CN105576557A - Adaptive de-icing power transmission line inspection robot - Google Patents
Adaptive de-icing power transmission line inspection robot Download PDFInfo
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- CN105576557A CN105576557A CN201610114760.4A CN201610114760A CN105576557A CN 105576557 A CN105576557 A CN 105576557A CN 201610114760 A CN201610114760 A CN 201610114760A CN 105576557 A CN105576557 A CN 105576557A
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- transmission line
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- deicing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0616—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material of coating
- G01B11/0683—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material of coating measurement during deposition or removal of the layer
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G7/00—Overhead installations of electric lines or cables
- H02G7/16—Devices for removing snow or ice from lines or cables
Abstract
The invention relates to an adaptive de-icing power transmission line inspection robot. The adaptive de-icing power transmission line inspection robot comprises image acquisition equipment, image processing equipment, transmission line de-icing equipment and a robot body, wherein the image acquisition equipment, the image processing equipment and the transmission line de-icing equipment are all embarked on the robot body, the robot body walks on a transmission line, the transmission line is shot by the image acquisition equipment, the shot images are processed by the image processing equipment, and de-icing operation of the transmission line de-icing equipment is controlled according to the processing result of the image processing equipment. Through the robot, ice thickness of the transmission line can be accurately detected through an image processing mode, and corresponding-level de-icing work is further carried out adaptively.
Description
The divisional application of the patent of " the patrolling transmission line robot of self adaptation deicing " that the present invention is application number is 2015109563779, the applying date, to be December 17, denomination of invention in 2015 be.
Technical field
The present invention relates to transmission line faultlocating field, particularly relate to a kind of patrolling transmission line robot of self adaptation deicing.
Background technology
At present, manual type or transmission line pretreatment mode are generally adopted to the freeze process of situation of the transmission line in power transmission electric network, but, the manpower and materials of the former at substantial, and deicing efficiency is not high, deicing risk factor is high, the latter's Financial cost is high, and key is that to overcome icing ability also limited.Also have some robots at present in the technical scheme of the online deicing of Long-distance Control, but because existing robot architecture is reasonable not, still can not adapt to complicated transmission line environment, still need a large amount of manpower interventions, integrated cost is also very high.
The more important thing is, lack effective transmission line ice layer thickness automatic checkout equipment and the automatic abatement apparatus of effective transmission line ice sheet at present, this is the important threshold adopting robot to carry out transmission line mechanization deicing, lack them, just must increase more manual operation, the efficiency of so easy reduction deicing, increases the cost of deicing.
Therefore, need a kind of new removing ice of power transmission line scheme, existing robot architecture can be optimized, it is made more to adapt to the site environment of various complexity, simultaneously, can high-precision transmission line ice layer thickness automatic checkout equipment and the automatic abatement apparatus of transmission line ice sheet be mounted on robot architecture, reduce artificial participation as much as possible.
Summary of the invention
In order to solve the problem, the invention provides a kind of patrolling transmission line robot of self adaptation deicing, introduce steam-cylinder piston mechanism and trigger, realize the deicing of on-the-spot impact type electronics, introduce the on-the-spot ice layer thickness checkout equipment based on IMAQ and process, improve precision and the automatization level of the detection of on-the-spot ice layer thickness, steam-cylinder piston mechanism, trigger and on-the-spot ice layer thickness checkout equipment are integrated on the robot body after optimizing structure simultaneously, thus achieve a robot automatic de-icing whole piece transmission line.
According to an aspect of the present invention, provide a kind of patrolling transmission line robot of self adaptation deicing, described robot comprises image capture device, image processing equipment, transmission line deicing equipment and robot body, image capture device, image processing equipment and transmission line deicing equipment are all mounted on robot body, robot body's walking is on transmission line, image capture device is taken transmission line, the image of image processing equipment to shooting processes, transmission line deicing equipment controls the deicing operation of self according to the result of image processing equipment.
More specifically, in the patrolling transmission line robot of described self adaptation deicing, comprise: high-definition camera equipment, be positioned in walking mechanism, be electrically connected with MSP430 single-chip microcomputer, for gather deicing cutter front transmission line high-definition image and by MSP430 single-chip microcomputer compressed encoding, the image after compression to be sent to the power supply Operation Server of far-end by wireless link, steam-cylinder piston mechanism, is mounted on robot body, comprises solenoid, rotary ammunition storage barrel, wireless communication interface, combustion chamber and piston rod, piston rod top is furnished with beginning clamp, for clamping the ground wire of transmission line, is connected bottom piston rod with combustion chamber, bottom of combustion chamber connects rotary ammunition storage barrel, solenoid and trigger is connected bottom rotary ammunition storage barrel, trigger, for be pushed to by ammunition in rotary ammunition storage barrel in combustion chamber and to trigger ammunition in combustion chamber implode, to produce the shock loading of moment to the ground wire of transmission line, realizes deicing effect, solenoid, for promoting trigger, can repeatedly trigger ammunition in combustion chamber implode to the promotion of trigger with realization by multiple exercise, MS storage card, is arranged in control cabinet, for prestoring default transmission line gray threshold span and default transmission line radial distance, ambient brightness checkout equipment, is mounted on robot body, for detecting the ambient brightness of surrounding in real time, to export real time environment brightness, neighborhood averaging value filtering equipment, is arranged in control cabinet, with high-definition camera equipment connection, for receiving transmission line image, and carries out the process of neighborhood averaging value filtering, with output filtering image to transmission line image, binary conversion treatment equipment, be arranged in control cabinet, be connected respectively with ambient brightness checkout equipment and MS storage card, in default transmission line gray threshold span, transmission line gray threshold is determined based on real time environment brightness, presetting transmission line gray threshold span is 150-180, transmission line gray threshold is used for transmission line to be separated from image background with ice sheet, binary conversion treatment equipment also with neighborhood averaging value filtering equipment connection, based on transmission line gray threshold, binary conversion treatment is carried out to obtain binary image to filtering image, be specially, pixel gray value in filtering image being greater than transmission line gray threshold is set to white pixel point, pixel gray value in filtering image being less than or equal to transmission line gray threshold is set to black pixel, rim detection equipment, is arranged in control cabinet, with binary conversion treatment equipment connection, carries out edge enhancement process, to obtain enhancing image to the binary image that binary conversion treatment equipment exports, image rotation treatment facility, is arranged in control cabinet, with rim detection equipment connection, rotates the transmission line target strengthening white pixel point composition in image, makes transmission line target be vertical direction arrangement, ice covering thickness computing equipment, be arranged in control cabinet, be connected respectively with image rotation treatment facility and MS storage card, its maximum radial distance is determined to the transmission line target of vertical direction arrangement, maximum radial distance is deducted default transmission line radial distance and divided by 2 to obtain the real-time ice layer thickness of transmission line, robot body, comprise anti-tilt structure, control cabinet, brshless DC motor, hoisting ring, walking mechanism, retaining mechanism and hold-down mechanism, anti-tilt structure is positioned on the transmission line of front, control cabinet and brshless DC motor are all positioned at the below of transmission line, hoisting ring is for being lifted into transmission line by robot body, walking mechanism and retaining mechanism are all positioned on transmission line, and hold-down mechanism is positioned at the below of transmission line, anti-tilt structure comprises Anti-inclining wheel, set bolt and connecting plate, and connecting plate is taken turns with Anti-inclining respectively and set bolt is connected, and prevents robot body from tilting backwards, be provided with master control borad and battery in control cabinet, master control borad be integrated with MSP430 single-chip microcomputer and Wireless Telecom Equipment, Wireless Telecom Equipment is used for setting up two-way wireless communication link with the power supply Operation Server of far-end, brshless DC motor is connected with the driving wheel of walking mechanism and the contact roller of hold-down mechanism respectively by decelerator, walking mechanism comprises three V shaped wheels of Timing Belt, Timing Belt strainer, driving wheel and horizontal positioned, driving wheel provides power for three walkings of V shaped wheel on transmission line, Timing Belt successively through driving wheel, Timing Belt strainer and three V shaped wheels to keep the synchronous walking of three V shaped wheels, retaining mechanism comprises the monkey wrench, intermediate support, bottom pin member and the U-bolt that are linked in sequence, falls from transmission line for preventing robot body, hold-down mechanism is connected with brshless DC motor, comprises contact roller, ratchet, ratchet, back-moving spring and holddown spring, touch switch transducer, is positioned on anti-tilt structure, is electrically connected with MSP430 single-chip microcomputer, for when touching transmission line obstacle, sends contact obstacle signal, infrared sensor, is positioned on anti-tilt structure, is electrically connected with MSP430 single-chip microcomputer, for when apart from 400 millimeters, front transmission line obstacle, sends obstruction forewarning signal, wherein, MSP430 single-chip microcomputer is also connected respectively with ice covering thickness computing equipment and solenoid, to receive real-time ice layer thickness, number of times is promoted according to real-time ice layer thickness determination trigger, trigger is promoted number of times to be packaged in deicing instruction and to send to solenoid, so that solenoid promotes number of times multiple exercise to the promotion of trigger according to trigger.
More specifically, in the patrolling transmission line robot of described self adaptation deicing: contact roller is V-structure.
More specifically, in the patrolling transmission line robot of described self adaptation deicing: contact roller compresses the overhead ground wire of transmission line under being used for the effect at holddown spring.
More specifically, in the patrolling transmission line robot of described self adaptation deicing: ratchet and ratchet are used for pinning or decontroling contact roller.
More specifically, in the patrolling transmission line robot of described self adaptation deicing: back-moving spring is used for being resetted by contact roller when contact roller decontrols.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram of the patrolling transmission line robot of the self adaptation deicing illustrated according to an embodiment of the present invention.
Reference numeral: 1 image capture device; 2 image processing equipments; 3 transmission line deicing equipment; 4 robot bodies
Embodiment
Below with reference to accompanying drawings the embodiment of the patrolling transmission line robot of self adaptation deicing of the present invention is described in detail.
In prior art, a kind of scheme of removing ice of power transmission line is, when building power transmission electric network, for transmission line " drapes over one's shoulders " last layer super-hydrophobic coat " coat ", when meeting with cryogenic freezing sleet disaster, the anti-freeze icing ability of transmission line significantly will promote 50%-60%, thus reduce the generation of power system security accident.Although this mode reaches the effect of certain making ice, because anti-freeze icing ability is after all limited, and all coat super-hydrophobic coat for whole piece transmission line, Financial cost is very high.
In prior art, also there are some deicing control programs for the inspection robot of transmission line, but because power transmission electric network equipment is too much, complex structure, transmission line place environment is general more severe, and the structural design of robot own is unreasonable, cause robot of the prior art deicing scheme to be difficult to high volume applications, can only laboratory stage be rested on; Meanwhile, the disappearance of on-the-spot electronics ice sheet measuring equipment and on-the-spot electronic type deicing equipment causes deicing effect not reach the requirement of power supply management department.
For this reason, the present invention proposes a kind of patrolling transmission line robot of self adaptation deicing, introduce high accuracy, targetedly on-the-spot deicing equipment and on-the-spot survey icing equipment, can to generally using, carry out ice sheet detection without the transmission line of any process and ice sheet is eliminated, and optimize existing robot body's framework, make it meet the demand of various power transmission electric network.
Fig. 1 is the block diagram of the patrolling transmission line robot of the self adaptation deicing illustrated according to an embodiment of the present invention, described robot comprises image capture device, image processing equipment, transmission line deicing equipment and robot body, image capture device, image processing equipment and transmission line deicing equipment are all mounted on robot body, robot body's walking is on transmission line, image capture device is taken transmission line, the image of image processing equipment to shooting processes, transmission line deicing equipment controls the deicing operation of self according to the result of image processing equipment.
Then, continue to be further detailed the concrete structure of the patrolling transmission line robot of self adaptation deicing of the present invention.
Described robot comprises: high-definition camera equipment, be positioned in walking mechanism, be electrically connected with MSP430 single-chip microcomputer, for gather deicing cutter front transmission line high-definition image and by MSP430 single-chip microcomputer compressed encoding, the image after compression to be sent to the power supply Operation Server of far-end by wireless link.
Described robot comprises: steam-cylinder piston mechanism, is mounted on robot body, comprises solenoid, rotary ammunition storage barrel, wireless communication interface, combustion chamber and piston rod; Piston rod top is furnished with beginning clamp, for clamping the ground wire of transmission line, is connected bottom piston rod with combustion chamber; Bottom of combustion chamber connects rotary ammunition storage barrel; Solenoid and trigger is connected bottom rotary ammunition storage barrel.
Described robot comprises: trigger, for be pushed to by ammunition in rotary ammunition storage barrel in combustion chamber and to trigger ammunition in combustion chamber implode, to produce the shock loading of moment to the ground wire of transmission line, realizes deicing effect; Solenoid, for promoting trigger, can repeatedly trigger ammunition in combustion chamber implode to the promotion of trigger with realization by multiple exercise.
Described robot comprises: MS storage card, is arranged in control cabinet, for prestoring default transmission line gray threshold span and default transmission line radial distance; Ambient brightness checkout equipment, is mounted on robot body, for detecting the ambient brightness of surrounding in real time, to export real time environment brightness; Neighborhood averaging value filtering equipment, is arranged in control cabinet, with high-definition camera equipment connection, for receiving transmission line image, and carries out the process of neighborhood averaging value filtering, with output filtering image to transmission line image.
Described robot comprises: binary conversion treatment equipment, be arranged in control cabinet, be connected respectively with ambient brightness checkout equipment and MS storage card, in default transmission line gray threshold span, transmission line gray threshold is determined based on real time environment brightness, presetting transmission line gray threshold span is 150-180, transmission line gray threshold is used for transmission line to be separated from image background with ice sheet, binary conversion treatment equipment also with neighborhood averaging value filtering equipment connection, based on transmission line gray threshold, binary conversion treatment is carried out to obtain binary image to filtering image, be specially, pixel gray value in filtering image being greater than transmission line gray threshold is set to white pixel point, pixel gray value in filtering image being less than or equal to transmission line gray threshold is set to black pixel.
Described robot comprises: rim detection equipment, is arranged in control cabinet, with binary conversion treatment equipment connection, carries out edge enhancement process, to obtain enhancing image to the binary image that binary conversion treatment equipment exports; Image rotation treatment facility, is arranged in control cabinet, with rim detection equipment connection, rotates the transmission line target strengthening white pixel point composition in image, makes transmission line target be vertical direction arrangement.
Described robot comprises: ice covering thickness computing equipment, be arranged in control cabinet, be connected respectively with image rotation treatment facility and MS storage card, its maximum radial distance is determined to the transmission line target of vertical direction arrangement, maximum radial distance is deducted default transmission line radial distance and divided by 2 to obtain the real-time ice layer thickness of transmission line.
Described robot comprises: robot body, comprise anti-tilt structure, control cabinet, brshless DC motor, hoisting ring, walking mechanism, retaining mechanism and hold-down mechanism, anti-tilt structure is positioned on the transmission line of front, control cabinet and brshless DC motor are all positioned at the below of transmission line, hoisting ring is for being lifted into transmission line by robot body, walking mechanism and retaining mechanism are all positioned on transmission line, and hold-down mechanism is positioned at the below of transmission line; Anti-tilt structure comprises Anti-inclining wheel, set bolt and connecting plate, and connecting plate is taken turns with Anti-inclining respectively and set bolt is connected, and prevents robot body from tilting backwards.
Be provided with master control borad and battery in control cabinet, master control borad be integrated with MSP430 single-chip microcomputer and Wireless Telecom Equipment, Wireless Telecom Equipment is used for setting up two-way wireless communication link with the power supply Operation Server of far-end; Brshless DC motor is connected with the driving wheel of walking mechanism and the contact roller of hold-down mechanism respectively by decelerator; Walking mechanism comprises three V shaped wheels of Timing Belt, Timing Belt strainer, driving wheel and horizontal positioned, driving wheel provides power for three walkings of V shaped wheel on transmission line, Timing Belt successively through driving wheel, Timing Belt strainer and three V shaped wheels to keep the synchronous walking of three V shaped wheels; Retaining mechanism comprises the monkey wrench, intermediate support, bottom pin member and the U-bolt that are linked in sequence, falls from transmission line for preventing robot body.
Hold-down mechanism is connected with brshless DC motor, comprises contact roller, ratchet, ratchet, back-moving spring and holddown spring; Touch switch transducer, is positioned on anti-tilt structure, is electrically connected with MSP430 single-chip microcomputer, for when touching transmission line obstacle, sends contact obstacle signal.
Infrared sensor, is positioned on anti-tilt structure, is electrically connected with MSP430 single-chip microcomputer, for when apart from 400 millimeters, front transmission line obstacle, sends obstruction forewarning signal.
Wherein, MSP430 single-chip microcomputer is also connected respectively with ice covering thickness computing equipment and solenoid, to receive real-time ice layer thickness, number of times is promoted according to real-time ice layer thickness determination trigger, trigger is promoted number of times to be packaged in deicing instruction and to send to solenoid, so that solenoid promotes number of times multiple exercise to the promotion of trigger according to trigger.
Alternatively, in described robot: contact roller is V-structure; Contact roller is used for the overhead ground wire compressing transmission line under the effect of holddown spring; Ratchet and ratchet are used for pinning or decontroling contact roller; And back-moving spring is used in when contact roller is decontroled and is resetted by contact roller.
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 tracking system, 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) hybrid 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 the patrolling transmission line robot of self adaptation deicing of the present invention, the technical problem that transmission line site machinery eliminates ice cannot be realized for prior art, first the existing structure of inspecting robot is improved, can pass unimpeded on various transmission line, then introduce impact type deicing equipment respectively and repeatedly deicing carried out to ice sheet based on the ice sheet checkout equipment that image detects and Thickness sensitivity is carried out to ice sheet, thus substituted for manual operation completely, improve the intelligent level of whole system.
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. the patrolling transmission line robot of a self adaptation deicing, described robot comprises image capture device, image processing equipment, transmission line deicing equipment and robot body, image capture device, image processing equipment and transmission line deicing equipment are all mounted on robot body, robot body's walking is on transmission line, image capture device is taken transmission line, the image of image processing equipment to shooting processes, and transmission line deicing equipment controls the deicing operation of self according to the result of image processing equipment.
2. the patrolling transmission line robot of self adaptation deicing as claimed in claim 1, it is characterized in that, described robot comprises:
High-definition camera equipment, be positioned in walking mechanism, be electrically connected with MSP430 single-chip microcomputer, for gather deicing cutter front transmission line high-definition image and by MSP430 single-chip microcomputer compressed encoding, the image after compression to be sent to the power supply Operation Server of far-end by wireless link;
Steam-cylinder piston mechanism, is mounted on robot body, comprises solenoid, rotary ammunition storage barrel, wireless communication interface, combustion chamber and piston rod;
Piston rod top is furnished with beginning clamp, for clamping the ground wire of transmission line, is connected bottom piston rod with combustion chamber;
Bottom of combustion chamber connects rotary ammunition storage barrel;
Solenoid and trigger is connected bottom rotary ammunition storage barrel;
Trigger, for be pushed to by ammunition in rotary ammunition storage barrel in combustion chamber and to trigger ammunition in combustion chamber implode, to produce the shock loading of moment to the ground wire of transmission line, realizes deicing effect;
Solenoid, for promoting trigger, can repeatedly trigger ammunition in combustion chamber implode to the promotion of trigger with realization by multiple exercise;
MS storage card, is arranged in control cabinet, for prestoring default transmission line gray threshold span and default transmission line radial distance;
Ambient brightness checkout equipment, is mounted on robot body, for detecting the ambient brightness of surrounding in real time, to export real time environment brightness;
Neighborhood averaging value filtering equipment, is arranged in control cabinet, with high-definition camera equipment connection, for receiving transmission line image, and carries out the process of neighborhood averaging value filtering, with output filtering image to transmission line image;
Binary conversion treatment equipment, be arranged in control cabinet, be connected respectively with ambient brightness checkout equipment and MS storage card, in default transmission line gray threshold span, transmission line gray threshold is determined based on real time environment brightness, presetting transmission line gray threshold span is 150-180, transmission line gray threshold is used for transmission line to be separated from image background with ice sheet, binary conversion treatment equipment also with neighborhood averaging value filtering equipment connection, based on transmission line gray threshold, binary conversion treatment is carried out to obtain binary image to filtering image, be specially, pixel gray value in filtering image being greater than transmission line gray threshold is set to white pixel point, pixel gray value in filtering image being less than or equal to transmission line gray threshold is set to black pixel,
Rim detection equipment, is arranged in control cabinet, with binary conversion treatment equipment connection, carries out edge enhancement process, to obtain enhancing image to the binary image that binary conversion treatment equipment exports;
Image rotation treatment facility, is arranged in control cabinet, with rim detection equipment connection, rotates the transmission line target strengthening white pixel point composition in image, makes transmission line target be vertical direction arrangement;
Ice covering thickness computing equipment, be arranged in control cabinet, be connected respectively with image rotation treatment facility and MS storage card, its maximum radial distance is determined to the transmission line target of vertical direction arrangement, maximum radial distance is deducted default transmission line radial distance and divided by 2 to obtain the real-time ice layer thickness of transmission line;
Robot body, comprise anti-tilt structure, control cabinet, brshless DC motor, hoisting ring, walking mechanism, retaining mechanism and hold-down mechanism, anti-tilt structure is positioned on the transmission line of front, control cabinet and brshless DC motor are all positioned at the below of transmission line, hoisting ring is for being lifted into transmission line by robot body, walking mechanism and retaining mechanism are all positioned on transmission line, and hold-down mechanism is positioned at the below of transmission line;
Anti-tilt structure comprises Anti-inclining wheel, set bolt and connecting plate, and connecting plate is taken turns with Anti-inclining respectively and set bolt is connected, and prevents robot body from tilting backwards;
Be provided with master control borad and battery in control cabinet, master control borad be integrated with MSP430 single-chip microcomputer and Wireless Telecom Equipment, Wireless Telecom Equipment is used for setting up two-way wireless communication link with the power supply Operation Server of far-end;
Brshless DC motor is connected with the driving wheel of walking mechanism and the contact roller of hold-down mechanism respectively by decelerator;
Walking mechanism comprises three V shaped wheels of Timing Belt, Timing Belt strainer, driving wheel and horizontal positioned, driving wheel provides power for three walkings of V shaped wheel on transmission line, Timing Belt successively through driving wheel, Timing Belt strainer and three V shaped wheels to keep the synchronous walking of three V shaped wheels;
Retaining mechanism comprises the monkey wrench, intermediate support, bottom pin member and the U-bolt that are linked in sequence, falls from transmission line for preventing robot body;
Hold-down mechanism is connected with brshless DC motor, comprises contact roller, ratchet, ratchet, back-moving spring and holddown spring;
Touch switch transducer, is positioned on anti-tilt structure, is electrically connected with MSP430 single-chip microcomputer, for when touching transmission line obstacle, sends contact obstacle signal;
Infrared sensor, is positioned on anti-tilt structure, is electrically connected with MSP430 single-chip microcomputer, for when apart from 400 millimeters, front transmission line obstacle, sends obstruction forewarning signal;
Wherein, MSP430 single-chip microcomputer is also connected respectively with ice covering thickness computing equipment and solenoid, to receive real-time ice layer thickness, number of times is promoted according to real-time ice layer thickness determination trigger, trigger is promoted number of times to be packaged in deicing instruction and to send to solenoid, so that solenoid promotes number of times multiple exercise to the promotion of trigger according to trigger;
Ratchet and ratchet are used for pinning or decontroling contact roller;
Back-moving spring is used for being resetted by contact roller when contact roller decontrols.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510956377.9A CN105390989A (en) | 2015-12-17 | 2015-12-17 | Adaptive ice-removal patrol robot of power transmission line |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510956377.9A Division CN105390989A (en) | 2015-12-17 | 2015-12-17 | Adaptive ice-removal patrol robot of power transmission line |
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| CN105576557A true CN105576557A (en) | 2016-05-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610114760.4A Withdrawn CN105576557A (en) | 2015-12-17 | 2015-12-17 | Adaptive de-icing power transmission line inspection robot |
| CN201510956377.9A Pending CN105390989A (en) | 2015-12-17 | 2015-12-17 | Adaptive ice-removal patrol robot of power transmission line |
| CN201610119340.5A Pending CN105552788A (en) | 2015-12-17 | 2015-12-17 | Adaptively-deicing power transmission line inspection robot |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510956377.9A Pending CN105390989A (en) | 2015-12-17 | 2015-12-17 | Adaptive ice-removal patrol robot of power transmission line |
| CN201610119340.5A Pending CN105552788A (en) | 2015-12-17 | 2015-12-17 | Adaptively-deicing power transmission line inspection robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110134119A (en) * | 2019-03-04 | 2019-08-16 | 滨州学院 | A kind of smart grid inspection robot |
| CN110174064A (en) * | 2019-04-24 | 2019-08-27 | 长沙学院 | A kind of power failure detection system |
| CN110132146A (en) * | 2019-05-14 | 2019-08-16 | 中国舰船研究设计中心 | A kind of gas turbine inlet air anti-icing detection system |
| CN112615328A (en) * | 2020-11-09 | 2021-04-06 | 无锡臻永科技有限公司 | Flame projecting driving system using liquid fuel |
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|---|---|---|---|---|
| CN201263076Y (en) * | 2008-07-25 | 2009-06-24 | 敖彬仪 | De-icing device for high-voltage line |
| CN201247941Y (en) * | 2008-08-22 | 2009-05-27 | 华中电网有限公司 | Mechanical vibration type deicer for overhead ground wire |
| US8373095B2 (en) * | 2009-03-24 | 2013-02-12 | Tung Minh Huynh | Power line de-icing apparatus |
| JP5266183B2 (en) * | 2009-10-13 | 2013-08-21 | 中部電力株式会社 | Inspection device |
| CN102136709B (en) * | 2010-12-22 | 2013-06-12 | 张兴莲 | Device and method for reducing ice and snow hung and accumulated on high-voltage electric overhead conductors |
| CN102427209B (en) * | 2011-12-07 | 2014-03-26 | 姚正齐 | Sliding mechanism for obstacle crossing of line inspection robot and line inspection robot equipment |
| CN103728924A (en) * | 2012-10-10 | 2014-04-16 | 四川金信石信息技术有限公司 | Remote monitoring system for icing of power transmission line |
| CN103196380B (en) * | 2013-03-20 | 2016-06-08 | 北京国网富达科技发展有限责任公司 | Transmission line of electricity image collecting device and electric power line ice-covering thickness detection system |
| CN103234465B (en) * | 2013-03-20 | 2016-06-08 | 北京国网富达科技发展有限责任公司 | A kind of electric power line ice-covering thickness detection method and system |
| CN204085570U (en) * | 2014-09-22 | 2015-01-07 | 国家电网公司 | A kind of icing monitoring scavenge unit being applied to transmission line of electricity |
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2015
- 2015-12-17 CN CN201610114760.4A patent/CN105576557A/en not_active Withdrawn
- 2015-12-17 CN CN201510956377.9A patent/CN105390989A/en active Pending
- 2015-12-17 CN CN201610119340.5A patent/CN105552788A/en active Pending
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|---|---|
| CN105552788A (en) | 2016-05-04 |
| CN105390989A (en) | 2016-03-09 |
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Application publication date: 20160511 |