CN107678435A - A kind of power transmission line crusing robot traveling control system and method based on autonomous positioning - Google Patents
A kind of power transmission line crusing robot traveling control system and method based on autonomous positioning Download PDFInfo
- Publication number
- CN107678435A CN107678435A CN201711038490.4A CN201711038490A CN107678435A CN 107678435 A CN107678435 A CN 107678435A CN 201711038490 A CN201711038490 A CN 201711038490A CN 107678435 A CN107678435 A CN 107678435A
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- China
- Prior art keywords
- transmission line
- power transmission
- crusing robot
- road wheel
- sensor
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- 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.)
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The invention discloses a kind of power transmission line crusing robot traveling control system based on autonomous positioning, it is characterised in that：Including controller, and the motor drive module being connected with controller；The motor drive module, for motor;Also include locating module, the locating module, for being positioned to power transmission line, and by positioning, carry out travelling control.The present invention can realize crusing robot walking stable on power transmission line, and obstacle detouring, in walking, can adjust center of gravity easily and fast, prevent road wheel from deviateing power transmission line；And be precisely controlled by alignment system, so as to realize autonomous and inspection.
Description
Technical field
The present invention relates to power transmission line inspection field, especially plants the power transmission line crusing robot walking control based on autonomous positioning
System and method processed.
Background technology
Our countries are geographical vast, and electrification has spread all over each corner now, and the transmission line of electricity of high pressure is also increasingly
It is intensive, or even many remote mountain areas have also taken leave of the kerosene lamp epoch；But high-tension line is all in the wild, as strong wind heavy snow etc. one
The natural calamity such as a little bad weathers, mud-rock flow earthquake includes artificial pilferage destruction facility all can be to the normal operation of high-tension line
Threaten, consequence caused by it is immeasurable；Therefore the detection and maintenance of high-tension line must be carried out.
In order to ensure the normal operation of power circuit, it is necessary to carry out periodic maintenance to transmission line of electricity.Inspection not only understands the palm
The operation conditions of circuit is held, the change of the defects of also finding circuit and equipment in time and local environmental conditions, is tieed up for line maintenance
Offer data is provided.Presently mainly by the way of manually visually inspecting, but China's transmission line of electricity mileage is long, wide coverage,
Also across mountain area, great river, meadow and virgin forest etc., this just makes inspection labor intensity big and is difficult to ensure that to patrol some circuits
Examine arrival rate and influence inspection quality, while altitude hot-line operation, the security presence hidden danger of patrol officer.
In order to solve the above problems, using robot to circuit carry out inspection, robot can multitask perform simultaneously, in real time
Feedback line situation, worker can thoroughly be freed from arduous dangerous high-voltage line inspection work；But existing power transmission line
On be provided with conductor spacer, for multiply power transmission line to be disperseed, and these conductor spacers then turn into Robot circuit operation obstacle.
In crusing robot walking, due to accurately alignment system, can not independent navigation, so as to which autonomous can not be realized.
The content of the invention
The goal of the invention of the present invention is：For above-mentioned problem, there is provided a kind of power transmission line based on autonomous positioning
Crusing robot traveling control system, can across obstacle carry out inspection, without out of service, routing inspection efficiency, obstacle detouring is simple；
By alignment system in walking, obtain the locus of power transmission line and crusing robot, the suitable route of planning department, carrying out certainly
Leading boat, and be accurately controlled based on location information, realize autonomous and inspection.
The technical solution adopted by the present invention is as follows：
A kind of power transmission line crusing robot traveling control system based on autonomous positioning of the present invention, including controller, and with control
The motor drive module of device connection processed；The motor drive module, for motor;Also include locating module, the positioning
Module, for being positioned to power transmission line, and by positioning, carry out travelling control.
Further, the controller also includes road wheel sliding block, and it is connected in pre-walking mechanism, middle vehicle with walking machine
Road wheel sliding equipment between structure and rear walking mechanism, for adjusting the distance between road wheel.
Further, in addition to center of gravity detection module, the center of gravity detection module include the center of gravity being arranged in walking mechanism
Sensor, the center of gravity sensor, for detecting the center of gravity of crusing robot.
Further, the locating module includes sensor unit and data processing unit；The sensor unit includes super
Sound ranging sensor, photoelectric sensor, imaging sensor and obliquity sensor.
Further, the photoelectric sensor has several, is arranged on body；Ultrasonic ranging is additionally provided with the body
Sensor and imaging sensor.
Further, the data processing unit is set in the controller, according to location algorithm, calculates power transmission line and survey monitor
The locus of device people.
A kind of power transmission line crusing robot ambulation control method based on autonomous positioning of the present invention, comprises the following steps：
S1：Start the control system of crusing robot；
S2：Controller sends driving instruction to motor drive module, and motor drive module controlled motor rotates, and drives drive shaft to turn
It is dynamic, driving road wheel movement；
S3：According to the crusing robot center of gravity information of detection, according to the distance between centre of gravity adjustment road wheel；
S4：By the ultrasonic distance-measuring sensor, photoelectric sensor and imaging sensor of locating module, power transmission line and inspection are obtained
Position relationship between robot；The angle of the intersecting lens of road wheel and power transmission line is detected simultaneously, if road wheel and power transmission line
When intersecting angle is less than default angle, driving road wheel drives forwards, if intersecting angle is more than angle, adjusts the side of road wheel
To；
S5：When running into barrier, obstacle detouring control is performed.
Further, the execute instruction that the controller is sent, it is that location information is obtained based on data processing unit, according to control
System rule generation.
Further, the driving of the road wheel includes single wheel drive, two-wheel drive or three-wheel drive.
In summary, by adopting the above-described technical solution, the beneficial effects of the invention are as follows：Compared with prior art, originally
The crusing robot obstacle detouring fast and easy of invention, while in walking, center of gravity can be adjusted, prevent road wheel from deviateing power transmission line,
Inspection obstacle detouring is realized so as to stable；And by alignment system, path planning and independent navigation are carried out, while carry out accurate
Control, so as to realize autonomous and inspection.
Brief description of the drawings
Examples of the present invention will be described by way of reference to the accompanying drawings, wherein：
Fig. 1 is a kind of structural representation of power transmission line crusing robot.
Fig. 2 is a kind of working state schematic representation of power transmission line crusing robot.
Marked in figure：Body 1, road wheel 2, obstacle 3, support arm 4, pre-walking mechanism 5, middle walking mechanism 6, walk behind machine
Structure 7.
Fig. 3 is a kind of structural representation of the power transmission line crusing robot traveling control system based on autonomous positioning of the present invention
Figure.
Embodiment
All features disclosed in this specification, or disclosed all methods or during the step of, except mutually exclusive
Feature and/or step beyond, can combine in any way.
This specification（Including any accessory claim, summary）Disclosed in any feature, unless specifically stated otherwise,
Replaced by other equivalent or with similar purpose alternative features.I.e., unless specifically stated otherwise, each feature is a series of
An example in equivalent or similar characteristics.
Such as Fig. 1,2, a kind of power transmission line crusing robot, it includes body 1, the body 1 by pre-walking mechanism 5, in
The support of walking mechanism 6 and rear walking mechanism 7 and be arranged on power transmission line；Wherein each walking mechanism includes the He of support arm 4
Road wheel 2, the upper end of support arm 4 are flexibly connected with body 1, and lower end is provided with road wheel 2, and the road wheel 2 is arranged on defeated
Body 1 is driven to be moved along power transmission line on electric wire；The lower end of support arm 4 can along before power transmission line bearing of trend or swing backward,
Road wheel 2 is set to lift and depart from power transmission line；The upper end of support arm 4 is rotatably connected on body 1 by swinging axle, swinging axle and pendulum
Dynamic motor is connected, and the oscillating motor drives support arm 4 to swing forward or backward；Road wheel 2 is arranged on branch by drive shaft
The lower end of brace 4, drive shaft are connected with motor, and the motor drives road wheel 2 to rotate；The pre-walking mechanism 5, in
Walking mechanism 6 and rear walking mechanism 7 are located along the same line；The front and rear opening of the body 1 is wrapped on power transmission line, makes power transmission line
Run through body 1 from front to back；The pre-walking mechanism 5, middle walking mechanism 6 and rear walking mechanism 7 are arranged in body 1, support
The top of body 1, drives body 1 to be moved on power transmission line；Wherein support arm upper end is movably connected in body 1 by swinging axle and pushed up
Portion；The top of body 1, top and/or the both sides can open；Control cabinet is provided with the body 1, the control cabinet is located at machine
The bottom of body 1, controller is provided with the control cabinet.
Such as Fig. 3, a kind of power transmission line crusing robot traveling control system based on autonomous positioning of the present invention, including control
Device, and the motor drive module being connected with controller；The motor drive module, for motor;Also include positioning mould
Block, the locating module, for being positioned to power transmission line, and by positioning, carry out travelling control；The controller also includes
Road wheel sliding block, it is connected in the walking slipping between pre-walking mechanism, middle walking mechanism and rear walking mechanism
Mechanism, for adjusting the distance between road wheel.
In the present embodiment, in addition to center of gravity detection module, the center of gravity detection module include being arranged in walking mechanism
Center of gravity sensor, the center of gravity sensor, for detecting the center of gravity of crusing robot.
In the present embodiment, the locating module includes sensor unit and data processing unit；The sensor unit
Including ultrasonic distance-measuring sensor, photoelectric sensor, imaging sensor and obliquity sensor；The photoelectric sensor has some
It is individual, it is arranged on body；Ultrasonic distance-measuring sensor and imaging sensor are additionally provided with the body；The data processing unit
Set in the controller, according to location algorithm, the locus of calculating power transmission line and crusing robot.
A kind of power transmission line crusing robot ambulation control method based on autonomous positioning of the present invention, comprises the following steps：
S1：Start the control system of crusing robot；
S2：Controller sends driving instruction to motor drive module, and motor drive module controlled motor rotates, and drives drive shaft to turn
It is dynamic, driving road wheel movement；
S3：According to the crusing robot center of gravity information of detection, according to the distance between centre of gravity adjustment road wheel；
S4：By the ultrasonic distance-measuring sensor, photoelectric sensor and imaging sensor of locating module, power transmission line and inspection are obtained
Position relationship between robot；The angle of the intersecting lens of road wheel and power transmission line is detected simultaneously, if road wheel and power transmission line
When intersecting angle is less than default angle, driving road wheel drives forwards, if intersecting angle is more than angle, adjusts the side of road wheel
To；
S5：When running into barrier, obstacle detouring control is performed.
In the present embodiment, the execute instruction that the controller is sent, it is that location information is obtained based on data processing unit,
According to control rules.
In the present embodiment, the driving of the road wheel includes single wheel drive, two-wheel drive or three-wheel drive.
The invention is not limited in foregoing embodiment.The present invention, which expands to, any in this manual to be disclosed
New feature or any new combination, and disclose any new method or process the step of or any new combination.
Claims (9)
- A kind of 1. power transmission line crusing robot traveling control system based on autonomous positioning, it is characterised in that：Including controller, with And the motor drive module being connected with controller；The motor drive module, for motor;Also include locating module, institute Locating module is stated, for being positioned to power transmission line, and by positioning, carries out travelling control.
- 2. the power transmission line crusing robot traveling control system according to claim 1 based on autonomous positioning, its feature exist In：The controller also includes road wheel sliding block, and it is connected in pre-walking mechanism, middle walking mechanism and walk behind machine Road wheel sliding equipment between structure, for adjusting the distance between road wheel.
- 3. the power transmission line crusing robot traveling control system according to claim 1 based on autonomous positioning, its feature exist In：Also include center of gravity detection module, the center of gravity detection module includes the center of gravity sensor being arranged in walking mechanism, described heavy Heart sensor, for detecting the center of gravity of crusing robot.
- 4. the power transmission line crusing robot traveling control system according to claim 1 based on autonomous positioning, its feature exist In：The locating module includes sensor unit and data processing unit；The sensor unit senses including ultrasonic ranging Device, photoelectric sensor, imaging sensor and obliquity sensor.
- 5. the power transmission line crusing robot traveling control system according to claim 4 based on autonomous positioning, its feature exist In：The photoelectric sensor has several, is arranged on body；Ultrasonic distance-measuring sensor and image are additionally provided with the body Sensor.
- 6. the power transmission line crusing robot traveling control system according to claim 4 based on autonomous positioning, its feature exist In：The data processing unit is set in the controller, according to location algorithm, the space bit of calculating power transmission line and crusing robot Put.
- A kind of 7. power transmission line crusing robot ambulation control method based on autonomous positioning, it is characterised in that：Comprise the following steps：S1：Start the control system of crusing robot；S2：Controller sends driving instruction to motor drive module, and motor drive module controlled motor rotates, and drives drive shaft to turn It is dynamic, driving road wheel movement；S3：According to the crusing robot center of gravity information of detection, according to the distance between centre of gravity adjustment road wheel；S4：By the ultrasonic distance-measuring sensor, photoelectric sensor and imaging sensor of locating module, power transmission line and inspection are obtained Position relationship between robot；The angle of the intersecting lens of road wheel and power transmission line is detected simultaneously, if road wheel and power transmission line When intersecting angle is less than default angle, driving road wheel drives forwards, if intersecting angle is more than angle, adjusts the side of road wheel To；S5：When running into barrier, obstacle detouring control is performed.
- 8. the power transmission line crusing robot ambulation control method according to claim 7 based on autonomous positioning, its feature exist In：The execute instruction that the controller is sent, it is that location information is obtained based on data processing unit, according to control rules.
- 9. the power transmission line crusing robot ambulation control method according to claim 7 based on autonomous positioning, its feature exist In：The driving of the road wheel includes single wheel drive, two-wheel drive or three-wheel drive.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711038490.4A CN107678435A (en) | 2017-10-31 | 2017-10-31 | A kind of power transmission line crusing robot traveling control system and method based on autonomous positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711038490.4A CN107678435A (en) | 2017-10-31 | 2017-10-31 | A kind of power transmission line crusing robot traveling control system and method based on autonomous positioning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107678435A true CN107678435A (en) | 2018-02-09 |
Family
ID=61142640
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711038490.4A Withdrawn CN107678435A (en) | 2017-10-31 | 2017-10-31 | A kind of power transmission line crusing robot traveling control system and method based on autonomous positioning |
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| Country | Link |
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| CN (1) | CN107678435A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108663958A (en) * | 2018-05-15 | 2018-10-16 | 西安交通大学 | A kind of full-automatic coupling control system of power transmission line crusing robot |
| CN112467609A (en) * | 2018-12-13 | 2021-03-09 | 杭州申昊科技股份有限公司 | A patrol and examine robot for transformer substation high altitude power transmission line |
-
2017
- 2017-10-31 CN CN201711038490.4A patent/CN107678435A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108663958A (en) * | 2018-05-15 | 2018-10-16 | 西安交通大学 | A kind of full-automatic coupling control system of power transmission line crusing robot |
| CN112467609A (en) * | 2018-12-13 | 2021-03-09 | 杭州申昊科技股份有限公司 | A patrol and examine robot for transformer substation high altitude power transmission line |
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| PB01 | Publication | ||
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180209 |
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| WW01 | Invention patent application withdrawn after publication |