CN107482529A - Inspection control method, device and the crusing robot of a kind of overhead transmission line - Google Patents
Inspection control method, device and the crusing robot of a kind of overhead transmission line Download PDFInfo
- Publication number
- CN107482529A CN107482529A CN201710804379.5A CN201710804379A CN107482529A CN 107482529 A CN107482529 A CN 107482529A CN 201710804379 A CN201710804379 A CN 201710804379A CN 107482529 A CN107482529 A CN 107482529A
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- China
- Prior art keywords
- crusing robot
- inspection
- transmission line
- line
- overhead transmission
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Classifications
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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
Abstract
This application provides a kind of method for inspecting of overhead transmission line, device and crusing robot, the inspection machine includes ground-engaging element and inspection part.Ground-engaging element is used to drive inspection part to be moved along the line passage without barrier of overhead transmission line；Inspection part is arranged on the bottom of ground-engaging element, is moved for the line passage without barrier along overhead transmission line under the drive of ground-engaging element, and the state of overhead transmission line is detected in motion process, and obtains testing result.The problem of manual type routing inspection efficiency is relatively low can solve the problem that by the above method, device and crusing robot.
Description
Technical field
The application is related to technical field of electric power, a kind of inspection control method more specifically to overhead transmission line,
Device and crusing robot.
Background technology
Overhead transmission line is almost the only resource of remote high-power conveying electric energy, therefore, in order to ensure transmission of electricity
Stability, it is necessary to assure the safe normal operation of transmission line of electricity, be this must carry out inspection regular to overhead transmission line, so as to
It was found that overhead transmission line is in the process of running because caused by natural aging or weather reason the defects of or failure, and according to defect
Or failure is repaired or replaced.Current main routine inspection mode is that overhead transmission line is visually patrolled by patrol officer
Look into, and in general its position is higher for overhead transmission line, and the circuit having is in high mountain, valley or water network zone, artificial inspection
It is extremely inconvenient to look into, or even in the place maintainer having is difficult close, causes conveniently and efficiently not entering overhead transmission line
Row inspection, even if the speed that easily close place carries out inspection by manual type is also slower, so as to cause existing patrol
The routing inspection efficiency of inspection means is relatively low, can not meet the needs of efficiently and rapidly carrying out inspection to overhead transmission line.
The content of the invention
In view of this, the application provides a kind of inspection control method, device and the crusing robot of overhead transmission line, uses
In to overhead transmission line carry out inspection, with solve manual type to overhead transmission line carry out inspection when routing inspection efficiency it is relatively low
Problem.
To achieve these goals, it is proposed that scheme it is as follows：
A kind of crusing robot, applied on overhead transmission line, the crusing robot includes ground-engaging element and inspection
Part, wherein：
The ground-engaging element is used to drive the inspection part along the line passage without barrier of the overhead transmission line to enter
Row motion；
The inspection part is arranged on the bottom of the ground-engaging element, in motion process to the overhead transmission line
State is detected, and obtains testing result；
Optionally, the ground-engaging element include two be provided separately and into vertical state actuating arm and be connected to two institutes
The crossbeam between actuating arm lower end is stated, wherein：
The driving wall includes support frame, driving wheel, driven pulley and driving part；
The lower end of support frame as described above is connected with the crossbeam, and into vertical state；
The tread of the driving wheel is sunk structure, and is arranged on the upper end of support frame as described above；
The tread of the driven pulley is also sunk structure；
The driving part is used to drive the driving wheel to rotate, and for driving the driven pulley remote or close to described
Driving wheel.
Optionally, the driving part includes the first driver element and the second driver element, wherein：
First driver element is used to drive the driving wheel to rotate；
Second driver element is used to drive the driven pulley remote or close to the driving wheel.
Optionally, the inspection part includes cabinet, and lithium battery group and inspection execution system are provided with the machinery, its
In：
The inspection execution system includes industrial computer, industrial switch, visible light camera, head, thermal infrared imager, electricity
Source change-over panel, sensor signal process plate and motor driver.
Optionally, the industrial computer is provided with satellite positioning unit, serial communication unit, wireless communication unit, image and adopted
Collect part or all of in unit and memory cell.
Optionally, the lower end of support frame as described above is connected with the crossbeam by rotary joint.
Optionally, locking device is provided with the crossbeam, wherein：
The locking device is used to rotary joint carrying out locking operation, keeps between the support arm and the crossbeam
It is relatively fixed.
Optionally, the line passage without barrier includes straightway and the transition line being arranged on the anchor support, its
In：
The straightway is connected between two anchor supports；
The transition line includes two corner connectors and guide rail；
Straightway of described two corner connectors respectively with anchor support both ends is connected；
The guide rail is connected between described two corner connectors, and is arranged on the end of the cross-arm of the anchor support.
Optionally, the guide rail includes upper rail, lower railway and multiple distance pieces, wherein：
The upper rail is parallel to each other with the lower railway, and is connected by the distance piece；
One distance piece is fixed on the end of the cross-arm.
A kind of inspection control method of overhead transmission line, applied to crusing robot as described above, the inspection control
Method processed includes step：
The crusing robot it is described run without barrier in line passage when, control the inspection part to the frame
Empty transmission line of electricity is detected；
In straightway of the crusing robot by the line passage without barrier, the driven pulley is controlled away from institute
State driving wheel；
When the crusing robot is before the transition line of line passage without barrier and positioned at the transition line
When, the driven pulley is controlled close to the driving wheel.
A kind of routing inspection control device of overhead transmission line, applied to crusing robot as described above, the inspection control
Device processed includes：
Inspection execution module, for the crusing robot it is described run without barrier in line passage when, control institute
Inspection part is stated to detect the overhead transmission line；
First control module, in straightway of the crusing robot by the line passage without barrier, controlling
The driven pulley is made away from the driving wheel；
Second control module, for when the crusing robot before the transition line of line passage without barrier and
During positioned at the transition line, the driven pulley is controlled close to the driving wheel.
It can be seen from the above technical scheme that this application discloses a kind of method for inspecting of overhead transmission line, device
And crusing robot, the crusing robot are applied on overhead transmission line, specifically include ground-engaging element and inspection part.Walking
Part is used to drive inspection part to be moved along the line passage without barrier of overhead transmission line；Inspection part is arranged on walking
The bottom of part, moved for the line passage without barrier along overhead transmission line under the drive of ground-engaging element, and
The state of overhead transmission line is detected in motion process, and obtains testing result.Under the drive of ground-engaging element, inspection part
The inspection to circuit can be realized, inspection is just also carried out using manual type without patrol officer, so as to solve manual type
The problem of routing inspection efficiency is relatively low during inspection is carried out to overhead transmission line.
Brief description of the drawings
, below will be to embodiment or existing in order to illustrate more clearly of the embodiment of the present application or technical scheme of the prior art
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of application, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is a kind of structural representation for crusing robot embodiment that the application provides；
Fig. 2 is the structural representation for the inspection part that the embodiment of the present application provides；
Fig. 3 is the structural representation for the suspension clamp that the embodiment of the present application provides；
Fig. 4 is the structural representation for the transition line that the embodiment of the present application provides；
Fig. 5 is a kind of step flow chart of the inspection control method embodiment for overhead transmission line that the application provides；
Fig. 6 is a kind of structured flowchart of the routing inspection control device embodiment for overhead transmission line that the application provides.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present application, the technical scheme in the embodiment of the present application is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only some embodiments of the present application, rather than whole embodiments.It is based on
Embodiment in the application, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of the application protection.
Embodiment one
Fig. 1 is a kind of structural representation for crusing robot embodiment that the application provides.
As shown in figure 1, the crusing robot that the present embodiment provides includes ground-engaging element and inspection part 20, ground-engaging element is used
In driving inspection part to be moved along the line passage without barrier of overhead transmission line, inspection part is then used in motion process
In overhead transmission line is detected, and obtain testing result.Inspection part is arranged on the lower end of ground-engaging element.
The ground-engaging element includes the actuating arm 20 and a crossbeam 30 that are provided separately, and two actuating arms are into vertical state and guarantor
Default distance is held, crossbeam is connected to the lower end of two actuating arms, so as to which whole walking mechanism is into a kind of "u"-shaped.
Each actuating arm includes support frame 21, driving wheel 22, driven pulley 23 and driving part (not shown).Wherein, support
Frame is that rod-like members are connected into vertical state, its lower end with one end of crossbeam, in view of each actuating arm has a support frame,
Specifically support frame forms above-mentioned "u"-shaped with crossbeam.
Driving wheel is arranged on the upper end of support frame, and driven pulley is arranged between the upper and lower side of support frame, and can be along branch
Support moves up and down, and driving part is used to drive corresponding driving wheel to rotate, additionally it is possible to drives the driven pulley to be done along support frame
Move up and down.
Wherein, the driving part includes the first driver element and the second driver element, and the first driver element includes driving electricity
Mechanical, electrical machine driver, drive shaft, transmission device and fixed plate, for driving the driving wheel to rotate by the rotation of motor；
Second driver element is used to drive driven pulley to move upwards with close driving wheel when needed, or drives the driven pulley to transport downwards
It is dynamic, away from the driving wheel.
The tread of driving wheel is sunk structure, driving wheel is stuck in ground line passage by depression and avoids derailing, in addition, from
The tread of driving wheel is similarly sunk structure, can make inspection in the presence of two treads that are recessed when driven pulley is close to driving wheel
Robot moves along the rail.
The crusing robot is provided with multiple sensors (not shown), including photoelectric sensor, ultrasonic sensor, inclination angle
Sensor and Temperature Humidity Sensor, it is respectively intended to the barrier of detection operation passage and angle of inclination and the robot of robot
Internal humiture.
The inspection part includes a control cabinet 11, is provided with lithium battery group and robot control system in control cabinet, such as
Shown in Fig. 2.Robot control system includes industrial computer 14, industrial switch 15, visible light camera and head, infrared thermal imagery
Instrument, power conversion board 16, motion control board 17, sensor signal process plate 18, motor driver 19.There is industrial computer GPS to determine
Bit function, serial communication control function, Wi-Fi communications and 4G communication functions, image acquisition and processing and store function.Visible ray is taken the photograph
Camera and head and thermal infrared imager are connected by industrial switch with industrial computer.Power conversion board can carry out voltage transformation and
Power supply.Operation control panel, sensor signal process plate, motor driver are connected by CAN.
Patrol task can be stored in industrial computer, user can send patrol task, work by wireless network to industrial computer
Control machine parses when being connected to patrol task to patrol task, is divided into multiple subtasks.Reach task defined
When and where when, subtask is sent to motion control board by industrial computer, and motion control board is according to the content of subtask and works as
The state of front sensor makes corresponding athletic performance, while industrial computer handles and stores visible light camera and thermal infrared imager
Image information.
It can be seen from the above technical proposal that a kind of crusing robot is present embodiments provided, the crusing robot application
In on overhead transmission line, specifically including ground-engaging element and inspection part.Ground-engaging element is used to drive inspection part defeated along making somebody a mere figurehead
The line passage without barrier of electric line is moved；Inspection part is arranged on the bottom of ground-engaging element, in ground-engaging element
Moved along the line passage without barrier of overhead transmission line under drive, and the state of overhead transmission line is entered in motion process
Row detection, and obtain testing result.Under the drive of ground-engaging element, inspection part can realize the inspection to circuit, also with regard to nothing
Need patrol officer using manual type carry out inspection, so as to solve manual type to overhead transmission line carry out inspection when inspection
The problem of less efficient.
In addition, the support frame in the driving wall is connected by rotary joint 24 with crossbeam, the rotary joint can be small
In the range of along support frame axial rotation.Locking device 31 is additionally provided with crossbeam, the locking device can be as needed to rotation
Turn joint to be locked.When crusing robot passes through anchor support, locking device unclamps the rotary joint, support frame is existed
Rotated in the presence of driving wheel in a small range, so that driving wheel can connect on the transition line more bent along turning
Connect device and slide creeping；When the straightway between crusing robot is in anchor support, locking device locks rotary joint, from
And ensure to be relatively fixed between support frame and crossbeam, crusing robot can be made to be moved along a straight line.
Further, the line passage without barrier that crusing robot is walked in the present embodiment includes straightway and is arranged on strain insulator
Transition line on tower.Straightway includes the hanging straightway being connected between shaft tower, in addition to is laid in straight on tangent tower
Line segment.Wherein tangent tower is connected by suspension clamp 101 with straightway 100, and the suspension clamp is " C " shape, as shown in Figure 3.
Transition line on anchor support includes two turning devices 102 and the guide rail 103 being connected between the device of turning, such as Fig. 4
It is shown.Turning device is laid in the both sides of anchor support, and the straightway 100 respectively at both sides is connected.The guide rail then horizontal stroke with anchor support
Load 200 is connected, so that the transition line is fixed on the end of the cross-arm of anchor support.Guide rail includes upper rail 1031 leads with
Rail 1032, upper/lower guide are fixed into complete guide rail by multiple distance pieces 1033.The connector for wherein occuping middle be used for
The end of cross-arm is connected.
Embodiment two
Fig. 5 is a kind of step flow chart of the inspection control method embodiment for overhead transmission line that the application provides.
As shown in figure 5, the inspection control method that the present embodiment provides is applied to the inspection machine that above-described embodiment is provided
People, the specifically industrial computer applied to above-mentioned crusing robot, for making industrial computer control crusing robot to overhead power transmission
Circuit is patrolled.The inspection control method comprises the following steps：
S101：Control crusing robot detects to overhead transmission line.
Specially when crusing robot is on overhead transmission line, the inspection part of crusing robot is controlled to aerial
Transmission line of electricity is detected, and the image of overhead transmission line is such as obtained by visible light camera, is obtained by thermal infrared imager
The thermal image of overhead transmission line, patrol officer can be determined by thermal image to the improper heat generating spot of circuit.
S102：Driven pulley is controlled when passing through straightway away from driving wheel.
I.e. when crusing robot is in the straightway of line passage without barrier, control driven pulley away from the driving wheel, from
And driven pulley is avoided the barrier on straightway, such as " C " shape suspension clamp.
S103：Driven pulley is controlled during in transition line close to driving wheel.
When before turning device of the crusing robot close to transition line or on guide rail, control driven pulley is close to driving
Wheel, makes two wheels block turning device and guide rail, forces crusing robot safety transition line.
By above-mentioned control method, crusing robot can be enable safely to carry out inspection to overhead transmission line.
Embodiment three
Fig. 6 is a kind of structured flowchart of the routing inspection control device embodiment for overhead transmission line that the application provides.
As shown in fig. 6, the routing inspection control device that the present embodiment provides is applied to the inspection machine that above-described embodiment is provided
People, the specifically industrial computer applied to above-mentioned crusing robot, for making industrial computer control crusing robot to overhead power transmission
Circuit is patrolled.The routing inspection control device includes inspection execution module 40, the first control module 50 and the second control module 60.
Inspection execution module is used to control crusing robot to detect overhead transmission line.
Specially when crusing robot is on overhead transmission line, the inspection part of crusing robot is controlled to aerial
Transmission line of electricity is detected, and the image of overhead transmission line is such as obtained by visible light camera, is obtained by thermal infrared imager
The thermal image of overhead transmission line, patrol officer can be determined by thermal image to the improper heat generating spot of circuit.
First control module is used to control driven pulley when crusing robot passes through straightway away from driving wheel.
I.e. when crusing robot is in the straightway of line passage without barrier, control driven pulley away from the driving wheel, from
And driven pulley is avoided the barrier on straightway, such as " C " shape suspension clamp.
Second control module is used to control driven pulley when crusing robot is in transition line close to driving wheel.
When before turning device of the crusing robot close to transition line or on guide rail, control driven pulley is close to driving
Wheel, makes two wheels block turning device and guide rail, forces crusing robot safety transition line.
By above-mentioned control device, crusing robot can be enable safely to carry out inspection to overhead transmission line.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.To the upper of the disclosed embodiments
State bright, professional and technical personnel in the field is realized or using the application.A variety of modifications to these embodiments are to ability
It will be apparent for the professional and technical personnel in domain, generic principles defined herein can not depart from the application's
In the case of spirit or scope, realize in other embodiments.Therefore, the application be not intended to be limited to it is shown in this article these
Embodiment, and it is to fit to the most wide scope consistent with principles disclosed herein and features of novelty.
Claims (11)
1. a kind of crusing robot, applied on overhead transmission line, it is characterised in that the crusing robot includes running part
Part and inspection part, wherein：
The ground-engaging element is used to drive the inspection part to be transported along the line passage without barrier of the overhead transmission line
It is dynamic；
The inspection part is arranged on the bottom of the ground-engaging element, in motion process to the state of the overhead transmission line
Detected, and obtain testing result.
2. crusing robot as claimed in claim 1, it is characterised in that the ground-engaging element be provided separately including two and into
The actuating arm of vertical state and the crossbeam being connected between two actuating arm lower ends, wherein：
The driving wall includes support frame, driving wheel, driven pulley and driving part；
The lower end of support frame as described above is connected with the crossbeam, and into vertical state；
The tread of the driving wheel is sunk structure, and is arranged on the upper end of support frame as described above；
The tread of the driven pulley is also sunk structure；
The driving part is used to drive the driving wheel to rotate, and for driving the driven pulley remote or close to the driving
Wheel.
3. crusing robot as claimed in claim 2, it is characterised in that the driving part includes the first driver element and the
Two driver elements, wherein：
First driver element is used to drive the driving wheel to rotate；
Second driver element is used to drive the driven pulley remote or close to the driving wheel.
4. crusing robot as claimed in claim 2, it is characterised in that the inspection part includes cabinet, in the machinery
Lithium battery group and inspection execution system are provided with, wherein：
The inspection execution system includes industrial computer, industrial switch, visible light camera, head, thermal infrared imager, power supply and turned
Change plate, sensor signal process plate and motor driver.
5. crusing robot as claimed in claim 4, it is characterised in that the industrial computer is provided with satellite positioning unit, string
It is part or all of in port communications unit, wireless communication unit, image acquisition units and memory cell.
6. crusing robot as claimed in claim 2, it is characterised in that the lower end of support frame as described above passes through rotation with the crossbeam
Turn joint to be connected.
7. crusing robot as claimed in claim 6, it is characterised in that locking device is provided with the crossbeam, wherein：
The locking device is used to rotary joint carrying out locking operation, keeps relative between the support arm and the crossbeam
It is fixed.
8. crusing robot as claimed in claim 1, it is characterised in that the line passage without barrier includes straightway and set
The transition line on the anchor support is put, wherein：
The straightway is connected between two anchor supports；
The transition line includes two corner connectors and guide rail；
Straightway of described two corner connectors respectively with anchor support both ends is connected；
The guide rail is connected between described two corner connectors, and is arranged on the end of the cross-arm of the anchor support.
9. crusing robot as claimed in claim 8, it is characterised in that the guide rail includes upper rail, lower railway and multiple
Distance piece, wherein：
The upper rail is parallel to each other with the lower railway, and is connected by the distance piece；
One distance piece is fixed on the end of the cross-arm.
A kind of 10. inspection control method of overhead transmission line, applied to the survey monitor as described in any one of claim 2~7
Device people, it is characterised in that the inspection control method includes step：
The crusing robot it is described run without barrier in line passage when, control the inspection part to described aerial defeated
Electric line is detected；
In straightway of the crusing robot by the line passage without barrier, the driven pulley is controlled away from the drive
Driving wheel；
When before the close transition line of line passage without barrier of the crusing robot and positioned at the transition line, control
The driven pulley is made close to the driving wheel.
A kind of 11. routing inspection control device of overhead transmission line, applied to the survey monitor as described in any one of claim 2~7
Device people, it is characterised in that the routing inspection control device includes：
Inspection execution module, for the crusing robot it is described run without barrier in line passage when, patrol described in control
Inspection part detects to the overhead transmission line；
First control module, in straightway of the crusing robot by the line passage without barrier, controlling institute
Driven pulley is stated away from the driving wheel；
Second control module, for before the transition line of line passage without barrier and being located at when the crusing robot
During the transition line, the driven pulley is controlled close to the driving wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710804379.5A CN107482529A (en) | 2017-09-08 | 2017-09-08 | Inspection control method, device and the crusing robot of a kind of overhead transmission line |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710804379.5A CN107482529A (en) | 2017-09-08 | 2017-09-08 | Inspection control method, device and the crusing robot of a kind of overhead transmission line |
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| CN108183427A (en) * | 2018-01-04 | 2018-06-19 | 国家电网公司 | Electric line foreign matter investigates robot device |
| CN108196542A (en) * | 2017-12-31 | 2018-06-22 | 江苏密斯欧智能科技有限公司 | A kind of transmission line of electricity leakage current crusing robot control device |
| CN108695767A (en) * | 2018-06-29 | 2018-10-23 | 国网上海市电力公司 | A kind of high voltage distribution network cable automatic inspection device |
| CN109406547A (en) * | 2018-10-29 | 2019-03-01 | 国网山东省电力公司潍坊供电公司 | Overhead transmission line straight line continuous pipe x-ray detection robot |
| CN110137846A (en) * | 2019-05-14 | 2019-08-16 | 国网江苏省电力有限公司电力科学研究院 | Aerial carbon-fibre wire detection robot and multi-angle method of detection |
| CN112003185A (en) * | 2020-08-21 | 2020-11-27 | 南京智能仿真技术研究院有限公司 | Inspection robot for overhead transmission line |
| CN112217132A (en) * | 2020-09-10 | 2021-01-12 | 国网浙江绍兴市上虞区供电有限公司 | Anti-drop inspection device suitable for different power transmission lines |
| CN113885523A (en) * | 2021-10-29 | 2022-01-04 | 北京红山信息科技研究院有限公司 | Inspection robot and inspection system |
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| CN112003185A (en) * | 2020-08-21 | 2020-11-27 | 南京智能仿真技术研究院有限公司 | Inspection robot for overhead transmission line |
| CN112003185B (en) * | 2020-08-21 | 2021-06-18 | 南京智能仿真技术研究院有限公司 | Inspection robot for overhead transmission line |
| CN112217132A (en) * | 2020-09-10 | 2021-01-12 | 国网浙江绍兴市上虞区供电有限公司 | Anti-drop inspection device suitable for different power transmission lines |
| CN113885523A (en) * | 2021-10-29 | 2022-01-04 | 北京红山信息科技研究院有限公司 | Inspection robot and inspection system |
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Address after: 250000 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Applicant after: National Network Intelligent Technology Co., Ltd. Address before: Xinluo Avenue high tech Zone of Ji'nan City, Shandong province 250101 silver bearing No. 2008 building Applicant before: Shandong Luneng Intelligent Technology Co., Ltd. |
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