CN107425583B - Intelligent induction charging device of high-voltage transmission line inspection robot - Google Patents

Abstract

The intelligent induction charging device of the high-voltage transmission line inspection robot comprises a high-voltage wire, a converter, a rectifying unit, a storage battery, a control system and a computer; the high-voltage lead passes through the induction end of the converter, the output end of the converter is connected with the input end of the rectifying unit, the output end of the rectifying unit is connected with the charging end of the storage battery, the converter, the rectifying unit and the storage battery are both in bidirectional connection with the control system, and the data of the control system are in bidirectional connection with the computer through wireless communication and wired communication technologies. The device converts the magnetic field around the high-voltage transmission line into electric energy, intelligent charging and electric energy management are realized through DSP centralized control and management, the electric energy state and the charging condition of the high-voltage transmission line inspection robot are sent to a remote computer through wireless communication and wired communication, remote supervision of a plurality of inspection robots of data is realized, and meanwhile, the system has the real-time monitoring function of parameters such as voltage, current, temperature, time and the like.

Description

High-voltage transmission line inspection robot intelligent induction charging device

technical field

The invention belongs to the technical field of power transformer detection, and in particular relates to an intelligent induction charging device and a control system for a high-voltage transmission line inspection robot.

Background technique

The high-voltage transmission line is the main artery of the entire power system, and its safety and reliability are directly related to the stable operation of the power grid. High-voltage transmission lines not only bear the mechanical stress of the line and the internal pressure of the electrical load, but also withstand external disasters such as strong winds, lightning strikes, rain, snow, and hail corrosion in the natural environment. Long-term operation will inevitably cause faults such as broken strands and increased contact resistance. Seriously endanger the safe operation of the power system. Traditional high-voltage line maintenance relies on manual patrolling along the transmission line, which is heavy, expensive and dangerous. The continuous development of high-voltage transmission line inspection robot technology gradually replaces manual transmission line inspection, reduces inspection work intensity and maintenance costs, and improves the quality and management level of inspection operations.

The charging technology of high-voltage transmission line inspection robots adopts solar charging, laser charging, and capacitor charging. The output of solar rechargeable batteries is easily affected by factors such as external ambient temperature, light intensity changes and seasonality, and the energy conversion rate between light energy and solar energy is low, requiring regular maintenance, which limits the large-scale application of solar charging. The laser charging method converts light or other light sources into electrical energy through a photoelectric converter, but the laser diode of a high-power laser generator has a limited working life and is prone to degradation. Capacitor power-taking technology is charged through parallel capacitor voltage dividers connected in parallel on the bus, which requires high manufacturing process for the capacitor voltage dividers. At the same time, the capacitor voltage dividers are connected to the high-voltage bus, which reduces the reliability of the power transmission system. and safety factor. Therefore, it has very important theoretical and practical significance to study the new high-voltage transmission line inspection robot charging technology, realize intelligent charging and maintenance-free, and improve the safety and reliability of the system.

Contents of the invention

Purpose of the invention:

In order to achieve the purpose of the above invention, the present invention proposes an intelligent induction charging device and a control system for a high-voltage transmission line inspection robot.

Technical solutions:

An intelligent induction charging device for a high-voltage transmission line inspection robot, characterized in that the device includes a high-voltage wire (1), a converter (2), a rectifier unit (3), a battery (4), a control system (5) and a computer (6) ); where the high-voltage wire (1) passes through the induction end of the converter (2), the output end of the converter (2) is connected to the input end of the rectification unit (3), and the output end of the rectification unit (3) Connected to the charging terminal of the battery (4), the converter (2), the rectifier unit (3) and the battery (4) are bidirectionally connected to the control system (5), and the data of the control system (5) is transmitted through wireless communication and wired communication Two-way connection between technology and computer (6).

The control system (5) includes an actuator (7), a signal conversion unit (8), a display unit (9), a display driver (10), a reset unit (11), a drive protection unit (12), and a current detection unit (13) , time detection unit (14), voltage detection unit B (15), temperature detection unit (16), voltage detection unit A (17), harmonic detection unit (18), signal processing unit (19), DSP (20) , a communication unit (21) and a filtering unit (22), wherein the output terminal of the execution structure (7) is connected to the converter (2), and the control signal input terminal of the actuator (7) is connected to the signal of the signal conversion unit (8) The output ends are connected, the signal input end of the signal conversion unit (8) is connected with the signal output end of the DSP (20), the signal input end of the display unit (9) is output through the display driver (10) and the signal output of the DSP (20) The signal output terminal of the reset unit (11) is connected with the signal input terminal of the DSP (20), the signal output terminal of the drive protection unit (12) is connected with the control signal input terminal of the rectification unit (3), and the drive The signal input terminal of the protection unit (12) is connected to the PWM signal output terminal of the DSP (20), and the measurement terminals of the current detection unit (13), the time detection unit (14), and the voltage detection unit B (15) are connected to the rectification unit ( 3) Phase connection, the signal output terminals of the current detection unit (13), the time detection unit (14), and the voltage detection unit B (15) are connected to the signal input terminal of the DSP (20) through the signal processing unit (19), and filtered The unit (22) is connected to both ends of the DC bus between the rectifier unit (3) and the battery (4), and the measurement terminals of the temperature detection unit (16), the voltage detection unit A (17), and the harmonic detection unit (18) Connected with the battery (4), the signal output terminals of the temperature detection unit (16), the voltage detection unit A (17), and the harmonic detection unit (18) pass through the signal processing unit (19) and the signal input terminal of the DSP (20) The communication signal input terminal of the computer (7) is connected with the communication signal output terminal of the DSP (20) through the communication unit (21).

The high-voltage wire (1), converter (2), rectifier unit (3), battery (4), control system (5) and computer (6) are all arranged on the chassis (09), and the lower end of the chassis (09) is a walking wheel(010);

The chassis is also provided with a collision buffer device, which includes a buffer plate (011), a buffer box (012) and a lifting plunger;

The buffer plate (011) is an L-shaped structure composed of horizontal bars and vertical plates. The buffer plate (011) can move close to and separate from the chassis (09). The vertical plate of the buffer plate (011) is set on the bottom of the chassis (09). The side and the side of the chassis (09) form a buffer distance, the cross bar of the buffer plate (011) extends into the telescopic box (025) below the bottom surface of the chassis (09), and the telescopic box (025) is provided with a primary telescopic spring ( 026), the primary telescopic spring (026) is set on the cross bar of the buffer plate (011) and one end is fixed to the cross bar, and the other end is fixed to the inner wall of the telescopic box (025), so that the cross bar faces inward (to the chassis (09) The middle part, that is, the direction to the left in Figure 4) moves when the spring is compressed or stretched;

The buffer box (012) is set in the middle of the bottom of the chassis (09), and the bottom of the buffer box (012) is connected to a T-shaped connecting pipe. Glyph structure, the bottom of the buffer box (012) is connected to the standpipe (014) of the T-shaped connecting pipe, the shaft of the traveling wheel (010) is inserted into the two ends of the horizontal pipe (015) at the bottom of the T-shaped connecting pipe and the traveling wheel (010) The axis of the shaft can perform axial thrusting action relative to the horizontal tube (015);

The buffer box (012) is provided with a gear (016) and two racks (017). The two racks (017) are arranged on both sides of the gear (016) and meshed with the gear (016). The two racks ( 017) It can move parallel to the ground of the chassis (09), and when moving, the drive gear (016) rotates, and the two racks (017) move in opposite directions; the two racks (017) are respectively connected to a connecting rod (018), the front end of the cross bar of the buffer plate (011) is connected to the middle part of the connecting rod (018) through the connecting piece (027). When in use, the connecting rod (018) is linked with the cross bar of the buffer plate (011), The connecting rod (018) is covered with a secondary buffer spring (028), one end of the connecting rod (018) is connected to the end point of the connecting rod (018), the other end is connected to the connecting piece (027), and the center of the gear (016) is a belt Hole with internal thread;

The lifting plunger is a Y-shaped structure with the opening facing downwards consisting of the main rod (013) and two bifurcated support rods (019). The upper end of the main rod (013) is provided with an externally threaded pull rod. The rods (013) can rotate relative to each other and the axial distance remains unchanged; the externally threaded pull rod extends into the sleeve hole of the gear (016) and cooperates with the thread of the sleeve hole, and controls the lifting and lowering of the insertion rod through the rotation of the gear (016);

There is a through hole (020) on the wall of the horizontal tube (015) of the T-shaped connecting pipe, which corresponds to the position of the pit (021) on the shaft of the walking wheel (010). 019) After passing through the through hole (020), insert it into the pit (021) to fix the shaft of the traveling wheel (010) and the horizontal tube (015) relatively; when the buffer plate (011) is hit, the buffer plate (011) The cross bar moves inward and pushes the gear (016) to rotate, so that the lifting plunger rises, so that the support rod (019) leaves the through hole (020) and the pit (021) to complete the unlocking.

A buffer spring (022) is arranged between the upper part of the buffer plate (011) and the side wall of the chassis (09).

The main pole (013) is arranged in the standpipe (014), and the side wall of the standpipe (014) is provided with a strip-shaped through hole (023) for the support pole (019) to protrude for the support pole (019) to realize lifting.

The part where the shaft of the walking wheel (010) extends into the horizontal tube (015) is covered with a three-stage buffer spring (024). ) inner wall.

Advantages and beneficial effects of the present invention: the intelligent induction charging device and control system of the high-voltage transmission line inspection robot use the induction power-taking technology to convert the magnetic field around the high-voltage transmission line into electric energy, and realize intelligent charging and electric energy through DSP centralized control and management Management, through wireless communication and wired communication, the power status and charging status of the high-voltage transmission line inspection robot are sent to the remote computer to realize the remote supervision of multiple inspection robots for data. At the same time, the system has parameters such as voltage, current, temperature and time. Real-time monitoring function. At the same time, the side anti-collision technology ensures the protection of the walking car when it is hit. The patented technology has the advantages of simple structure, high reliability, good safety, and high communication speed. It is the development of intelligent technology for inspection robots. Lay the groundwork.

The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

Description of drawings

Figure 1 Schematic diagram of the structure of the intelligent induction charging device for the inspection robot of high-voltage transmission lines;

Fig. 2 Structural diagram of the control system of the intelligent induction charging device of the high-voltage transmission line inspection robot;

Fig. 3 is a structural schematic diagram of the collision buffer device;

Fig. 4 is a state diagram when the right side encounters a collision;

Figure 5 is a schematic diagram of several gears;

1. High-voltage wire; 2. Converter; 3. Rectifier unit; 4. Battery; 5. Control system; 6. Computer; 7. Executing agency; 8. Signal conversion unit; 9. Display unit; 10. Display drive; 11 1. Reset unit; 12. Drive protection unit; 13. Current detection unit; 14. Time detection unit; 15. Voltage detection unit B; 16. Temperature detection unit; 17. Voltage detection unit A; 18. Harmonic detection unit; 19 Signal processing unit; 20. DSP; 21. Communication unit; 22. Filtering unit.

Detailed ways

In order to achieve the purpose of the above invention, the present invention proposes an intelligent induction charging device and a control system for a high-voltage transmission line inspection robot.

The structure diagram of the intelligent induction charging device for the high-voltage transmission line inspection robot is shown in Figure 1. The device includes a high-voltage wire 1, a converter 2, a rectifier unit 3, a battery 4, a control system 5, and a computer 6. The high-voltage wire 1 passes through the heart Through the induction terminal of the converter 2, the output terminal of the converter 2 is connected to the input terminal of the rectification unit 3, and the output terminal of the rectification unit 3 is connected to the charging terminal of the storage battery 4, and the converter 2, the rectification unit 3, and the storage battery 4 It is bidirectionally connected with the control system 5, and the data of the control system 5 is bidirectionally connected with the computer 6 through wireless communication and wired communication technology.

The high-voltage wire 1 generates an alternating magnetic field around the line during the power transmission process. The converter 2 uses the alternating magnetic field to generate an induced electromotive force, and the rectifier unit 3 converts the alternating current into a direct current to supply power for the battery 4 . The control system 5 controls the energy conversion, rectification and charging process, and monitors variables such as voltage, current, temperature, time, harmonics, etc., and at the same time sends the data of the intelligent induction charging device of the high-voltage transmission line inspection robot to the computer in the monitoring center 6 , to realize the remote control and management of the charging process.

The structure diagram of the control system of the intelligent induction charging device of the high-voltage transmission line inspection robot is shown in Figure 2, including the actuator 7, the signal conversion unit 8, the display unit 9, the display driver 10, the reset unit 11, the drive protection unit 12, and the current detection unit 13. Time detection unit 14, voltage detection unit B15, temperature detection unit 16, voltage detection unit A17, harmonic detection unit 18, signal processing unit 19, DSP20, communication unit 21, filter unit 22, wherein the output terminal of execution structure 7 Connected with the converter 2, the control signal input end of the actuator 7 is connected with the signal output end of the signal conversion unit 8, the signal input end of the signal conversion unit 8 is connected with the signal output end of the DSP20, and the signal input end of the display unit 9 end is connected with the signal output end of DSP20 through display driver 10, the signal output end of reset unit 11 is connected with the signal input end of DSP20, the signal output end of drive protection unit 12 is connected with the control signal input end of rectification unit 3, The signal input end of drive protection unit 12 is connected with the PWM signal output end of DSP20, and the measuring end of current detection unit 13, time detection unit 14, voltage detection unit B15 is connected with rectification unit 3, and current detection unit 13, time detection unit 14. The signal output terminal of the voltage detection unit B15 is connected to the signal input terminal of the DSP 20 through the signal processing unit 19, the filter unit 22 is connected to both ends of the DC bus between the rectifier unit 3 and the storage battery 4, the temperature detection unit 16, voltage The measurement terminals of the detection unit A17 and the harmonic detection unit 18 are connected to the storage battery 4, and the signal output terminals of the temperature detection unit 16, the voltage detection unit A17 and the harmonic detection unit 18 are connected to the signal input terminal of the DSP20 through the signal processing unit 19 , the communication signal input end of the computer 7 is connected with the communication signal output end of the DSP 20 through the communication unit 21 .

The high-voltage wire (1), converter (2), rectifier unit (3), battery (4), control system (5) and computer (6) are all arranged on the chassis (09), and the lower end of the chassis (09) is a walking wheel(010);

The chassis is also provided with a collision buffer device, which includes a buffer plate (011), a buffer box (012) and a lifting plunger;

The buffer plate (011) is an L-shaped structure composed of horizontal bars and vertical plates. The buffer plate (011) can move close to and separate from the chassis (09). The vertical plate of the buffer plate (011) is set on the bottom of the chassis (09). The side and the side of the chassis (09) form a buffer distance, the cross bar of the buffer plate (011) extends into the telescopic box (025) below the bottom surface of the chassis (09), and the telescopic box (025) is provided with a primary telescopic spring ( 026), the primary telescopic spring (026) is set on the cross bar of the buffer plate (011) and one end is fixed to the cross bar, and the other end is fixed to the inner wall of the telescopic box (025), so that the cross bar faces inward (to the chassis (09) The middle part, that is, the direction to the left in Figure 4) moves when the spring is compressed or stretched;

The buffer box (012) is set in the middle of the bottom of the chassis (09), and the bottom of the buffer box (012) is connected to a T-shaped connecting pipe. Glyph structure, the bottom of the buffer box (012) is connected to the standpipe (014) of the T-shaped connecting pipe, the shaft of the traveling wheel (010) is inserted into the two ends of the horizontal pipe (015) at the bottom of the T-shaped connecting pipe and the traveling wheel (010) The axis of the shaft can perform axial thrusting action relative to the horizontal tube (015);

The buffer box (012) is provided with a gear (016) and two racks (017). The two racks (017) are arranged on both sides of the gear (016) and meshed with the gear (016). The two racks ( 017) It can move parallel to the ground of the chassis (09), and when moving, the drive gear (016) rotates, and the two racks (017) move in opposite directions; the two racks (017) are respectively connected to a connecting rod (018), the front end of the cross bar of the buffer plate (011) is connected to the middle part of the connecting rod (018) through the connecting piece (027). When in use, the connecting rod (018) is linked with the cross bar of the buffer plate (011), The connecting rod (018) is covered with a secondary buffer spring (028), one end of the connecting rod (018) is connected to the end point of the connecting rod (018), the other end is connected to the connecting piece (027), and the center of the gear (016) is a belt Hole with internal thread;

The lifting plunger is a Y-shaped structure with the opening facing downwards consisting of the main rod (013) and two bifurcated support rods (019). The upper end of the main rod (013) is provided with an externally threaded pull rod. The rods (013) can rotate relative to each other and the axial distance remains unchanged; the externally threaded pull rod extends into the sleeve hole of the gear (016) and cooperates with the thread of the sleeve hole, and controls the lifting and lowering of the insertion rod through the rotation of the gear (016);

There is a through hole (020) on the wall of the horizontal tube (015) of the T-shaped connecting pipe, which corresponds to the position of the pit (021) on the shaft of the walking wheel (010). 019) After passing through the through hole (020), insert it into the pit (021) to fix the shaft of the traveling wheel (010) and the horizontal tube (015) relatively; when the buffer plate (011) is hit, the buffer plate (011) The cross bar moves inward and pushes the gear (016) to rotate, so that the lifting plunger rises, so that the support rod (019) leaves the through hole (020) and the pit (021) to complete the unlocking.

A buffer spring (022) is arranged between the upper part of the buffer plate (011) and the side wall of the chassis (09).

The main pole (013) is arranged in the standpipe (014), and the side wall of the standpipe (014) is provided with a strip-shaped through hole (023) for the support pole (019) to protrude for the support pole (019) to realize lifting.

The part where the shaft of the walking wheel (010) extends into the horizontal tube (015) is covered with a three-stage buffer spring (024). ) inner wall.

When encountering a collision, as shown in Figure 4, taking the collision on the right side as an example, when the right side encounters a collision, the vertical plate of the buffer plate 011 is squeezed, the buffer spring 022 is squeezed to complete the first level of buffering, and the buffer plate 011 is horizontally squeezed. The movement of the rod inward (left side in the figure) makes the secondary buffer spring (028) stretch, completing the secondary buffer, and if the force still exists, the secondary buffer spring (028) will drive the connecting rod (018) to Move inward and then push the rack 017 inward, so that the gear 016 rotates, and then the external thread rod drives the lifting plunger to rise, so that the support rod 019 leaves the through hole 020 and the pit 021 to complete the unlocking. At the same time, if the impact force continues , then the chassis 09 moves to the left in the figure. At this time, the three-stage buffer spring 024 on the left is stretched and the three-stage buffer spring 024 on the right is compressed to complete the three-stage buffer, which protects the entire chassis especially The connection between the traveling wheels and the chassis 09 avoids damages and re-maintenance. After the impact, the chassis is reset, and the strut 019 is reinserted into the through hole 020 and the pit 021 to complete the temporary locking.

Claims (3)

1. Intelligent induction charging device of high-voltage transmission line inspection robot, characterized in that: the device comprises a high-voltage wire (1), a converter (2), a rectifying unit (3), a storage battery (4), a control system (5) and a computer (6); the high-voltage lead (1) passes through the induction end of the converter (2), the output end of the converter (2) is connected with the input end of the rectification unit (3), the output end of the rectification unit (3) is connected with the charging end of the storage battery (4), the converter (2), the rectification unit (3) and the storage battery (4) are both in bidirectional connection with the control system (5), and the data of the control system (5) are in bidirectional connection with the computer (6) through wireless communication and wired communication technologies;

the high-voltage lead (1), the converter (2), the rectifying unit (3), the storage battery (4), the control system (5) and the computer (6) are all arranged on the chassis (09), and the travelling wheel (010) is arranged at the lower end of the chassis (09);

the chassis is also provided with a collision buffer device, and the collision buffer device comprises a buffer plate (011), a buffer box (012) and a lifting inserted link;

the buffer plate (011) is of an L-shaped structure formed by a cross rod and a vertical plate, the buffer plate (011) and the chassis (09) are moved close to and separated from each other, the vertical plate of the buffer plate (011) is arranged on the side surface of the chassis (09) and forms a buffer distance with the side surface of the chassis (09), the cross rod of the buffer plate (011) extends into a telescopic box (025) below the bottom surface of the chassis (09), a first-stage telescopic spring (026) is arranged in the telescopic box (025), the first-stage telescopic spring (026) is sleeved on the cross rod of the buffer plate (011), one end of the first-stage telescopic spring is fixed with the cross rod, and the other end of the first-stage telescopic spring is fixed with the inner wall of the telescopic box (025) so that the spring is compressed or stretched when the cross rod moves inwards;

the buffer box (012) is arranged at the middle position of the bottom of the chassis (09), the bottom of the buffer box (012) is connected with a T-shaped connecting pipe, the T-shaped connecting pipe is of a T-shaped structure formed by a vertical pipe (014) and a transverse pipe (015), the bottom of the buffer box (012) is connected with the vertical pipe (014) of the T-shaped connecting pipe, the shaft of the travelling wheel (010) is inserted into two ends of the transverse pipe (015) at the bottom of the T-shaped connecting pipe, and the shaft of the travelling wheel (010) can perform axial drawing and inserting actions relative to the transverse pipe (015);

a gear (016) and two racks (017) are arranged in the buffer box (012), the two racks (017) are arranged on two sides of the gear (016) and meshed with the gear (016), the two racks (017) can move parallel to the ground of the chassis (09), the gear (016) is driven to rotate during movement, and the movement directions of the two racks (017) are opposite; the two racks (017) are respectively connected with a connecting rod (018), the front end of a cross rod of the buffer plate (011) is connected to the middle part of the connecting rod (018) through a connecting piece (027), when the buffer plate is used, the connecting rod (018) is linked with the cross rod of the buffer plate (011), a secondary buffer spring (028) is sleeved on the connecting rod (018), one end of the connecting rod (018) is connected to the end point of the connecting rod (018), the other end of the connecting rod is connected with the connecting piece (027), and the center of the gear (016) is a sleeve hole with internal threads;

the lifting inserted link is of a Y-shaped structure with a downward opening, the Y-shaped structure is composed of a main link (013) and two branched support links (019), an external thread pull rod is arranged at the upper end of the main link (013), and the external thread pull rod and the main link (013) can rotate relatively with each other and the axial distance is unchanged; the external thread pull rod extends into a trepanning of the gear (016) to be matched with the trepanning in a threaded manner, and the lifting of the lifting insert rod is controlled through rotation of the gear (016);

a through hole (020) is formed in the wall of a transverse tube (015) of the T-shaped connecting tube, the through hole corresponds to the pit (021) on the shaft of the travelling wheel (010), and in normal operation, a supporting rod (019) penetrates through the through hole (020) and then is inserted into the pit (021) to fix the shaft of the travelling wheel (010) and the transverse tube (015) relatively; when the buffer plate (011) is impacted, the cross rod of the buffer plate (011) moves inwards and pushes the gear (016) to rotate, so that the lifting inserted rod ascends, and the support rod (019) leaves the through hole (020) and the pit (021) to unlock;

a buffer spring (022) is arranged between the upper part of the buffer plate (011) and the side wall of the chassis (09);

the main rod (013) is arranged in the vertical pipe (014), and a strip-shaped through hole (023) for the branch rod (019) to extend out is arranged on the side wall of the vertical pipe (014) so as to enable the branch rod (019) to lift.

2. The intelligent induction charging device of the high-voltage transmission line inspection robot according to claim 1, wherein: the control system (5) comprises an actuating mechanism (7), a signal conversion unit (8), a display unit (9), a display drive (10), a reset unit (11), a drive protection unit (12), a current detection unit (13), a time detection unit (14), a voltage detection unit B (15), a temperature detection unit (16), a voltage detection unit A (17), a harmonic detection unit (18), a signal processing unit (19), a DSP (20), a communication unit (21) and a filtering unit (22), wherein the output end of the actuating mechanism (7) is connected with the converter (2), the control signal input end of the actuating mechanism (7) is connected with the signal output end of the signal conversion unit (8), the signal input end of the signal conversion unit (8) is connected with the signal output end of the DSP (20), the signal input end of the display unit (9) is connected with the signal output end of the DSP (20) through the display drive (10), the signal output end of the reset unit (11) is connected with the signal input end of the DSP (20), the signal output end of the drive protection unit (12) is connected with the control signal input end of the rectifying unit (3), the signal output end of the drive protection unit (12) is connected with the signal output end of the PWM (13) of the drive protection unit (20), the measuring end of the time detecting unit (14) and the measuring end of the voltage detecting unit B (15) are connected with the rectifying unit (3), the signal output end of the current detecting unit (13), the time detecting unit (14) and the signal output end of the voltage detecting unit B (15) are connected with the signal input end of the DSP (20) through the signal processing unit (19), the filtering unit (22) is connected with the two ends of the direct current bus between the rectifying unit (3) and the storage battery (4), the measuring end of the temperature detecting unit (16), the voltage detecting unit A (17) and the measuring end of the harmonic detecting unit (18) are connected with the storage battery (4), the signal output end of the temperature detecting unit (16), the voltage detecting unit A (17) and the harmonic detecting unit (18) are connected with the signal input end of the DSP (20) through the signal processing unit (19), and the communication signal input end of the computer (6) is connected with the communication signal output end of the DSP (20) through the communication unit (21).

3. The intelligent induction charging device of the high-voltage transmission line inspection robot according to claim 1, wherein: the part of the shaft of the travelling wheel (010) extending into the transverse tube (015) is sleeved with a three-stage buffer spring (024), one end of the three-stage buffer spring (024) is connected with the shaft of the travelling wheel (010), and the other end is connected with the inner wall of the transverse tube (015).