CN104538898B - Line walking vehicle control and patrol vehicle control method - Google Patents
Line walking vehicle control and patrol vehicle control method Download PDFInfo
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- CN104538898B CN104538898B CN201510018640.XA CN201510018640A CN104538898B CN 104538898 B CN104538898 B CN 104538898B CN 201510018640 A CN201510018640 A CN 201510018640A CN 104538898 B CN104538898 B CN 104538898B
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Abstract
The invention provides a kind of line walking vehicle control and patrol vehicle control method.Wherein, the system includes：Wireless controller, for sending open command to patrol vehicle, receive video image；And send emergent control instruction；Control cabinet, run for starting patrol vehicle on lightning conducter, folding and the arm move angle of each palm are driven according to the motor of each palm of the obstacle detection output control patrol vehicle received, makes patrol vehicle across obstacle；And when that can not differentiate barrier, control patrol vehicle is out of service, and alarmed to wireless controller, control patrol vehicle operation is instructed according to emergent control；Obstacle detection module, control cabinet is sent to for detecting the barrier on lightning conducter, and by obstacle detection result；Video image acquisition device, wireless controller is transferred to by control cabinet for gathering the video image of transmission line of electricity, and by the video image.By the present invention, reduce the cost of transmission line faultlocating and improve the reliability of detection.
Description
Technical field
The present invention relates to field of power detection, in particular to line walking vehicle control and patrol vehicle control method.
Background technology
Because transmission line of electricity distribution face is wider, the remote cities and towns of the overwhelming majority, residing with a varied topography, natural environment is severe,
And power line and shaft tower are nearby chronically exposed to field, not only by lasting mechanical tension, electric flashover, material aging shadow
Ring and produce stranded, abrasion, corrosion equivalent damage, also suffer filth, thunderbolt, high wind, landslide, depression, bird pest and artificial destruction
Encroached on Deng the external world.Therefore, the management of circuit regular visit is that a basic work of electric line and its equipment safety is effectively ensured
Make, it is therefore intended that processing earlier damage, defect and the hidden danger for jeopardizing line security are found in time, so as to ensure that electric line is pacified
Complete and power system stability.The method for inspecting of overhead transmission line mainly has following two kinds at present：
(1) ground ocular estimate：Using naked eyes or telescope to local power line on foot or inspection of driving, this method
Precision it is low, labor intensity is big, poor reliability, and part circuit is difficult to reach.
(2) aircraft aerophotographic method：Helicopter flies along transmission line of electricity, and staff is with the naked eye or airborne equipment is observed and note
The problems such as difficult navigation and inspection somewhat expensive be present in the situation of abnormity point along record, this method.
Inventor has found that it is near that ground ocular estimate and aircraft aerophotographic method of the prior art are required to staff under study for action
, the problem of cost is higher and reliability is poor be present in the naked eyes detection overhead transmission line of distance.
The content of the invention
In view of this, the purpose of the embodiment of the present invention is to provide line walking vehicle control and patrol vehicle control method, with
Reduce the cost of transmission line faultlocating and the reliability of lifting detection.
In a first aspect, the embodiments of the invention provide a kind of line walking vehicle control, including：It is arranged at the wireless controlled of distal end
Device processed, for sending open command to patrol vehicle, receive the video image of patrol vehicle collection；And receive the alarm of patrol vehicle
Afterwards, emergent control instruction is sent；The control cabinet being arranged on patrol vehicle, for when receiving open command, starting patrol vehicle
Run on lightning conducter, opening for each palm is driven according to the motor of each palm of the obstacle detection output control patrol vehicle received
Conjunction and arm move angle, make patrol vehicle across obstacle；And when that can not differentiate barrier, control patrol vehicle stops fortune
OK, and to wireless controller alarm, the emergent control instruction control patrol vehicle operation sent according to wireless controller；It is arranged at and patrols
Obstacle detection module at the forward and backward arm of line car, sent for detecting the barrier on lightning conducter, and by obstacle detection result
To control cabinet；The video image acquisition device being arranged on patrol vehicle, after being run for patrol vehicle, gather the video of transmission line of electricity
Image, and the video image is transferred to wireless controller by control cabinet.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the first of first aspect, above-mentioned system
System also includes：The state monitoring module being arranged on patrol vehicle, for monitoring the running status of patrol vehicle, running status is sent
To control cabinet；Control cabinet includes：Combustion adjustment module, the running status for being sent according to state monitoring module adjust patrol vehicle
Operation, when running status exception, running status is reported to wireless controller.
With reference to the first possible embodiment of first aspect, the embodiments of the invention provide second of first aspect
Possible embodiment, combustion adjustment module include：Brake control unit, for exceeding setting threshold when the speed of service of patrol vehicle
During value, the brake for starting each palm of patrol vehicle carries out skidding.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the third of first aspect, above-mentioned control
Case processed includes：Obstacle identity identification module, for the type according to obstacle detection result cognitive disorders thing, the type of barrier
Including：Damper, suspension clamp, strain clamp and turning path；Operation control module, for identifying mould according to obstacle identity
The motor of each palm of the type fruit control patrol vehicle of block identification drives folding and the arm move angle of each palm, makes remote holder
The palm, middle palm and rear palm across obstacle successively.
With reference to the third possible embodiment of first aspect, the embodiments of the invention provide the 4th of first aspect kind
Possible embodiment, above-mentioned operation control module include：First-hand palm control unit, for being vibrationproof when the type of barrier
When hammer or suspension clamp, palm opens off-line before the motor driving of palm before control, continues to move ahead；Second-hand slaps control unit,
For when middle palm reaches damper or suspension clamp, palm closure hanging wire before the motor driving of palm, to be controlled before control
Palm opens off-line among the motor driving of middle palm, continues to move ahead；3rd palm control unit, for when after palm reach
When damper or suspension clamp, palm closure hanging wire among the motor driving of middle palm is controlled, the motor of palm drives after control
Palm opens off-line among dynamic, continues to move ahead；4th palm control unit, for when after palm cross over damper or suspension clamp
When, palm closure hanging wire after the motor driving of palm, continues to move ahead after control.
With reference to the third possible embodiment of first aspect, the embodiments of the invention provide the 5th of first aspect kind
Possible embodiment, above-mentioned operation control module include：Preceding hand control unit, for being strain clamp when the type of barrier
When, palm opens off-line before the motor driving of palm before control, starts the lightning conducter after front end sensors detection strain clamp
Angle changing, driving forearm motor according to detection angle changing rotate forearm, make front arm tip palm (also referred to as palm
Closing device or preceding palm) be located at strain clamp after lightning conducter lower section, before control palm motor driving before palm close
Close hanging wire；Middle hand control unit, when closing hanging wire for current palm, control palm among the motor driving of middle palm
Line is absolved, continues to move ahead；Stop walking when middle palm reaches steel tower corner iron, flexible arm before and after adjustment, close middle palm
Hanging wire is closed, continues to move ahead；Hand control unit afterwards, stop walking, the electricity of palm after control when reaching steel tower corner iron for rear palm
Palm opens off-line after machine driving, continues to proceed to patrol vehicle and cross over strain clamp, palm after the motor of palm drives after control
Close hanging wire.
With reference to the 5th kind of possible embodiment of first aspect, the embodiments of the invention provide the 6th of first aspect kind
Possible embodiment, above-mentioned operation control module include：Auxiliary rod installation unit, for being accounted for when strain clamp and steel tower corner iron
According to length exceed patrol vehicle forearm add rear arm length and when, control patrol vehicle on auxiliary rod be installed on resistance to bracing cable
On the front and rear lightning conducter of folder, and patrol vehicle is controlled to cross over strain clamp along auxiliary rod, until after patrol vehicle crosses over strain clamp, control
Before patrol vehicle processed, middle and rear palm is successively on hanging wire to lightning conducter, and patrol vehicle continues to run with.
With reference to the third possible embodiment of first aspect, the embodiments of the invention provide the 7th of first aspect kind
Possible embodiment, above-mentioned operation control module include：Turning and wire jumper control unit, for being to turn when the type of barrier
During detour footpath, off-line after palm opens before the motor driving of palm before control, startup front end sensors are detected after turning path
Lightning conducter angle changing, driving forearm motor rotates forearm according to the angle changing of detection, makes the palm position of front arm tip
The lower section of lightning conducter after turning path, palm closure hanging wire before the motor driving of palm before control；Current palm closure
During hanging wire, control palm among the motor driving of middle palm to open off-line, continue to move ahead；When middle palm reaches turning path
When stop walking, flexible arm before and after adjustment, make middle palm closure hanging wire, continue to move ahead；Stop when palm reaches turning path afterwards
Only walk, palm opens off-line after the motor driving of palm after control, continues to proceed to patrol vehicle and crosses over turning path, after control
Palm closure hanging wire after the motor driving of palm.
Second aspect, the embodiment of the present invention additionally provide a kind of patrol vehicle control method, this method application said system, bag
Include：Control cabinet on patrol vehicle receives the open command that the wireless controller of distal end is sent；Control cabinet starts patrol vehicle lightning-arrest
Run on line, and trigger the video image for the video image acquisition device collection transmission line of electricity being arranged on patrol vehicle, by video
Image transmitting is to wireless controller；Control cabinet is according to the obstacle detection module feedback being arranged at the forward and backward arm of patrol vehicle
Obstacle detection result, control the motor of each palm of patrol vehicle to drive folding and the arm move angle of each palm, make patrol vehicle
Across obstacle；When control cabinet can not differentiate barrier, control cabinet control patrol vehicle is out of service, and to wireless controller report
Emergent control instruction control patrol vehicle operation that is alert, being sent according to wireless controller.
With reference to second aspect, the embodiments of the invention provide the possible embodiment of the first of second aspect, wherein, on
Stating method also includes：Above-mentioned control cabinet control monitors the running status of patrol vehicle, root by the state monitoring module on patrol vehicle
According to the operation of running status adjustment patrol vehicle, when running status exception, running status is reported to wireless controller.
System and method provided in an embodiment of the present invention, run, and transported on lightning conducter by remotely starting patrol vehicle
During row, the video image of transmission line of electricity is gathered by video image acquisition device, is sent to wireless controller, for long-range behaviour
Make the actual conditions that personnel understand transmission line of electricity in time；Meanwhile by the control cabinet on patrol vehicle according to obstacle detection result control
The automatic leaping over obstacles of patrol vehicle processed, its operation of the participation excessive without people, has been effectively saved human cost, has improved power transmission line
The validity and reliability of road automatic detection, suitable for popularization and application.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 shows a kind of structural representation for patrol vehicle that the embodiment of the present invention is provided；
Fig. 2 shows the structured flowchart for the line walking vehicle control that the embodiment of the present invention is provided；
Fig. 3 shows another structured flowchart for the line walking vehicle control that the embodiment of the present invention is provided；
Fig. 4 shows the third structured flowchart for the line walking vehicle control that the embodiment of the present invention is provided；
Fig. 5 shows the line walking vehicle control schematic diagram that the embodiment of the present invention is provided；
Fig. 6 shows the flow chart for the patrol vehicle control method using said system that the embodiment of the present invention is provided.
Embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Generally exist
The component of the embodiment of the present invention described and illustrated in accompanying drawing can be configured to arrange and design with a variety of herein.Cause
This, the detailed description of the embodiments of the invention to providing in the accompanying drawings is not intended to limit claimed invention below
Scope, but it is merely representative of the selected embodiment of the present invention.Based on embodiments of the invention, those skilled in the art are not doing
The every other embodiment obtained on the premise of going out creative work, belongs to the scope of protection of the invention.
The structural representation of patrol vehicle provided in an embodiment of the present invention as shown in Figure 1, the patrol vehicle include：Preceding palm
122nd, middle palm 142 and rear palm 162, wherein, preceding palm 122 and rear palm 162 pass through forearm 124 and rear arm respectively
164 are connected with the middle arm 144 of middle palm 142, and middle arm 144 is arranged on the base 18 of patrol vehicle, in order to realize
Patrol vehicle automatic running as much as possible, complete Detection task, the embodiment of the present invention be provided with the base 18 control cabinet and
For the power supply box (not illustrated in figure) of all parts power supply, video image acquisition device (example is additionally provided with the patrol vehicle
Such as, digital camera, do not illustrate in figure), the video image acquisition device can be arranged in the base, in forearm 124
With obstacle detection module is provided with rear arm 164, i.e., obstacle detection module 126 and obstacle detection module 166 in figure, should
Obstacle detection module can be a scanner.
For the patrol vehicle shown in Fig. 1, the embodiments of the invention provide a kind of line walking vehicle control, in the present embodiment,
Patrol vehicle can be set up on lightning conducter in advance.The structured flowchart of line walking vehicle control shown in Figure 2, the system include with
Lower device：
The wireless controller 22 of distal end is arranged at, for sending open command to patrol vehicle, receives regarding for patrol vehicle collection
Frequency image；And after receiving the alarm of patrol vehicle, send emergent control instruction；The emergent control instruction particular content can be
Operating personnel select or operation suspension, to wait maintenance personal's field verification.
The control cabinet 24 being arranged on patrol vehicle, for when receiving open command, starting patrol vehicle on lightning conducter
Operation, the folding of each palm and arm is driven to move according to the motor of each palm of the obstacle detection output control patrol vehicle received
Dynamic angle, makes patrol vehicle across obstacle；And when that can not differentiate barrier, control patrol vehicle is out of service, and to wireless
Controller 22 is alarmed, the emergent control instruction control patrol vehicle operation sent according to wireless controller 22；The tool of the control cabinet 24
Body set location may be referred to the patrol vehicle shown in Fig. 1, set with base in.
The obstacle detection module 26 being arranged at the forward and backward arm of patrol vehicle, for detecting the barrier on lightning conducter, and
Obstacle detection result is sent to control cabinet 24；
The video image acquisition device 28 being arranged on patrol vehicle, after being run for patrol vehicle, gather regarding for transmission line of electricity
Frequency image, and video image is transferred to wireless controller 22 by control cabinet 24.
The system of the embodiment of the present invention is run by remotely starting patrol vehicle on lightning conducter, and in the process of running, is led to
The video image of video image acquisition device collection transmission line of electricity is crossed, is sent to wireless controller, it is timely for teleworker
Understand the actual conditions of transmission line of electricity；Meanwhile by the control cabinet foundation obstacle detection output control patrol vehicle on patrol vehicle certainly
Dynamic leaping over obstacles, its operation of the participation excessive without people, has been effectively saved human cost, has improved transmission line of electricity automatic detection
Validity and reliability, suitable for popularization and application.
In view of there may be a variety of emergency cases in patrol vehicle running, in order to ensure the safety of patrol vehicle operation
Property, another structured flowchart of line walking vehicle control shown in Figure 3, on the basis of system shown in Figure 2 structure, this is
System also includes：The state monitoring module 32 being arranged on patrol vehicle, for monitoring the running status of patrol vehicle, running status is sent out
Give control cabinet；Accordingly, above-mentioned control cabinet 24 includes：Combustion adjustment module 242, for being sent according to state monitoring module 32
Running status adjustment patrol vehicle operation, when running status exception, running status is reported to wireless controller 22.By this
The running status that state monitoring module monitors, control cabinet can adjust the operation of patrol vehicle in time, such as adjust its operation speed
Degree etc., and in running status exception, the abnormal running status can be reported into wireless controller in time, make distal end
Operating personnel understand field condition, remote command patrol vehicle safe operation in time.
Patrol vehicle has the process of climb and fall in leaping over obstacles, so the patrol vehicle of the present embodiment has braking locking dress
Put.Specifically, above-mentioned combustion adjustment module 242 includes：Brake control unit, exceed setting for the speed of service when patrol vehicle
During threshold value, the brake for starting each palm of patrol vehicle carries out skidding.When the patrol vehicle speed of service is very fast, pass through brake
Control, can effectively prevent patrol vehicle excessive velocities, be further ensured that the security of patrol vehicle operation.
In view of that would generally be provided with the parts such as damper, suspension clamp, strain clamp on lightning conducter, lightning conducter is also sometimes
Need to turn, based on this, control cabinet needs to cross over the part according to the physical unit control patrol vehicle on lightning conducter, referring to Fig. 4
The third structured flowchart of shown line walking vehicle control, on the basis of system shown in Figure 2 structure, the control of the present embodiment
Case 24 can include：Obstacle identity identification module 244, for the type according to obstacle detection result cognitive disorders thing, the barrier
Hinder the type of thing to include：Damper, suspension clamp, strain clamp and turning path etc.；Operation control module 246, for basis
The motor of each palm of the type fruit control patrol vehicle of obstacle identity identification module identification drives folding and the arm of each palm
Move angle, make preceding palm, middle palm and rear palm across obstacle successively.Under this mode, control cabinet can be according to barrier
Hinder the particular type of thing, effectively control patrol vehicle to cross over the barrier, it is simple to operate reasonable.
In the case of damper or suspension clamp, operation control module 246 includes：First-hand palm control unit, is used for
When the type of barrier is damper or suspension clamp, palm opens off-line before the motor driving of palm before control, before continuation
OK；Second-hand slaps control unit, for when middle palm reaches damper or suspension clamp, the motor of palm to drive before control
Preceding palm closes hanging wire, controls palm among the motor driving of middle palm to open off-line, continues to move ahead；The control of 3rd palm is single
Member, the motor for palm among when rear palm reaches damper or suspension clamp, controlling drive middle palm closure hanging wire,
Palm opens off-line among the motor driving of palm after control, continues to move ahead；4th palm control unit, for when after palm across
More damper or during suspension clamp, palm closure hanging wire after the motor driving of palm, continues to move ahead after control.Pass through above-mentioned control
System, the motor driving palm of palm, which opens, when patrol vehicle detects that there are damper, suspension clamp in front, before patrol vehicle directly climbs
More.Afterwards, the motor driving of two palms walks on behind, and when middle palm is close to suspension clamp, preceding palm closes up directly
To hanging wire；Then the motor driving palm of palm opens among, and the motor of two palms, walks on before and after connection.When after
When hand is close to suspension clamp, middle hand palm closes up, until driving wheel hanging wire；Afterwards, rear palm opens, the motor of preceding two palm
Driving walks on；When after palm crossover track folder after, rear palm closure, patrol vehicle is completed to cross over task, continued on.
In the case of strain clamp, above-mentioned operation control module 248 can include：Preceding hand control unit, for when barrier
When hindering the type of thing to be strain clamp, palm opens off-line before the motor driving of palm before control, starts front end sensors detection
The angle changing of lightning conducter after strain clamp, driving forearm motor rotate forearm according to the angle changing of detection, make forearm
The palm of end is located at the lower section of the lightning conducter after strain clamp, palm closure hanging wire before the motor driving of palm before control；
Middle hand control unit, when closing hanging wire for current palm, palm among the motor driving of middle palm is controlled to open off-line,
Continue to move ahead；Stop walking when middle palm reaches steel tower corner iron, flexible arm before and after adjustment, make middle palm closure hanging wire,
Continue to move ahead；Hand control unit afterwards, stop walking when reaching steel tower corner iron for rear palm, after control after the motor driving of palm
Palm opens off-line, continues to proceed to patrol vehicle and cross over strain clamp, and palm closes hanging wire after the motor driving of palm after control.
By this way, it is identical when the off-line of preceding palm and armful line method are with across suspension clamp when patrol vehicle crosses over strain clamp.
First preceding palm depart from before lightning conducter, by front end sensors, detect the angle changing of the rear lightning conducter of strain clamp, at this moment
The motor of forearm is rotated by this angle, end palm is located at the lower section of lightning conducter after strain clamp, preceding palm is kept away after catching
During thunder line, then middle palm off-line, the motor driving patrol vehicle walking of palm before and after startup.When middle palm is close to steel tower angle
Stop walking during steel, flexible arm before and after adjustment, middle palm is caught wire jumper, start walking.When after palm close to steel tower corner iron
When, stop walking, rear palm off-line；Walked on preceding palm and middle palm driving patrol vehicle and passed through resistance to bracing cable to patrol vehicle
Folder.
If the length of the strain clamp that patrol vehicle passed through, steel tower corner iron, more than before and after patrol vehicle during the length of arm,
A kind of servicing unit can be used, i.e.,：Overhead transmission line lightning conducter connecting rod.This connecting rod is arranged on before and after strain clamp
On lightning conducter, patrol vehicle is set to be run along connecting rod.Based on this, above-mentioned operation control module 248 can include：Auxiliary rod installation is single
Member, for the length that is occupied when strain clamp and steel tower corner iron exceed patrol vehicle forearm add rear arm length and when, control
Auxiliary rod on patrol vehicle processed is installed on the front and rear lightning conducter of strain clamp, and controls patrol vehicle to cross over resistance to bracing cable along auxiliary rod
Folder, until after patrol vehicle crosses over strain clamp, before controlling patrol vehicle, middle and rear palm on hanging wire to lightning conducter, patrols successively
Line car continues to run with.Which efficiently solves the length for the barrier (such as strain clamp, steel tower corner iron) that patrol vehicle passes through,
More than the problem of during the length of arm, patrol vehicle can not cross over the barrier before and after patrol vehicle, the smooth fortune of patrol vehicle has been ensured
OK.
In the case of turning path, above-mentioned operation control module 248 can include：Turning wire jumper control unit, is used for
When the type of barrier is turning path, palm opens off-line before the motor driving of palm before control, starts front end sensors
The angle changing of lightning conducter after detection turning path, driving forearm motor rotate forearm according to the angle changing of detection, made
The palm of front arm tip is located at the lower section of the lightning conducter after turning path, and palm closure is hung before the motor driving of palm before control
Line；During current palm closure hanging wire, control palm among the motor driving of middle palm to open off-line, continue to move ahead；Work as centre
Palm stops walking when reaching turning path, and flexible arm (including adjustment and horizontal adjustment up and down), makes middle palm before and after adjustment
Hanging wire is closed, continues to move ahead；Stop walking when palm reaches turning path afterwards, palm opens after the motor driving of palm after control
Off-line, continue to proceed to patrol vehicle and cross over turning path, palm closure hanging wire after the motor driving of palm after control.Pass through the party
Formula, when patrol vehicle detects turning wire jumper, motion process from be across the different place of straight line wire jumper flexible arm posture except
Adjustment is outer up and down, it is also necessary to which horizontal adjustment, remaining is identical.
When line slope is larger, and the friction-driven of driving wheel can not realize that patrol vehicle is advanced, driving wheel is directly translated into
Skid, now the control cabinet of patrol vehicle can control three brakes of three palms to grab line immediately, enter line crawl traveling.
In specific implementation, the structure of the line walking vehicle control schematic diagram shown in Fig. 5 can be used to realize, i.e. control system
System is mainly by built-in industrial controller (equivalent to the partial function of above-mentioned control cabinet), video image acquisition logging modle (phase
When in above-mentioned video image acquisition device), motor driving and control module, Signal sampling and processing module, displacement and rotation
Angle detection module, 3 d pose detection module (equivalent to above-mentioned state monitoring module), GPS and wireless remote control module etc., its
Middle Signal sampling and processing module can essentially be made up of some functional modules, to complete position detection, paw grip
The function such as detection, lightning-arrest line position detection, obstacle identification and path planning.The control system mainly complete mechanism kinematic driving,
Collecting sensor signal processing, radio communication, gps signal receives and the functions such as video image acquisition records, while meets to transmit electricity
Circuit climatic environment condition.
Wherein, above-mentioned built-in industrial controller can use and grind magnificent PCM-3363 mainboards：Master cpu, realize whole work(
The management and control of energy；CPU：Atom N455,1.66GHZ；Internal memory：Onboard 1G DDR3 internal memories；Storage：Support TYPEI/II types
CF cards, 1 SATA interface；Interface：1 × gigabit network interface, 4 × USB, 2 × RS-232,8 GPIO；Power consumption：Maximum 12W；Meanwhile
Motor driving, Signal sampling and processing module, GPS and wireless remote control module, and the function of video image record can be configured
Module etc..
Above-mentioned motor driving and control module can use maxon RE35 DC brushless motors：Complete patrol vehicle walking etc.
Motion driving.Its rated voltage：24V, rated power：90W, continuous moment of torsion：14Kg.cm, motor diameter：35mm, overall length：
140mm, motor driver, which can be selected, engraves bright MLDS3605, this controller by CAN2.0B realize control, parameter adjustment,
Online commissioning, support speed control and position control mode, voltage range：12~48V, maximum continuous output current 5A, it is maximum
Peak anode current 10A.Controller have excessively stream, overload, overvoltage, under-voltage protection, high/low temperature, position transfinite protection, guarantor out of control
Shield.
Above-mentioned 3 d pose detection module can use three-axis gyroscope+three axis accelerometer MPU-6050 modules：Detection
Patrol vehicle 3 d pose.Its power supply：3-5V (voltage stabilizing of internal low-voltage difference)；Communication mode can use standard IIC communication protocols
View, its built-in chip type：16bit a/d converters, 16 data outputs；Gyroscope scope can be：± 250,500,1000,
2000°/s；Acceleration range can be：±2±4±8±16g.
Above-mentioned displacement and anglec of rotation detection module can use K3806G-2000BM-T526 encoders：Detect patrol vehicle
Displacement and the anglec of rotation.It is exported：A, B, Z three-phase；Supply voltage：5-26V；Output voltage：5-26V；Resolution ratio：2000P/R.
Above-mentioned video image acquisition logging modle can use the digital cameras of technical grade USB 2.0 to carry out video image and adopt
Collection.Such as：Color cmos image sensors, resolution ratio are 3,100,000 pixels, resolution ratio：2048 × 1536, frame per second：6fps@2048
× 1536, A/D conversion accuracy：10bit, (Rolling Shutter) is exposed line by line, the time for exposure, which may be programmed, to be set, and image is bright
Degree and gain programmable are set.The digital camera can use the full metal jacket of Compact robust to provide more preferable environment and adapt to
Property.
In all examples being illustrated and described herein, any occurrence should be construed as merely exemplary, without
It is that therefore, other examples of exemplary embodiment can have different values as limitation.
The flow chart of patrol vehicle control method using said system shown in Figure 6, this method comprise the following steps：
Step S602, the control cabinet on patrol vehicle receive the open command that the wireless controller of distal end is sent；
Step S604, control cabinet starts patrol vehicle and run on lightning conducter, and triggers the video figure being arranged on patrol vehicle
As the video image of harvester collection transmission line of electricity, by transmission of video images to wireless controller；
Step S606, control cabinet is according to the obstacle of the obstacle detection module feedback being arranged at the forward and backward arm of patrol vehicle
Testing result, control the motor of each palm of patrol vehicle to drive folding and the arm move angle of each palm, cross over patrol vehicle
Barrier；
Step S608, when control cabinet can not differentiate obstacle, control cabinet control patrol vehicle is out of service, and to controlled in wireless
Device is alarmed, the emergent control instruction control patrol vehicle operation sent according to wireless controller.
The control cabinet on patrol vehicle in the method for the embodiment of the present invention starts patrol vehicle and existed after open command is received
Run on lightning conducter, and in the process of running, the video image of transmission line of electricity is gathered by video image acquisition device, is sent to
Wireless controller, understand the actual conditions of transmission line of electricity in time for teleworker；Meanwhile pass through the control cabinet on patrol vehicle
According to the automatic leaping over obstacles of obstacle detection output control patrol vehicle, its operation of the participation excessive without people, people has been effectively saved
Power cost, the validity and reliability of transmission line of electricity automatic detection is improved, suitable for popularization and application.
Preferably, the above method also includes：Above-mentioned control cabinet control is patrolled by the state monitoring module monitoring on patrol vehicle
The running status of line car, the operation of patrol vehicle is adjusted according to running status, when running status exception, is reported to wireless controller
Running status.
Patrol vehicle in above example is closely attached to power line and shaft tower while independently being moved along lightning conducter
Part carries out detection and the record of each side, and has various barrier avoiding functions, greatly increases accuracy of detection and reliability, reduces
Labor intensity, significantly reduces testing cost, to building the modern times that power network is strong, assets are excellent, service is high-quality, achievement is outstanding
Utilities Electric Co. has great importance.
Unless specifically stated otherwise, part and the relative step of step, the digital table otherwise illustrated in the above-described embodiments
It is not limit the scope of the invention up to formula and numerical value.
Flow chart and block diagram in accompanying drawing show system, method and the computer journey of multiple embodiments according to the present invention
Architectural framework in the cards, function and the operation of sequence product.At this point, each square frame in flow chart or block diagram can generation
The part of one module of table, program segment or code, a part for the module, program segment or code include one or more use
In the executable instruction of logic function as defined in realization.It should also be noted that marked at some as in the realization replaced in square frame
The function of note can also be with different from the order marked in accompanying drawing generation.For example, two continuous square frames can essentially base
Originally it is performed in parallel, they can also be performed in the opposite order sometimes, and this is depending on involved function.It is also noted that
It is the combination of each square frame and block diagram in block diagram and/or flow chart and/or the square frame in flow chart, can uses and perform rule
Fixed function or the special hardware based system of action are realized, or can use the group of specialized hardware and computer instruction
Close to realize.
The progress patrol vehicle control method that the embodiment of the present invention is provided can be provided in the computer journey in control cabinet
Sequence product, including the computer-readable recording medium of program code is stored, the instruction that described program code includes can be used for holding
Method described in row previous methods embodiment, specific implementation can be found in embodiment of the method, will not be repeated here.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, the corresponding process in preceding method embodiment is may be referred to, will not be repeated here.
In several embodiments provided herein, it should be understood that disclosed system and method, it can be passed through
Its mode is realized.Device embodiment described above is only schematical, for example, the division of the unit, is only
A kind of division of logic function, there can be other dividing mode when actually realizing, in another example, multiple units or component can combine
Or another system is desirably integrated into, or some features can be ignored, or do not perform.Another, shown or discussed phase
Coupling or direct-coupling or communication connection between mutually can be by some communication interfaces, the INDIRECT COUPLING of device or unit or
Communication connection, can be electrical, mechanical or other forms.
The unit illustrated as separating component can be or may not be physically separate, show as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.
If the function is realized in the form of SFU software functional unit and is used as independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
The part to be contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are causing a computer equipment (can be
People's computer, server, or network equipment etc.) perform all or part of step of each embodiment methods described of the present invention.
And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
Cover within protection scope of the present invention.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (8)
- A kind of 1. line walking vehicle control, it is characterised in that including：The wireless controller of distal end is arranged at, for sending open command to patrol vehicle, receives the video of the patrol vehicle collection Image；And after receiving the alarm of the patrol vehicle, send emergent control instruction；The control cabinet being arranged on the patrol vehicle, kept away for when receiving the open command, starting the patrol vehicle Run on thunder line, opening for each palm is driven according to the motor of each palm of patrol vehicle described in the obstacle detection output control received Conjunction and arm move angle, make the patrol vehicle across obstacle；And when barrier can not be differentiated, control the patrol vehicle It is out of service, and alarmed to the wireless controller, according to the emergent control instruction control that the wireless controller is sent Patrol vehicle is run；The obstacle detection module being arranged at the forward and backward arm of the patrol vehicle, for detecting the barrier on the lightning conducter, And obstacle detection result is sent to the control cabinet；The video image acquisition device being arranged on the patrol vehicle, after being run for the patrol vehicle, gather transmission line of electricity Video image, and the video image is transferred to the wireless controller by the control cabinet；The control cabinet includes：Obstacle identity identification module, for the type according to the obstacle detection result cognitive disorders thing, the barrier Type includes：Damper, suspension clamp, strain clamp and turning path；Operation control module, each hand for patrol vehicle described in the Type Control that is identified according to the obstacle identity identification module The motor of the palm drives folding and the arm move angle of each palm, makes preceding palm, middle palm and rear palm successively across described Barrier；The operation control module includes：Auxiliary rod installation unit, the length for being occupied when the strain clamp and steel tower corner iron exceed the remote holder of the patrol vehicle Arm add rear arm length and when, control the auxiliary rod on the patrol vehicle to be installed on the front and rear lightning conducter of the strain clamp On, and control the patrol vehicle to cross over the strain clamp along the auxiliary rod, until the patrol vehicle crosses over the resistance to bracing cable After folder, before controlling the patrol vehicle, middle and rear palm is successively on hanging wire to lightning conducter, and patrol vehicle continues to run with.
- 2. system according to claim 1, it is characterised in that the system also includes：It is arranged on the patrol vehicle State monitoring module, for monitoring the running status of the patrol vehicle, the running status is sent to the control cabinet；The control cabinet includes：Combustion adjustment module, the running status for being sent according to the state monitoring module are adjusted The operation of the whole patrol vehicle, when the running status exception, the running status is reported to the wireless controller.
- 3. system according to claim 2, it is characterised in that the combustion adjustment module includes：Brake control unit, for when the speed of service of the patrol vehicle exceedes given threshold, it is each to start the patrol vehicle The brake of palm carries out skidding.
- 4. system according to claim 1, it is characterised in that the operation control module includes：First-hand palm control unit, for when the type of the barrier is damper or suspension clamp, palm before control The motor driving preceding palm opens off-line, continues to move ahead；Second-hand slaps control unit, for when middle palm reaches the damper or suspension clamp, controlling the preceding palm The motor driving preceding palm closure hanging wire, control the motor driving middle palm of the middle palm to open off-line, Continue to move ahead；3rd palm control unit, for when rear palm reaches the damper or suspension clamp, controlling the middle palm The motor driving middle palm closure hanging wire, control it is described after the motor driving middle palm of palm open off-line, Continue to move ahead；4th palm control unit, for when palm crosses over the damper or suspension clamp after described, controlling the defensive position The motor driving rear palm closure hanging wire of the palm, continues to move ahead.
- 5. system according to claim 1, it is characterised in that the operation control module includes：Preceding hand control unit, described in the motor of palm drives when the type of the barrier is strain clamp, before control Preceding palm opens off-line, starts the angle changing that front end sensors detect the lightning conducter after the strain clamp, drives forearm Motor rotates forearm according to the angle changing of detection, the palm of the front arm tip is located at after the strain clamp The lower section of lightning conducter, control the motor driving preceding palm closure hanging wire of the preceding palm；Middle hand control unit, for when the preceding palm closes hanging wire, controlling described in the motor driving of the middle palm Middle palm opens off-line, continues to move ahead；Stop walking when the middle palm reaches steel tower corner iron, it is flexible before and after adjustment Arm, make the middle palm closure hanging wire, continue to move ahead；Hand control unit afterwards, stop walking when reaching steel tower corner iron for rear palm, control the motor driving institute of the rear palm State rear palm and open off-line, continue to proceed to the patrol vehicle and cross over the strain clamp, control it is described after palm motor drive The dynamic rear palm closure hanging wire.
- 6. system according to claim 1, it is characterised in that the operation control module includes：Turning and wire jumper control unit, for when the type of the barrier is turning path, the motor of palm to drive before control Off-line after the dynamic preceding palm opens, start the angle changing that front end sensors detect the lightning conducter after the turning path, Drive forearm motor to rotate forearm according to the angle changing of detection, the palm of the front arm tip is located at the turning road The lower section of lightning conducter after footpath, control the motor driving preceding palm closure hanging wire of the preceding palm；When the preceding palm When closing hanging wire, control the motor driving middle palm of the middle palm to open off-line, continue to move ahead；When the centre Palm stops walking when reaching turning path, flexible arm before and after adjustment, make the middle palm closure hanging wire, continue to move ahead；Afterwards Palm stops walking when reaching turning path, and palm opens off-line after controlling the motor driving of the rear palm described, before continuation Row to the patrol vehicle crosses over the turning path, palm closure hanging wire after controlling the motor driving of the rear palm described.
- 7. a kind of patrol vehicle control method, it is characterised in that any one of methods described application claim 1 to 6 is System, including：Control cabinet on patrol vehicle receives the open command that the wireless controller of distal end is sent；The control cabinet starts the patrol vehicle and run on lightning conducter, and triggers the video image being arranged on the patrol vehicle Harvester gathers the video image of transmission line of electricity, gives the transmission of video images to the wireless controller；The control cabinet is according to the obstacle detection knot of the obstacle detection module feedback being arranged at the forward and backward arm of the patrol vehicle Fruit, control the motor of each palm of the patrol vehicle to drive folding and the arm move angle of each palm, make the patrol vehicle across Obstacle-overpass thing；The obstacle detection module includes scanner；When the control cabinet can not differentiate barrier, the control cabinet controls the patrol vehicle out of service, and to the nothing Lane controller is alarmed, and the emergent control instruction sent according to the wireless controller controls the patrol vehicle to run.
- 8. according to the method for claim 7, it is characterised in that methods described also includes：Above-mentioned control cabinet control monitors the running status of the patrol vehicle by the state monitoring module on the patrol vehicle, according to The running status adjusts the operation of the patrol vehicle, and when the running status exception, institute is reported to the wireless controller State running status.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510018640.XA CN104538898B (en) | 2015-01-14 | 2015-01-14 | Line walking vehicle control and patrol vehicle control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510018640.XA CN104538898B (en) | 2015-01-14 | 2015-01-14 | Line walking vehicle control and patrol vehicle control method |
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| Publication Number | Publication Date |
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| CN104538898A CN104538898A (en) | 2015-04-22 |
| CN104538898B true CN104538898B (en) | 2018-03-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510018640.XA Expired - Fee Related CN104538898B (en) | 2015-01-14 | 2015-01-14 | Line walking vehicle control and patrol vehicle control method |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105406389B (en) * | 2015-10-23 | 2017-11-07 | 国网江苏省电力公司无锡供电公司 | Multi-thread inspection electric aerodyne |
| WO2018137774A1 (en) * | 2017-01-27 | 2018-08-02 | Cpac Systems Ab | A method for forming a local navigation path for an autonomous vehicle |
| CN111769504B (en) * | 2020-08-07 | 2021-08-27 | 湖州浪佩智能科技有限公司 | Easy-to-install damper for overhead wire |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201590618U (en) * | 2009-11-26 | 2010-09-22 | 重庆前卫仪表有限责任公司 | Power transmission line inspection device |
| CN102114635A (en) * | 2009-12-31 | 2011-07-06 | 武汉大学 | Intelligent controller of inspection robot |
| CN202071987U (en) * | 2011-04-06 | 2011-12-14 | 深圳市艾特航模股份有限公司 | Unmanned helicopter for patrolling power transmission lines |
| CN102522715B (en) * | 2011-12-07 | 2014-10-08 | 姚正齐 | Obstacle-crossing travelling mechanism for inspection robot and inspection robot device |
| CN203377544U (en) * | 2013-07-25 | 2014-01-01 | 国家电网公司 | Intelligent line-inspection trolley for overhead transmission lines |
| CN104090575A (en) * | 2014-07-11 | 2014-10-08 | 大连理工大学 | Control system of automatic line patrol robot and automatic line patrol robot |
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