CN105547251A - State detection system for iron towers near high-voltage line - Google Patents
State detection system for iron towers near high-voltage line Download PDFInfo
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- CN105547251A CN105547251A CN201610121441.6A CN201610121441A CN105547251A CN 105547251 A CN105547251 A CN 105547251A CN 201610121441 A CN201610121441 A CN 201610121441A CN 105547251 A CN105547251 A CN 105547251A
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- drive motor
- base plate
- inclination
- telescopic arm
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
- G01C9/18—Measuring inclination, e.g. by clinometers, by levels by using liquids
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
Abstract
The invention relates to a state detection system for iron towers near a high-voltage line. The state detection system comprises a liquid pendulum type inclination sensor, an infrared sensor and a robot main body structure, wherein the liquid pendulum type inclination sensor is used for detecting inclination of each iron tower; the infrared sensor is located on the robot main body structure and used for detecting obstacles in front of the high-voltage line; the robot main body structure is erected on the high-voltage line and used for determining a corresponding alarm strategy according to output of the liquid pendulum type inclination sensor and the infrared sensor. According to the state detection system for the iron towers near the high-voltage line, accurate detection and alarm for states of the iron towers near the high-voltage line and the obstacles in front of the high-voltage line can be realized.
Description
The divisional application that the present invention is application number is 2015109553546, the applying date is on Dec 17th, 2015, denomination of invention is the patent of " near high-tension line iron tower state detecting system ".
Technical field
The present invention relates to power network monitoring field, particularly relate to iron tower state detecting system near a kind of high-tension line.
Background technology
For built on stilts high-tension line, the steel tower at its two ends is its fixing support components, if the abnormal state of steel tower, such as Iron tower incline is spent large or steel tower and is rocked indefinite, cause adverse effect all can to the state of high-tension line, even break high-tension line time serious, cause circuit power-off, brought inconvenience with electric unit and resident, the end of a thread simultaneously disconnected also easily causes pedestrian or vehicle to get an electric shock, and consequence is very serious.
Therefore, need to detect the steel tower state of high-tension line, especially the degree of tilt of steel tower is detected, but, there are two difficult points in prior art: (1) inspecting robot, due to structure problem, cannot accomplish omnidistance detection; (2) inclination detecting apparatus is targetedly lacked.The current degree of tilt to steel tower still biases toward artificial mode, and this mode efficiencies is low, and coverage rate is narrow, cannot accomplish that at full line detects fast.
For this reason, need a kind of steel tower state-detection scheme of new high-tension line, whole-process automatic can carry out state-detection fast, accurately to the steel tower near whole piece high-tension line, emergency alarm can be carried out when steel tower abnormal state simultaneously, thus improve the efficiency and accuracy that detect.
Summary of the invention
In order to solve the problem, the invention provides iron tower state detecting system near a kind of high-tension line, completed the high precision test of Iron tower incline degree for the liquid pendulum-type inclination sensor of the proprietary structure of steel tower near high-tension line by design, by optimizing the structure of existing robot, make robot can adapt to complicated high-tension line environment, pass unimpeded on whole piece high-tension line, and complete the unimpeded of field device communicating by introducing wireless communication link.
According to an aspect of the present invention, provide iron tower state detecting system near a kind of high-tension line, described system comprises liquid pendulum-type inclination sensor, infrared sensor and robot body's structure, liquid pendulum-type inclination sensor is for detecting the degree of tilt of steel tower, infrared sensor is positioned in robot body's structure, for detecting high-tension line preceding object thing, robot body's structure-steel framing is located on high-tension line, for determining to report to the police accordingly strategy according to the output of liquid pendulum-type inclination sensor and infrared sensor.
More specifically, near described high-tension line in iron tower state detecting system, comprise: liquid pendulum-type inclination sensor, be arranged on the steel tower near high-tension line, inside comprise sensor housing, inclination measuring devices, electrolysis bubble, as the liquid of electric conductor and three electrodes, liquid pendulum-type inclination sensor utilizes liquid pendulum principle to detect, for measuring the angle of inclination of steel tower in fair line direction and the angle of inclination of crossline direction, sensor housing is U-shaped structure, for holding electrolysis bubble, as the liquid of electric conductor and three electrodes, electrolysis bubble is positioned at liquid internal, in three electrodes, two electrodes are evenly distributed on the two ends of U-shaped structure lateral profile, and remaining electrode is arranged on the central spot of profile inside U-shaped structure, inclination measuring devices and three Electrode connection, when electrolysis bubble be positioned at liquid internal move time, inclination measuring devices calculates the angle of inclination of steel tower in fair line direction and the angle of inclination of crossline direction based on the capacitance variations between three electrodes, and calculates the integral inclined degree of steel tower at the angle of inclination in fair line direction and the angle of inclination of crossline direction based on steel tower, wherein, inclination measuring devices adopts CPLD chip to realize, robot body's structure, comprises front wheel structure, middle wheel structure, rear wheel structure, brake minor structure, front Pneumatic extension minor structure, the pneumatic dilaton structure in rear, middle part Pneumatic extension minor structure, base plate, gravity's center control minor structure and control box, front wheel structure is in above base plate, comprise front drive motor and front road wheel, front road wheel adopts plastic material, there is the circular groove adapted with high-tension line, front drive motor is connected respectively with front cutting tip and front road wheel, for provide cutting power for front cutting tip while, for front road wheel provides walking power, middle wheel structure is arranged in the middle of front wheel structure and wheel structure, be in above base plate, comprise middle part drive motor and middle part road wheel composition, middle part road wheel adopts plastic material, there is the circular groove adapted with high-tension line, middle part drive motor is connected with middle part road wheel, for providing walking power for middle part road wheel, rear wheel structure is in above base plate, comprise rear drive motor and rear road wheel, rear road wheel adopts plastic material, there is the circular groove adapted with high-tension line, rear drive motor is connected respectively with rear cutting tip and rear road wheel, for provide cutting power for rear cutting tip while, for rear road wheel provides walking power, front Pneumatic extension minor structure is between front wheel structure and base plate, for front wheel structure is connected to base plate, comprise front wrist joint, front vertical telescopic arm, front elbow joint, front horizontal telescopic arm and front shoulder joint, front wheel structure is connected with front vertical telescopic arm by front wrist joint, front vertical telescopic arm is connected with front elbow joint, front elbow joint is connected with front shoulder joint by front horizontal telescopic arm, front shoulder joint is connected with base plate, front vertical telescopic arm is also electrically connected to receive front vertical extension and contraction control signal with Freescale MC9S12 chip, front horizontal telescopic arm is also electrically connected to receive front horizontal extension and contraction control signal with Freescale MC9S12 chip, middle part Pneumatic extension minor structure is between middle wheel structure and base plate, for middle wheel structure is connected to base plate, comprise middle part wrist joint, middle part vertical telescopic arm, middle part elbow joint, middle part horizontal extension arm and middle part shoulder joint, middle wheel structure is connected with middle part vertical telescopic arm by middle part wrist joint, middle part vertical telescopic arm is connected with middle part elbow joint, middle part elbow joint is connected with middle part shoulder joint by middle part horizontal extension arm, middle part shoulder joint is connected with base plate, middle part vertical telescopic arm is also electrically connected to receive middle part vertical telescopic control signal with Freescale MC9S12 chip, middle part horizontal extension arm is also electrically connected to receive middle part horizontal extension control signal with Freescale MC9S12 chip, rear pneumatic dilaton structure is between rear wheel structure and base plate, for rear wheel structure is connected to base plate, comprise rear wrist joint, rear vertical telescopic arm, rear elbow joint, rear horizontal extension arm and rear shoulder joint, rear wheel structure is connected with rear vertical telescopic arm by rear wrist joint, rear vertical telescopic arm is connected with rear elbow joint, rear elbow joint is connected with rear shoulder joint by rear horizontal extension arm, rear shoulder joint is connected with base plate, rear vertical telescopic arm is also electrically connected to receive rear vertical extension and contraction control signal with Freescale MC9S12 chip, rear horizontal extension arm is also electrically connected to receive rear horizontal extension control signal with Freescale MC9S12 chip, brake minor structure comprises brake shoes, brake guide frame and brake cylinder, and brake shoes is positioned at high-tension line position, rear, and brake guide frame is connected respectively with brake shoes and brake cylinder, provides power for the skidding operation for brake shoes, gravity's center control minor structure is positioned at below base plate, control box is adopted to be the weighing device that center of gravity regulates, comprise center of gravity adjusting cylinders and three-position electromagnetic valve, center of gravity adjusting cylinders provides power for center of gravity regulates, and three-position electromagnetic valve carrys out the centre of gravity place of control agent structure by the relative distance between regulable control case and base plate, control box is positioned at below base plate, comprise shell and control panel, described control panel is integrated with Freescale MC9S12 chip and frequency duplex communications interface, frequency duplex communications interface is connected with the power supply management server of far-end, for receiving the wireless control directives of power supply management server wireless transmission, Freescale MC9S12 chip also with frequency duplex communications interface, front drive motor, middle part drive motor is connected respectively with rear drive motor, for resolving wireless control directives to determine and to export front vertical extension and contraction control signal, front horizontal extension and contraction control signal, middle part vertical telescopic control signal, middle part horizontal extension control signal, rear vertical extension and contraction control signal or rear horizontal extension control signal, also for resolving wireless control directives to determine front drive motor, the drive control signal of middle part drive motor or rear drive motor, infrared sensor, is positioned on front wheel mechanism, is connected with Freescale MC9S12 chip, for when apart from 500 millimeters, front high-tension line obstacle, sends obstruction forewarning signal, wherein, Freescale MC9S12 chip is also connected by wireless communication link with inclination measuring devices, receive the integral inclined degree of steel tower, and when the integral inclined degree of steel tower is more than or equal to predetermined inclination degree threshold value, Iron tower incline alerting signal is sent by frequency duplex communications interface power supply management server distally, when the integral inclined degree of steel tower is less than predetermined inclination degree threshold value, send Iron tower incline normal signal by frequency duplex communications interface power supply management server distally, wherein, Freescale MC9S12 chip is while transmission Iron tower incline alerting signal, forwards drive motor, middle part drive motor and rear drive motor send stopping respectively and to advance signal, while transmission Iron tower incline normal signal, forwards drive motor, middle part drive motor and rear drive motor send the signal that moves on respectively.
More specifically, near described high-tension line in iron tower state detecting system, also comprise: SD storage card, be connected with Freescale MC9S12 chip.
More specifically, near described high-tension line in iron tower state detecting system: SD storage card stores predetermined inclination degree threshold value.
More specifically, near described high-tension line in iron tower state detecting system: SD storage card is positioned at control box.
More specifically, near described high-tension line in iron tower state detecting system: the wireless communication link between Freescale MC9S12 chip and inclination measuring devices is ZIGBEE bidirectional communication link.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram of iron tower state detecting system near the high-tension line that illustrates according to an embodiment of the present invention.
Fig. 2 is the block diagram of the brake minor structure of iron tower state detecting system near the high-tension line that illustrates according to an embodiment of the present invention.
Reference numeral: 1 liquid pendulum-type inclination sensor; 2 infrared sensors; 3 robot body's structures; 4 brake shoes; 5 brake guide frames; 6 brake cylinders
Embodiment
Below with reference to accompanying drawings the embodiment of iron tower state detecting system near high-tension line of the present invention is described in detail.
Cause the reason of Iron tower incline near high-tension line to have a lot, loosening of such as associated anchor, subsiding of lower necromancer stone, the excessive and load of ambient wind overweight, all may cause the abnormal dip of steel tower.If steel tower pitch angle is excessive, will cause self dropping, related high-tension line tenesmus, consequence is hardly imaginable.
Therefore, need, to steel tower monitoring state, to report to the police to power supply management department immediately when an abnormality is discovered, remind power supply management department to repair steel tower before there is accident of power supply, thus avoid the generation of accident of power supply.
But, steel tower monitoring scheme of the prior art is all monitored based on manpower, low and the poor real of efficiency, there is no the mechanization scheme of high-tension line complete monitoring at present, in order to overcome above-mentioned deficiency, the present invention has built iron tower state detecting system near a kind of high-tension line, have employed liquid pendulum-type inclination sensor, inspecting robot and wireless communication technology targetedly, establishes the complete monitoring scheme based on mechanical mode.
Fig. 1 is the block diagram of iron tower state detecting system near the high-tension line that illustrates according to an embodiment of the present invention, described system comprises liquid pendulum-type inclination sensor, infrared sensor and robot body's structure, liquid pendulum-type inclination sensor is for detecting the degree of tilt of steel tower, infrared sensor is positioned in robot body's structure, for detecting high-tension line preceding object thing, robot body's structure-steel framing is located on high-tension line, for determining to report to the police accordingly strategy according to the output of liquid pendulum-type inclination sensor and infrared sensor.
Then, continue to be further detailed the concrete structure of iron tower state detecting system near high-tension line of the present invention.
Described system comprises: liquid pendulum-type inclination sensor, is arranged on the steel tower near high-tension line, inside comprise sensor housing, inclination measuring devices, electrolysis bubble, as the liquid of electric conductor and three electrodes.Liquid pendulum-type inclination sensor utilizes liquid pendulum principle to detect, for measuring the angle of inclination of steel tower in fair line direction and the angle of inclination of crossline direction.
Sensor housing is U-shaped structure, for holding electrolysis bubble, as the liquid of electric conductor and three electrodes; Electrolysis bubble is positioned at liquid internal; In three electrodes, two electrodes are evenly distributed on the two ends of U-shaped structure lateral profile, and remaining electrode is arranged on the central spot of profile inside U-shaped structure; Inclination measuring devices and three Electrode connection, when electrolysis bubble be positioned at liquid internal move time, inclination measuring devices calculates the angle of inclination of steel tower in fair line direction and the angle of inclination of crossline direction based on the capacitance variations between three electrodes, and calculates the integral inclined degree of steel tower at the angle of inclination in fair line direction and the angle of inclination of crossline direction based on steel tower.Wherein, inclination measuring devices adopts CPLD chip to realize.
Described system comprises: robot body's structure, comprises front wheel structure, middle wheel structure, rear wheel structure, brake minor structure, front Pneumatic extension minor structure, the pneumatic dilaton structure in rear, middle part Pneumatic extension minor structure, base plate, gravity's center control minor structure and control box.
Front wheel structure is in above base plate, comprise front drive motor and front road wheel, front road wheel adopts plastic material, there is the circular groove adapted with high-tension line, front drive motor is connected respectively with front cutting tip and front road wheel, for provide cutting power for front cutting tip while, for front road wheel provides walking power.
Middle wheel structure is arranged in the middle of front wheel structure and wheel structure, be in above base plate, comprise middle part drive motor and middle part road wheel composition, middle part road wheel adopts plastic material, there is the circular groove adapted with high-tension line, middle part drive motor is connected with middle part road wheel, for providing walking power for middle part road wheel.
Rear wheel structure is in above base plate, comprise rear drive motor and rear road wheel, rear road wheel adopts plastic material, there is the circular groove adapted with high-tension line, rear drive motor is connected respectively with rear cutting tip and rear road wheel, for provide cutting power for rear cutting tip while, for rear road wheel provides walking power.
Front Pneumatic extension minor structure is between front wheel structure and base plate, for front wheel structure is connected to base plate, comprise front wrist joint, front vertical telescopic arm, front elbow joint, front horizontal telescopic arm and front shoulder joint, front wheel structure is connected with front vertical telescopic arm by front wrist joint, front vertical telescopic arm is connected with front elbow joint, front elbow joint is connected with front shoulder joint by front horizontal telescopic arm, front shoulder joint is connected with base plate, front vertical telescopic arm is also electrically connected to receive front vertical extension and contraction control signal with Freescale MC9S12 chip, front horizontal telescopic arm is also electrically connected to receive front horizontal extension and contraction control signal with Freescale MC9S12 chip.
Middle part Pneumatic extension minor structure is between middle wheel structure and base plate, for middle wheel structure is connected to base plate, comprise middle part wrist joint, middle part vertical telescopic arm, middle part elbow joint, middle part horizontal extension arm and middle part shoulder joint, middle wheel structure is connected with middle part vertical telescopic arm by middle part wrist joint, middle part vertical telescopic arm is connected with middle part elbow joint, middle part elbow joint is connected with middle part shoulder joint by middle part horizontal extension arm, middle part shoulder joint is connected with base plate, middle part vertical telescopic arm is also electrically connected to receive middle part vertical telescopic control signal with Freescale MC9S12 chip, middle part horizontal extension arm is also electrically connected to receive middle part horizontal extension control signal with Freescale MC9S12 chip.
Rear pneumatic dilaton structure is between rear wheel structure and base plate, for rear wheel structure is connected to base plate, comprise rear wrist joint, rear vertical telescopic arm, rear elbow joint, rear horizontal extension arm and rear shoulder joint, rear wheel structure is connected with rear vertical telescopic arm by rear wrist joint, rear vertical telescopic arm is connected with rear elbow joint, rear elbow joint is connected with rear shoulder joint by rear horizontal extension arm, rear shoulder joint is connected with base plate, rear vertical telescopic arm is also electrically connected to receive rear vertical extension and contraction control signal with Freescale MC9S12 chip, rear horizontal extension arm is also electrically connected to receive rear horizontal extension control signal with Freescale MC9S12 chip.
As shown in Figure 2, brake minor structure comprises brake shoes, brake guide frame and brake cylinder, and brake shoes is positioned at high-tension line position, rear, and brake guide frame is connected respectively with brake shoes and brake cylinder, provides power for the skidding operation for brake shoes.
Gravity's center control minor structure is positioned at below base plate, control box is adopted to be the weighing device that center of gravity regulates, comprise center of gravity adjusting cylinders and three-position electromagnetic valve, center of gravity adjusting cylinders provides power for center of gravity regulates, and three-position electromagnetic valve carrys out the centre of gravity place of control agent structure by the relative distance between regulable control case and base plate.
Control box is positioned at below base plate, comprise shell and control panel, described control panel is integrated with Freescale MC9S12 chip and frequency duplex communications interface, and frequency duplex communications interface is connected with the power supply management server of far-end, for receiving the wireless control directives of power supply management server wireless transmission.
Freescale MC9S12 chip is also connected respectively with frequency duplex communications interface, front drive motor, middle part drive motor and rear drive motor, for resolving wireless control directives to determine and to export front vertical extension and contraction control signal, front horizontal extension and contraction control signal, middle part vertical telescopic control signal, middle part horizontal extension control signal, rear vertical extension and contraction control signal or rear horizontal extension control signal, also for resolving wireless control directives to determine the drive control signal of front drive motor, middle part drive motor or rear drive motor.
Described system comprises: infrared sensor, is positioned on front wheel mechanism, is connected with Freescale MC9S12 chip, for when apart from 500 millimeters, front high-tension line obstacle, sends obstruction forewarning signal; Wherein, Freescale MC9S12 chip is also connected by wireless communication link with inclination measuring devices, receive the integral inclined degree of steel tower, and when the integral inclined degree of steel tower is more than or equal to predetermined inclination degree threshold value, Iron tower incline alerting signal is sent by frequency duplex communications interface power supply management server distally, when the integral inclined degree of steel tower is less than predetermined inclination degree threshold value, send Iron tower incline normal signal by frequency duplex communications interface power supply management server distally.
Wherein, Freescale MC9S12 chip is while transmission Iron tower incline alerting signal, forwards drive motor, middle part drive motor and rear drive motor send stopping respectively and to advance signal, while transmission Iron tower incline normal signal, forwards drive motor, middle part drive motor and rear drive motor send the signal that moves on respectively.
Alternatively, in the system, also comprise: SD storage card, be connected with Freescale MC9S12 chip; SD storage card stores predetermined inclination degree threshold value; SD storage card is positioned at control box; Wireless communication link between Freescale MC9S12 chip and inclination measuring devices is chosen as ZIGBEE bidirectional communication link.
In addition, as everyone knows, this technology is widely used in fields such as modern science and technology, science and techniques of defence and industrial or agricultural science and technology infrared technique.
Infra-red sensing system is the measuring system of medium with infrared ray, can be divided into five classes: (1) radiometer, for radiation and spectral measurement according to function; (2) search and tracker, for search and tracking infrared target, determines its locus and follows the tracks of its motion; (3) thermal imaging system, can produce the distributed image of whole Target Infrared Radiation; (4) infrared distance measurement and communication system; (5) commingled system, refers to the combination of two or more in above sorts of systems.Infrared sensor can be divided into according to detection mechanism: photon detector (based on photoelectric effect) and thermal detector (based on thermal effect).
Adopt iron tower state detecting system near high-tension line of the present invention, artificial technical matters of steel tower near high-tension line being carried out to poor efficiency monitoring is relied on for prior art, on the one hand, optimize existing robot architecture, make it can adapt to the line environment of various complexity after improvement, on the other hand, introduce the liquid pendulum-type inclination sensor comprising sensor housing, inclination measuring devices, electrolysis bubble, achieve the accurate detection to Iron tower incline angle.
Be understandable that, although the present invention with preferred embodiment disclose as above, but above-described embodiment and be not used to limit the present invention.For any those of ordinary skill in the art, do not departing under technical solution of the present invention ambit, the technology contents of above-mentioned announcement all can be utilized to make many possible variations and modification to technical solution of the present invention, or be revised as the Equivalent embodiments of equivalent variations.Therefore, every content not departing from technical solution of the present invention, according to technical spirit of the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belongs in the scope of technical solution of the present invention protection.
Claims (2)
1. iron tower state detecting system near a high-tension line, described system comprises liquid pendulum-type inclination sensor, infrared sensor and robot body's structure, liquid pendulum-type inclination sensor is for detecting the degree of tilt of steel tower, infrared sensor is positioned in robot body's structure, for detecting high-tension line preceding object thing, robot body's structure-steel framing is located on high-tension line, for determining to report to the police accordingly strategy according to the output of liquid pendulum-type inclination sensor and infrared sensor.
2. iron tower state detecting system near high-tension line as claimed in claim 1, it is characterized in that, described system comprises:
Liquid pendulum-type inclination sensor, be arranged on the steel tower near high-tension line, inside comprise sensor housing, inclination measuring devices, electrolysis bubble, as the liquid of electric conductor and three electrodes, liquid pendulum-type inclination sensor utilizes liquid pendulum principle to detect, for measuring the angle of inclination of steel tower in fair line direction and the angle of inclination of crossline direction;
Sensor housing is U-shaped structure, for holding electrolysis bubble, as the liquid of electric conductor and three electrodes;
Electrolysis bubble is positioned at liquid internal;
In three electrodes, two electrodes are evenly distributed on the two ends of U-shaped structure lateral profile, and remaining electrode is arranged on the central spot of profile inside U-shaped structure;
Inclination measuring devices and three Electrode connection, when electrolysis bubble be positioned at liquid internal move time, inclination measuring devices calculates the angle of inclination of steel tower in fair line direction and the angle of inclination of crossline direction based on the capacitance variations between three electrodes, and calculates the integral inclined degree of steel tower at the angle of inclination in fair line direction and the angle of inclination of crossline direction based on steel tower; Wherein, inclination measuring devices adopts CPLD chip to realize;
Robot body's structure, comprises front wheel structure, middle wheel structure, rear wheel structure, brake minor structure, front Pneumatic extension minor structure, the pneumatic dilaton structure in rear, middle part Pneumatic extension minor structure, base plate, gravity's center control minor structure and control box;
Front wheel structure is in above base plate, comprise front drive motor and front road wheel, front road wheel adopts plastic material, there is the circular groove adapted with high-tension line, front drive motor is connected respectively with front cutting tip and front road wheel, for provide cutting power for front cutting tip while, for front road wheel provides walking power;
Middle wheel structure is arranged in the middle of front wheel structure and wheel structure, be in above base plate, comprise middle part drive motor and middle part road wheel composition, middle part road wheel adopts plastic material, there is the circular groove adapted with high-tension line, middle part drive motor is connected with middle part road wheel, for providing walking power for middle part road wheel;
Rear wheel structure is in above base plate, comprise rear drive motor and rear road wheel, rear road wheel adopts plastic material, there is the circular groove adapted with high-tension line, rear drive motor is connected respectively with rear cutting tip and rear road wheel, for provide cutting power for rear cutting tip while, for rear road wheel provides walking power;
Front Pneumatic extension minor structure is between front wheel structure and base plate, for front wheel structure is connected to base plate, comprise front wrist joint, front vertical telescopic arm, front elbow joint, front horizontal telescopic arm and front shoulder joint, front wheel structure is connected with front vertical telescopic arm by front wrist joint, front vertical telescopic arm is connected with front elbow joint, front elbow joint is connected with front shoulder joint by front horizontal telescopic arm, front shoulder joint is connected with base plate, front vertical telescopic arm is also electrically connected to receive front vertical extension and contraction control signal with Freescale MC9S12 chip, front horizontal telescopic arm is also electrically connected to receive front horizontal extension and contraction control signal with Freescale MC9S12 chip,
Middle part Pneumatic extension minor structure is between middle wheel structure and base plate, for middle wheel structure is connected to base plate, comprise middle part wrist joint, middle part vertical telescopic arm, middle part elbow joint, middle part horizontal extension arm and middle part shoulder joint, middle wheel structure is connected with middle part vertical telescopic arm by middle part wrist joint, middle part vertical telescopic arm is connected with middle part elbow joint, middle part elbow joint is connected with middle part shoulder joint by middle part horizontal extension arm, middle part shoulder joint is connected with base plate, middle part vertical telescopic arm is also electrically connected to receive middle part vertical telescopic control signal with Freescale MC9S12 chip, middle part horizontal extension arm is also electrically connected to receive middle part horizontal extension control signal with Freescale MC9S12 chip,
Rear pneumatic dilaton structure is between rear wheel structure and base plate, for rear wheel structure is connected to base plate, comprise rear wrist joint, rear vertical telescopic arm, rear elbow joint, rear horizontal extension arm and rear shoulder joint, rear wheel structure is connected with rear vertical telescopic arm by rear wrist joint, rear vertical telescopic arm is connected with rear elbow joint, rear elbow joint is connected with rear shoulder joint by rear horizontal extension arm, rear shoulder joint is connected with base plate, rear vertical telescopic arm is also electrically connected to receive rear vertical extension and contraction control signal with Freescale MC9S12 chip, rear horizontal extension arm is also electrically connected to receive rear horizontal extension control signal with Freescale MC9S12 chip,
Brake minor structure comprises brake shoes, brake guide frame and brake cylinder, and brake shoes is positioned at high-tension line position, rear, and brake guide frame is connected respectively with brake shoes and brake cylinder, provides power for the skidding operation for brake shoes;
Gravity's center control minor structure is positioned at below base plate, control box is adopted to be the weighing device that center of gravity regulates, comprise center of gravity adjusting cylinders and three-position electromagnetic valve, center of gravity adjusting cylinders provides power for center of gravity regulates, and three-position electromagnetic valve carrys out the centre of gravity place of control agent structure by the relative distance between regulable control case and base plate;
Control box is positioned at below base plate, comprise shell and control panel, described control panel is integrated with Freescale MC9S12 chip and frequency duplex communications interface, frequency duplex communications interface is connected with the power supply management server of far-end, for receiving the wireless control directives of power supply management server wireless transmission, Freescale MC9S12 chip also with frequency duplex communications interface, front drive motor, middle part drive motor is connected respectively with rear drive motor, for resolving wireless control directives to determine and to export front vertical extension and contraction control signal, front horizontal extension and contraction control signal, middle part vertical telescopic control signal, middle part horizontal extension control signal, rear vertical extension and contraction control signal or rear horizontal extension control signal, also for resolving wireless control directives to determine front drive motor, the drive control signal of middle part drive motor or rear drive motor,
Infrared sensor, is positioned on front wheel mechanism, is connected with Freescale MC9S12 chip, for when apart from 500 millimeters, front high-tension line obstacle, sends obstruction forewarning signal;
Wherein, Freescale MC9S12 chip is also connected by wireless communication link with inclination measuring devices, receive the integral inclined degree of steel tower, and when the integral inclined degree of steel tower is more than or equal to predetermined inclination degree threshold value, Iron tower incline alerting signal is sent by frequency duplex communications interface power supply management server distally, when the integral inclined degree of steel tower is less than predetermined inclination degree threshold value, send Iron tower incline normal signal by frequency duplex communications interface power supply management server distally;
Wherein, Freescale MC9S12 chip is while transmission Iron tower incline alerting signal, forwards drive motor, middle part drive motor and rear drive motor send stopping respectively and to advance signal, while transmission Iron tower incline normal signal, forwards drive motor, middle part drive motor and rear drive motor send the signal that moves on respectively;
SD storage card, is connected with Freescale MC9S12 chip;
SD storage card stores predetermined inclination degree threshold value.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510955354.6A CN105466395B (en) | 2015-12-17 | 2015-12-17 | Iron tower state detecting system near high-tension line |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510955354.6A Division CN105466395B (en) | 2015-12-17 | 2015-12-17 | Iron tower state detecting system near high-tension line |
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| Publication Number | Publication Date |
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| CN105547251A true CN105547251A (en) | 2016-05-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510955354.6A Expired - Fee Related CN105466395B (en) | 2015-12-17 | 2015-12-17 | Iron tower state detecting system near high-tension line |
| CN201610121441.6A Pending CN105547251A (en) | 2015-12-17 | 2015-12-17 | State detection system for iron towers near high-voltage line |
| CN201610367653.2A Pending CN105806314A (en) | 2015-12-17 | 2015-12-17 | State detection system for nearby iron tower of high-tension line |
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| CN201510955354.6A Expired - Fee Related CN105466395B (en) | 2015-12-17 | 2015-12-17 | Iron tower state detecting system near high-tension line |
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| CN201610367653.2A Pending CN105806314A (en) | 2015-12-17 | 2015-12-17 | State detection system for nearby iron tower of high-tension line |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101938095A (en) * | 2010-08-18 | 2011-01-05 | 山东科技大学 | Novel structure of deicing robot based on pneumatic type electric transmission line |
| CN202121257U (en) * | 2011-07-26 | 2012-01-18 | 哈尔滨佳泰达科技有限公司 | Intelligent patrol robot for power transmission circuits |
| CN103487026A (en) * | 2013-09-27 | 2014-01-01 | 国家电网公司 | Inclination monitoring system for electric transmission line pole tower |
| CN203932832U (en) * | 2014-06-27 | 2014-11-05 | 芜湖海格斯智能科技有限公司 | A kind of inspection robot for high-voltage line |
| CN104199454A (en) * | 2014-09-27 | 2014-12-10 | 江苏华宏实业集团有限公司 | Control system of inspection robot for high voltage line |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102401648B (en) * | 2012-01-10 | 2014-06-04 | 西安雷迪维护系统设备有限公司 | Video monitoring system for monitoring inclination of high-voltage power transmission line tower |
| CN203224237U (en) * | 2013-03-28 | 2013-10-02 | 国家电网公司 | Device for monitoring and displaying inclination of bonded power transmission towers |
-
2015
- 2015-12-17 CN CN201510955354.6A patent/CN105466395B/en not_active Expired - Fee Related
- 2015-12-17 CN CN201610121441.6A patent/CN105547251A/en active Pending
- 2015-12-17 CN CN201610367653.2A patent/CN105806314A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101938095A (en) * | 2010-08-18 | 2011-01-05 | 山东科技大学 | Novel structure of deicing robot based on pneumatic type electric transmission line |
| CN202121257U (en) * | 2011-07-26 | 2012-01-18 | 哈尔滨佳泰达科技有限公司 | Intelligent patrol robot for power transmission circuits |
| CN103487026A (en) * | 2013-09-27 | 2014-01-01 | 国家电网公司 | Inclination monitoring system for electric transmission line pole tower |
| CN203932832U (en) * | 2014-06-27 | 2014-11-05 | 芜湖海格斯智能科技有限公司 | A kind of inspection robot for high-voltage line |
| CN104199454A (en) * | 2014-09-27 | 2014-12-10 | 江苏华宏实业集团有限公司 | Control system of inspection robot for high voltage line |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105466395A (en) | 2016-04-06 |
| CN105466395B (en) | 2016-09-07 |
| CN105806314A (en) | 2016-07-27 |
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