picture, this method can only form the event of damage on wire, ground wire, insulator, gold utensil and the shaft tower on bigness scale circuit Barrier problem, it is impossible to close-up and record circuit some potential hidden danger and problems, such as the disconnected stock of wire ground wire and non-broken lot Potential risk.Meanwhile, this patrolling and examining at a distance can only be to observe and know, it is impossible to fault that is potential or that occurred Process, as suspended on the danger such as kite and plastic foil on circuit, cannot be on circuit simply by helicopter routing inspection Hidden danger or problem carry out processing operation.

Summary of the invention

It is an object of the invention to provide one can either online top flight patrol and examine transmission line of electricity, again can independently the line of fall, from Line, it is achieved the many rotary wind types Intelligent overhead-line circuit scanning test robot patrolled and examined of walking on line.

It is an object of the invention to be achieved through the following technical solutions:

Many rotary wind types Intelligent overhead-line circuit scanning test robot of the present invention, including walking module, many rotor flyings system on line Module, autonomous line of fall module, line upper mounting plate and ground station reception processing platform;

On described line, walking module includes that traveling vehicle frame, described traveling vehicle frame are provided with running wheel and walking supports wheel, Described running wheel connects travel driving motor, and the inner face of described walking support wheel and outer face are drawn in being respectively equipped with Duct ring and outer guiding circle;

Described many rotor flyings system module includes flying control equipment storehouse, the top in described flying control equipment storehouse by connect pole with Described traveling vehicle frame connects, and the periphery in described flying control equipment storehouse is provided with rotor arm and oblique pull support, the end of described rotor arm Being provided with rotor and flight motor, the bottom in described flying control equipment storehouse is provided with The Cloud Terrace and the support that rises and falls, and described The Cloud Terrace is provided with and patrols Phase-detecting machine;

Described autonomous line of fall module includes being located at the left line of fall camera on top, described flying control equipment storehouse and right line of fall camera, also wraps Include the multisensor module being provided with in described flying control equipment storehouse;

Described travel driving motor, flight motor, patrol and examine camera, left line of fall camera, right line of fall camera and multisensor mould Block is connected by holding wire with described line upper mounting plate respectively, and described line upper mounting plate is wireless with described ground station reception processing platform Connect.

As seen from the above technical solution provided by the invention, many rotary wind types Intelligent overhead-line that the embodiment of the present invention provides Circuit scanning test robot is flat owing to including on walking module on line, many rotor flyings system module, autonomous line of fall module, line Platform and ground station reception processing platform, can either online top flight patrol and examine transmission line of electricity, again can independently the line of fall, from Line, it is achieved on line, walking is patrolled and examined, and greatly reduces labor intensity and cost of labor, improves and patrol and examine efficiency.

Accompanying drawing explanation

The perspective view of many rotary wind types Intelligent overhead-line circuit scanning test robot that Fig. 1 provides for the embodiment of the present invention;

The plan structure schematic diagram of many rotary wind types Intelligent overhead-line circuit scanning test robot that Fig. 2 provides for the embodiment of the present invention.

The systemic-function schematic diagram of many rotary wind types Intelligent overhead-line circuit scanning test robot that Fig. 3 provides for the embodiment of the present invention.

In figure:

1, traveling vehicle frame, 2, travel driving motor, 3, the interior circle that guides, 4, the outer circle that guides, 5, rotor, 6, flight Motor, 7, oblique pull support, 8, patrol and examine camera, 9, The Cloud Terrace, 10, rise and fall support, 11, flying control equipment storehouse, 12, Rotor arm, 13, left line of fall camera, 14, right line of fall camera, 15, connect pole.16, running wheel, 17, OK Walk and support wheel, 18, aerial line.

Detailed description of the invention

The embodiment of the present invention will be described in further detail below.

Many rotary wind types Intelligent overhead-line circuit scanning test robot of the present invention, its preferably detailed description of the invention is:

Including walking module, many rotor flyings system module, autonomous line of fall module, line upper mounting plate and ground station reception on line Processing platform;

On described line, walking module includes that traveling vehicle frame, described traveling vehicle frame are provided with running wheel and walking supports wheel, Described running wheel connects travel driving motor, and the inner face of described walking support wheel and outer face are drawn in being respectively equipped with Duct ring and outer guiding circle;

Described many rotor flyings system module includes flying control equipment storehouse, the top in described flying control equipment storehouse by connect pole with Described traveling vehicle frame connects, and the periphery in described flying control equipment storehouse is provided with rotor arm and oblique pull support, the end of described rotor arm Being provided with rotor and flight motor, the bottom in described flying control equipment storehouse is provided with The Cloud Terrace and the support that rises and falls, and described The Cloud Terrace is provided with and patrols Phase-detecting machine;

Described autonomous line of fall module includes being located at the left line of fall camera on top, described flying control equipment storehouse and right line of fall camera, also wraps Include the multisensor module being provided with in described flying control equipment storehouse;

Described travel driving motor, flight motor, patrol and examine camera, left line of fall camera, right line of fall camera and multisensor mould Block is connected by holding wire with described line upper mounting plate respectively, and described line upper mounting plate is wireless with described ground station reception processing platform Connect.

Described multisensor module includes GPS module, altimeter, gyroscope, electronic compass, accelerometer and close biography Sensor.

Described The Cloud Terrace is cradle head of two degrees of freedom.

Described running wheel and walking support the surface of wheel and are provided with rubber layer.

The present invention is according to the pluses and minuses of methods various in prior art, by ingenious to robotics and unmanned air vehicle technique combination, Original robot base incorporates in recent years fast-developing and gradually ripe many rotor wing unmanned aerial vehicles technology, it is achieved that machine People's autonomous flight and autonomous line of fall off-line, robot can either fly on line and patrol and examine transmission line of electricity, the most certainly The main line of fall, it is achieved on line, walking is patrolled and examined, when running into obstacle or tower end of walking, robot can be by unmanned plane during flying skill Art is off-line by the way of leap, thus has preferably cracked an original barrier-surpassing robot obstacle detouring difficult problem, without the need for manually Tower up and down, only need to carry out observing and manipulating in earth station.This overhead transmission line method for inspecting compensate for manually hoping The bigness scale patrolled and examined above remote mirror method and simple helicopter line is not enough and artificial deviation, it is achieved that bigness scale and becoming more meticulous is patrolled and examined Merge;Solve helicopter routing inspection and can only make an inspection tour the most treatable difficult problem, by the mechanical arm mould of line of fall walking robot Block carries out hot line job to the circuit question hidden danger existed;The problem solving artificial tower up and down, it is not necessary to artificial Shang Ta and under Tower, realizes the autonomous line of fall and off-line by means of airmanship, greatly reduces labor intensity and cost of labor, is greatly improved Patrol and examine efficiency;Solve the simple difficult problem being carried out obstacle detouring by robotics, due to original barrier-surpassing robot only The interference problem under strong-electromagnetic field environment by mechanical arm and general sensor feedback servosystem, exist misoperation or The situation of faulty sensor, hampers the applied generalization of barrier-surpassing robot technology the most always;Pass through binocular vision technology Allow the robot to identify the Small object such as wire or ground wire and be given in its different coordinates with many senses information mix together technology Exact position, and then realize the robot autonomous line of fall and off-line by the fusion of flight control system and many sensory feedback information, This Small object recognition positioning method can be widely applied in the flight control of other aircraft.

Specific embodiment:

As shown in Figure 1 and Figure 2, including on walking module, autonomous line of fall module, many rotor flyings system module, line on line Platform and ground station reception processing platform.

On line, walking module includes: traveling vehicle frame 1, travel driving motor 2, interior guiding circle 3, outer guiding circle 4, walking are driven Driving wheel 16, walking support wheel 17 etc..

Travel driving motor passes through bonded running wheel, the middle part that motor flange dish will be driven to be fixed tightly in traveling vehicle frame. Two walkings are supported wheel and are connected on wheel shaft by bearing, and are threadedly attached on traveling vehicle frame.Circle is guided in wherein With the outer two ends guiding circle to be fixed on walking support wheel, it is mainly used in the guiding during line of fall, enables power transmission line smoothly relatively Fall in large scale in support race.Supporting wheel surface is rubber, in order to increase the frictional force during robot ambulation, Thus ensure that there is bigger climbing capacity in robot.

Autonomous line of fall module includes: the multisensor mould in left line of fall camera 13, right line of fall camera 14 and flying control equipment storehouse 11 Block, such as: GPS module, altimeter, gyroscope, electronic compass, accelerometer, proximity transducer etc..

Being accurately positioned of aerial line is realized by the sensor in binocular camera and flying control equipment storehouse.Whole position fixing process is: Controlling robot by flight control system to take off on the ground, at this moment flight control system and binocular camera work simultaneously, flying control equipment storehouse Interior GPS module provides robot coordinate relative to the earth, and passes through binocular camera and fast image processing algorithm thereof to wanting The aerial line 18 of land carries out visual tracking and location, provides the three-dimensional coordinate of aerial line opposed robots's body, by sitting The conversion of mark system and relevant computational methods, final robot can provide aerial line purpose coordinate system and robot local Coordinate System Three-dimensional offset data, by senior pid algorithm, revise in real time compensating coordinate, and the coordinate difference information of mending fed back to Flight control system, the most robot autonomous identification is the most close to the aerial line of wanted land, eventually through proximity transducer and Binocular camera finally confirms the position of the aerial line of the wanted land of robot, and control system is controlled by these feedback informations Robot autonomous land.

Many rotor flyings system module includes: rotor 5, flight motor 6, oblique pull support 7, patrol and examine camera 8, The Cloud Terrace 9, rise Fall support 10, flying control equipment storehouse 11, rotor arm 12, connection pole 15 etc..

Use six rotor wing unmanned aerial vehicles as the robot flight line of fall, off-line, the carrier patrolled and examined.Six of which rotor uniformly divides Cloth to interval 60 degree of angles circumference on, rotor is connected with flight motor, is connected to flight equipment storehouse base by rotor arm On.Have six oblique pull supports, add the intensity of strong ties pole and whole robot is upper and lower by being connected with turning arm to fasten Two-part counterweight balance is arranged.Floor, flying control equipment storehouse is attached by connector with the support that rises and falls, and rise and fall support master To be spliced by the carbon fiber blank pipe of T font.Whole many rotor flyings system module all uses carbon fibre material to constitute, and protects Demonstrate,prove the coordination configuration of flight power supply and take-off weight.Patrolling and examining camera to be fixed on cradle head of two degrees of freedom, it is steady that The Cloud Terrace has increasing Function, it is ensured that robot airstream vibration in flight course is on patrolling and examining camera shooting impact minimum.

Above-mentioned many rotary wind types Intelligent overhead-line circuit scanning test robot control method of the present invention, as it is shown on figure 3, include step:

Whole position fixing process is: controls robot by flight control system and takes off on the ground, at this moment flight control system and binocular camera Working, the GPS module in flying control equipment storehouse provides robot coordinate relative to the earth simultaneously, and by binocular camera and Fast image processing algorithm carries out visual tracking and location to the aerial line wanting land, provides aerial line opposed robots's body Three-dimensional coordinate, by coordinate system transformation and relevant computational methods, final robot can provide aerial line purpose coordinate system With the three-dimensional offset data of robot local Coordinate System, by senior pid algorithm, revise in real time compensating coordinate, and will Coordinate difference is mended information and is fed back to flight control system, and the most robot autonomous identification is the most close to the aerial line of wanted land, Finally confirmed the position of the aerial line of the wanted land of robot eventually by proximity transducer and binocular camera, control system is led to Cross these feedback informations and control robot autonomous land.During the line of fall, need flight control system according to existing robot The multi-sensor fusion information of the binocular vision image of many rotors attitude and feedback and other relevant additional sensors, by machine The line of fall pose adjustment of people to two walking supports the outer guiding circle end face of wheel and vertical parallel position of aerial line, with Time vertical of two walkings wheel vertical of groove center and aerial line of supporting wheel overlap, at this moment flight control system control robot Till falling it is known that drop to aerial line and walking support race coincidence, at this moment robot stops declining, and by close The feedback signal of sensor judges line of fall success, many rotors motor stalls, the flight line of fall process knot of whole robot Bundle, control system starts to start travel driving motor, controls robot and walks on line.When robot runs into obstacle, Implementing the inverse process that the robot line of fall controls, travel driving motor is first stopped by control system, then according to the operation of aircraft Attitude, implements takeoff procedure, and when all many rotor flyings motors accelerate to a certain degree, robot off-line is also being maked somebody a mere figurehead Line leaves interior when guiding circle, makes robot fly away from aerial line to applied force, and completes landing or land to the shaft tower other end Process.So robot be achieved that complete take off, look for line, location, posture adjustment, the line of fall, shut down, walk, from Multiple complex processes such as line takes off, landing.Video routing inspection camera on The Cloud Terrace is working always in the above process, carries out Line data-logging, by digital transmission module can transmit ground station control instruct, by figure transmission module transmission patrol and examine video image and The location image of two-way line of fall camera.The location image of two-way line of fall camera is carried out by the fast image processing module of earth station Quickly process, quickly calculated the Small object aerial line coordinate relative to robot body, and then feedback by related algorithm Individual control system, controls the flight of six rotor flying motors.

The above, the only present invention preferably detailed description of the invention, but protection scope of the present invention is not limited thereto, Any those familiar with the art in the technical scope of present disclosure, the change that can readily occur in or replace Change, all should contain within protection scope of the present invention.Therefore, protection scope of the present invention should be with claims Protection domain is as the criterion.

Claims (3)

1. rotary wind type Intelligent overhead-line circuit scanning test robot more than a kind, it is characterised in that include walking module on line, revolve more Wing flight system module, autonomous line of fall module, line upper mounting plate and ground station reception processing platform;
On described line, walking module includes that traveling vehicle frame, described traveling vehicle frame are provided with running wheel and walking supports wheel, Described running wheel connects travel driving motor, and the inner face of described walking support wheel and outer face are drawn in being respectively equipped with Duct ring and outer guiding circle;
Described many rotor flyings system module includes flying control equipment storehouse, the top in described flying control equipment storehouse by connect pole with Described traveling vehicle frame connects, and the periphery in described flying control equipment storehouse is provided with rotor arm and oblique pull support, the end of described rotor arm Being provided with rotor and flight motor, the bottom in described flying control equipment storehouse is provided with The Cloud Terrace and the support that rises and falls, and described The Cloud Terrace is provided with and patrols Phase-detecting machine;
Described autonomous line of fall module includes being located at the left line of fall camera on top, described flying control equipment storehouse and right line of fall camera, also wraps Include the multisensor module being provided with in described flying control equipment storehouse;
Described travel driving motor, flight motor, patrol and examine camera, left line of fall camera, right line of fall camera and multisensor mould Block is connected by holding wire with described line upper mounting plate respectively, and described line upper mounting plate is wireless with described ground station reception processing platform Connect;
Described multisensor module includes GPS module, altimeter, gyroscope, electronic compass, accelerometer and close biography Sensor.
Many rotary wind types Intelligent overhead-line circuit scanning test robot the most according to claim 1, it is characterised in that described cloud Platform is cradle head of two degrees of freedom.
Many rotary wind types Intelligent overhead-line circuit scanning test robot the most according to claim 1, it is characterised in that described row Walk driving wheel and walking supports the surface taken turns and is provided with rubber layer.
CN201410096183.1A 2014-03-14 2014-03-14 Many rotary wind types Intelligent overhead-line circuit scanning test robot CN103855644B (en)

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