CN106998045A - A kind of insulator detecting robot based on four-axle aircraft - Google Patents
A kind of insulator detecting robot based on four-axle aircraft Download PDFInfo
- Publication number
- CN106998045A CN106998045A CN201710196250.0A CN201710196250A CN106998045A CN 106998045 A CN106998045 A CN 106998045A CN 201710196250 A CN201710196250 A CN 201710196250A CN 106998045 A CN106998045 A CN 106998045A
- Authority
- CN
- China
- Prior art keywords
- frame
- left frame
- main control
- control chip
- insulator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Insulators (AREA)
Abstract
The invention discloses a kind of insulator detecting robot based on four-axle aircraft, including：Left frame, right frame and four rotors.Left frame and right frame are cylindrical after sidepiece is hinged and fastens.Four rotors are symmetricly set at the top of left frame and right frame top for one group two-by-two.In left and right, bottom of the frame sets longitudinal infrared distance sensor respectively, and medial surface is respectively equipped with horizontal infrared distance sensor.Electric-field sensor is connected to main control chip by signal processing circuit, and each horizontal infrared distance sensor and longitudinal infrared sensor and rotor control module connect the data-interface of main control chip respectively.Handheld terminal is communicated by wireless transport module and main control chip.The present invention is simple in construction, easy to operate, using contactless measurement, it is to avoid existing insulator detecting robot complex operation is cumbersome, detection efficiency is low, the low shortcoming of safety coefficient.
Description
Technical field
The present invention relates to a kind of robot device, a kind of robot detected for high tension insulator electrification, category are referred specifically to
In power transmission lines overhauling area of maintenance.
Background technology
With the continuous improvement and the fast development of workers and peasants' industry of living standards of the people, power system transmission of electricity, the peace of power supply
Entirely, reliably increasingly it is taken seriously.Insulator is widely used in electrical power trans mission/distribution system, and that especially greatly develops in recent years is super
In high pressure, extra-high voltage AC and DC transmission system, the safe operation problem of insulator is even more directly to determine the investment of whole system
And level of security.Safe operation of the presence of cracking insulator to power network constitutes great threat, it is therefore desirable to high-voltage isulation
The running status of son strengthens detection, and all circuits that there is insulation safety hidden danger and interval are found out in time, carries out prevention dimension in advance
Shield, reduces the potential safety hazard of ultra-high-tension power transmission line insulation,
Existing detection technique mainly has measuring voltage distribution method, infrared thermal imagery method, spark gap method, helicopter routing inspection, electric field
Mensuration, UV pulse method, sensitive insulator method etc., the characteristic quantities of various isolator detecting methods mainly have insulation resistance value,
Surface charge, electric field, voltage, electric current, temperature, light etc..It is domestic at present that tower operation, staff are stepped on using artificial high-altitude substantially
Lift insulating bar to move detector along insulator chain surface, not only labor intensity is big for this method, personal security is difficult
To ensure, and the precision and stability of detection data is difficult to ensure that.But the electric field sensing probe that this method is used is not
Directly contacted with insulator, compared to other detection method little interference by environments.Therefore need electric field sensing measuring principle and oneself
Dynamicization, intelligent measuring are combined.In recent years, the method for robot carrying sensor progress charged insulating detection is gradually emerging
Rise, although improve detection efficiency and precision compared to artificial operation, reduce labor intensity, but robot is also existed exhausted
Climb in difficult, detection process to break down on edge substring and the problem such as be difficult to exclude.Therefore, one kind can overcome above-mentioned technology difficult
The insulator automatic monitoring device of topic is urgently studied.
The content of the invention
In view of the technical barrier of above-mentioned existing isolator detecting, it is an object of the invention to provide one kind based on the flight of four axles
The insulator detecting robot of device, can intelligently be detected on insulator chain to insulator, solve existing artificial inspection
Survey method labor intensity is big, detection data precision is low, and when carrying sensor progress isolator detecting using existing robot
The technical barriers such as obstacle detouring climbing difficulty.
To achieve the above object, the technical solution adopted in the present invention is：A kind of insulator inspection based on four-axle aircraft
Robot is surveyed, including：Left frame, right frame and four rotors.
The left frame and right frame are semi-circular cylindrical, and left frame and right frame are in after sidepiece is hinged and fastens
It is cylindric.The fastening of left frame and right frame and two states are opened, handling of the robot on insulator chain can be realized,
Left and right frame is looped around around insulator chain, enables detection robot along insulator chain way moving.
Left frame lateral surface and right shell outside face are respectively provided with a cabinet.Four rotors are symmetricly set on a left side for one group two-by-two
Frame top and right frame top.
Longitudinal infrared distance sensor is set respectively in left frame and right bottom of the frame, in left frame and right frame medial surface
It is respectively equipped with horizontal infrared distance sensor.It is respectively used to detect robot apart from the distance of first insulator and insulation sublist
The distance in face.
Insulator detecting robot of the invention based on four-axle aircraft, also includes and is separately mounted in two cabinets
Main control chip, electric-field sensor and rotor control module and wireless transport module.Electric-field sensor passes through signal processing circuit
It is connected to main control chip.Each horizontal infrared distance sensor and longitudinal infrared sensor and rotor control module connect master respectively
Control the data-interface of chip.
Rotor control module is used to control rotor wing rotation and rotating speed.
Insulator detecting robot of the invention based on four-axle aircraft, in addition to inertial navigation module and described four rotations
The wing coordinates, and controls the flight of robot.The inertial navigation module by 3 directions gyroscope and 3 axle acceleration sensors
Composition.
Insulator detecting robot of the invention based on four-axle aircraft, in addition to a handheld terminal, by being wirelessly transferred
Module is communicated with main control chip.
In the above-mentioned technical solutions, the electric-field sensor collection electric field longitudinal component of the insulator detecting robot, leads to
The defect for crossing analysis electric field longitudinal component determines insulator cracking position.
The present invention is simple in construction, easy to operate, using contactless measurement, it is to avoid existing isolator detecting machine
People's complex operation is cumbersome, detection efficiency is low, the low shortcoming of safety coefficient.
Brief description of the drawings
Structural representation when Fig. 1 is insulator detecting robot of the invention based on four-axle aircraft or so frame closure
Figure.
Fig. 2 is the structural representation when insulator detecting robot of the invention based on four-axle aircraft or so frame is opened
Figure.
Fig. 3 is the insulator detecting robot control system block diagram of the invention based on four-axle aircraft.
Fig. 4 is the use state schematic diagram of the insulator detecting robot of the invention based on four-axle aircraft.
Embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
As shown in figure 1, the insulator detecting robot of the invention based on four-axle aircraft, including：Left frame 3, right frame
4 and four rotors（1.1、1.2、1.3、1.4）.
Left frame 3 and right frame 4 are one semicircular hinge of each installation in top of semi-circular cylindrical, left frame and right frame
Ring is connect, two hinge eyes are hinged, and realize the structure that left and right frame is hinged in sidepiece.Left frame and right frame are fastened
It is cylindrical afterwards, the guide frame of insulator detecting robot is constituted, it closes and opened two states such as Fig. 1 and Fig. 2 institutes
Show.Left and right frame uses carbon fibre materials.The bottom of left and right frame is arranged with longitudinal infrared distance sensor, its medial surface
Horizontal infrared distance sensor is disposed with, respectively to detect distance and insulator surface of the robot apart from first insulator
Distance.
Left frame and the lateral surface of right frame are respectively disposed with a cabinet, and left cabinet places main control chip, rotor control mould
Block, wireless communication module and power supply, right cabinet are used to place electric-field sensor, inertial navigation module.
The inertial navigation module includes the gyroscope and 3 axle acceleration sensors in 3 directions.
Four rotors（1.1、1.2、1.3、1.4）It is uniform to be arranged in the hinge eyes of left frame and right frame top, with flat
360 ° of face is symmetrically set, and constitutes the driving structure of insulator detecting robot.The extension bar of rotor is bolted
The hinge eyes of frame top in left and right.When robot vertical is moved, rotor（1.1、1.3）Steering it is identical, rotor（1.2、1.4）
Steering it is identical.Four rotors use carbon fibre materials, on the basis of intensity is kept, and reduction as far as possible detects robot
Weight.
As shown in figure 3, STM32F405RG main control chips primary recipient is from electric-field sensor, horizontal infrared distance measurement sensing
The measurement data and the data of inertial navigation module of device, longitudinal infrared distance sensor, the measurement data of electric-field sensor are needed
Will be by signal processing circuit processing.STM32F405RG main control chips are wirelessly transferred by 433MHZ and carried out with ground handheld terminal
Communication, handheld terminal sends instructions to STM32F405RG main control chips, is moved by rotor control module control detection robot
It is dynamic.Master control borad also there is SD card interface can store measurement data simultaneously, and survey is further analyzed at PC ends after measurement terminates
Measure result.
As shown in figure 4, ground handheld terminal 4 has control detection robot moving direction, translational speed, keeps fixing shape
State, in real time the display function such as measurement data and start and stop, jerk.
When maintainer is using insulator detecting robot of the present invention based on four-axle aircraft, frame should be caused first
Remain on, put insulator chain 6, as shown in figure 4, the use step of the present invention is as follows：
(1) start insulator detecting robot, sent and instructed by handheld terminal, the control of STM32F405RG main control chips is laterally infrared
Distance measuring sensor finds first insulator, while longitudinal infrared distance sensor record correlation distance, is used as detection robot
Detection starting point.
(2) handheld terminal sends instruction, and main control chip starts the brushless electric machine rotation inside rotor, and detection robot is transported upwards
It is dynamic, while electric-field sensor detects the genesis analysis of insulator chain surrounding electric field, and by the data transfer of longitudinal component to master control
Chip-stored is in SD card.
(3) in detection robot movement detection process, horizontal infrared distance sensor is by feeding back frame away from insulator
Lateral separation, record detected the number of insulator.
(4) handheld terminal shows change curve of the longitudinal electric field component with insulator chain diverse location in real time.
(5) longitudinal infrared distance sensor measure detection robot distance will be beyond default insulator chain length
When, notify main control chip to send instruction and change rotor wing rotation direction, decline detection robot, this process passes through built-in algorithms
Realize, and ensure to detect the stability of robot when direction changes.Meanwhile, ground staff can also manually be sent by range estimation to be referred to
Order changes detection robot heading.
(6) during detection robot declines, longitudinal infrared sensor detection fore-and-aft distance, which is reached, starts initial position
When, notify main control chip to keep current location, or robot location and rotor wing rotation speed are detected by handheld terminal regulation, with
Just detection robot is removed from insulator chain.
(7) after measurement terminates, left and right frame is opened, detection robot is removed from insulator chain, is carried out next
The detection of insulator chain.
Claims (4)
1. a kind of insulator detecting robot based on four-axle aircraft, including：Left frame, right frame and four rotors；It is special
Levying is：
The left frame and right frame are semi-circular cylindrical, and left frame and right frame are in cylinder after sidepiece is hinged and fastens
Shape；
Left frame lateral surface and right shell outside face are respectively provided with a cabinet, and four rotors are symmetricly set on left frame for one group two-by-two
Top and right frame top；
Longitudinal infrared distance sensor is set respectively in left frame and right bottom of the frame, distinguished in left frame and right frame medial surface
Provided with horizontal infrared distance sensor.
2. a kind of insulator detecting robot based on four-axle aircraft according to claim 1, it is characterized in that：Include
It is separately mounted to main control chip in two cabinets, electric-field sensor and rotor control module and wireless transport module；Electric field
Sensor is connected to main control chip by signal processing circuit, each horizontal infrared distance sensor and longitudinal infrared sensor and
Rotor control module connects the data-interface of main control chip respectively.
3. a kind of insulator detecting robot based on four-axle aircraft according to claim 1 or 2, it is characterized in that：Also
Including inertial navigation module, the inertial navigation module is made up of the gyroscope and 3 axle acceleration sensors in 3 directions.
4. a kind of insulator detecting robot based on four-axle aircraft according to claim 1,2 or 3, it is characterized in that：
Also include a handheld terminal, handheld terminal is communicated by wireless transport module and main control chip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710196250.0A CN106998045A (en) | 2017-03-29 | 2017-03-29 | A kind of insulator detecting robot based on four-axle aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710196250.0A CN106998045A (en) | 2017-03-29 | 2017-03-29 | A kind of insulator detecting robot based on four-axle aircraft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106998045A true CN106998045A (en) | 2017-08-01 |
Family
ID=59431120
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710196250.0A Pending CN106998045A (en) | 2017-03-29 | 2017-03-29 | A kind of insulator detecting robot based on four-axle aircraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106998045A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110412383A (en) * | 2019-08-07 | 2019-11-05 | 国网电力科学研究院武汉南瑞有限责任公司 | Flight formula suspension insulator detection method and device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001028815A (en) * | 1999-07-12 | 2001-01-30 | Fujikura Ltd | Electric detector for aerial transmission line |
| CN102879692A (en) * | 2012-10-16 | 2013-01-16 | 山东电力集团公司电力科学研究院 | Method and device for detecting insulator through multi-rotor unmanned aerial vehicle |
| CN105151289A (en) * | 2015-10-08 | 2015-12-16 | 黎建军 | Four-rotor aircraft capable of absorbing objects based on vacuum |
| CN105811307A (en) * | 2016-05-04 | 2016-07-27 | 国网电力科学研究院武汉南瑞有限责任公司 | Full-automatic inspection robot applicable to power transmission line insulator string |
-
2017
- 2017-03-29 CN CN201710196250.0A patent/CN106998045A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001028815A (en) * | 1999-07-12 | 2001-01-30 | Fujikura Ltd | Electric detector for aerial transmission line |
| CN102879692A (en) * | 2012-10-16 | 2013-01-16 | 山东电力集团公司电力科学研究院 | Method and device for detecting insulator through multi-rotor unmanned aerial vehicle |
| CN105151289A (en) * | 2015-10-08 | 2015-12-16 | 黎建军 | Four-rotor aircraft capable of absorbing objects based on vacuum |
| CN105811307A (en) * | 2016-05-04 | 2016-07-27 | 国网电力科学研究院武汉南瑞有限责任公司 | Full-automatic inspection robot applicable to power transmission line insulator string |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110412383A (en) * | 2019-08-07 | 2019-11-05 | 国网电力科学研究院武汉南瑞有限责任公司 | Flight formula suspension insulator detection method and device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102879692B (en) | Method and device for detecting insulator through multi-rotor unmanned aerial vehicle | |
| CN107894779A (en) | It is a kind of based on environmental monitoring system and method in the ore deposit with cable unmanned plane | |
| CN104158117A (en) | Robot system for inspection of overhead power line | |
| CN104036627A (en) | Power tower pole inclination monitoring system | |
| CN203615969U (en) | A cable trench well comprehensive on-line monitoring system | |
| CN202928695U (en) | On-line monitoring and early warning system for fault of city cable joint | |
| CN107424376A (en) | Mine conveyer belt carrying roller fire wireless monitoring device | |
| CN111006657A (en) | ADSS optical cable sag dynamic monitoring system | |
| CN106998045A (en) | A kind of insulator detecting robot based on four-axle aircraft | |
| CN104326360B (en) | High pedestal jib crane holographic measuring method | |
| CN205786901U (en) | Insulator detecting robot | |
| CN108762305B (en) | Unmanned aerial vehicle collision avoidance aerial vehicle makes somebody a mere figurehead alternating current power line's early warning device | |
| CN207090817U (en) | Prevent tower crane is askew from skewing the suspension hook hung and there is its tower crane | |
| CN101446203B (en) | Method for checking dangerous environment of urban electric network tunnel by robot | |
| CN205785151U (en) | Device for monitoring icing | |
| CN105429302B (en) | Transmission line of electricity real-time windage yaw on-line detecting system | |
| CN208666340U (en) | Underground coal mine belt conveyor fault detection means based on image | |
| CN207741701U (en) | A kind of mine vehicle four surpasses measurement warning device | |
| CN207163434U (en) | A kind of real-time security on-Line Monitor Device of high-altitude plank road | |
| CN106501679A (en) | Fault oscillograph work information remote monitoring, maintenance and fast browsing system | |
| CN207623411U (en) | A kind of insulator zero value detection unmanned plane | |
| CN205310239U (en) | A search for and rescue sniffing robot for petrochemical industry hazardous environment | |
| CN108657431A (en) | A kind of flight instruments for detecting the vertical ground clearance of high-voltage AC transmission bank | |
| CN201137505Y (en) | Robot inspection device for urban network tunnel hazardous environment | |
| CN208516691U (en) | The operation equipment of performance detecting system for escalator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 221116 No. 1 University Road, copper mountain, Jiangsu, Xuzhou Applicant after: China University of Mining & Technology Address before: 221116 Xuzhou University Road, Jiangsu, No. 1 Applicant before: China University of Mining & Technology |
|
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170801 |