CN107831767A - A kind of power transmission line crusing robot climbing control system and method - Google Patents
A kind of power transmission line crusing robot climbing control system and method Download PDFInfo
- Publication number
- CN107831767A CN107831767A CN201711038518.4A CN201711038518A CN107831767A CN 107831767 A CN107831767 A CN 107831767A CN 201711038518 A CN201711038518 A CN 201711038518A CN 107831767 A CN107831767 A CN 107831767A
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- China
- Prior art keywords
- transmission line
- power transmission
- crusing robot
- clamping device
- angle
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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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- 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 climbing control system, it is characterised in that：Including controller, the controller difference connection detection module and motor drive module；The motor drive module connects actuating motor；The detection module, for detecting power transmission line and horizontal angle；The motor drive module, for controlling the operation of executing agency.The present invention in inspection do not have to it is out of service, quickly surmount obstacles, realize the autonomous inspection of crusing robot；There is very strong climbing capacity, the inspection that can be stablized on power transmission line simultaneously.
Description
Technical field
The present invention relates to power transmission line inspection field, especially a kind of power transmission line crusing robot climbing control system and side
Method.
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,
Obstacle climbing ability turns into the important requirement of crusing robot.
Due to there is height fall between the steel tower of high voltage transmission line mostly, many power transmission lines be not it is horizontally disposed,
There is certain inclination angle, and the climbing level of existing crusing robot is limited, when inclination angle is excessive, crusing robot can not
Climb, or even can drop, what can not be stablized realizes inspection.
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 inspection barrier-surpassing robot
Control system and method, do not have in inspection out of service, surmount obstacles, realize the autonomous inspection of crusing robot, and will
Detection data are sent to earth station；The inspection that can be stablized simultaneously on the power transmission line at certain inclination angle.
The technical solution adopted by the present invention is as follows：
A kind of power transmission line crusing robot climbing control system of the present invention, including controller, the controller distinguish connecting detection
Module and motor drive module；The motor drive module connects actuating motor；The detection module, for detect power transmission line with
Horizontal angle；The motor drive module, for controlling the operation of executing agency.
Above structure, crusing robot are climbed by detecting power transmission line and horizontal angle, control crusing robot
It slope, can realize that crusing robot is run on the power transmission line with inclination angle, the enough stable movement of and can, prevent from dropping, overcome
The climbing problem of existing crusing robot.
Further, the detection module includes obliquity sensor.Obliquity sensor can detect power transmission line with it is horizontal
Angle, be advantageous to climbing control below.
Further, the actuating motor includes traction drive motor, sliding equipment motor and clamping device driving
Motor；The traction drive motor, for driving road wheel to move；The sliding equipment motor, slided for driving
The distance between the movement of mechanism, regulation road wheel；The clamping device motor, for locking or unlocking clamping device pair
The effect of power transmission line.
Above structure, the movement of road wheel can be driven by traction drive motor, realize the operation of crusing robot；
Sliding equipment motor keeps survey monitor primarily to the distance between the movement of driving sliding equipment, regulation road wheel
The stabilization or climbing demand of the center of gravity of device people；Clamping device motor is used to fix body, prevents body from dropping, and ensures body
Safety.
Further, the controller is also connected with wireless communication module, is communicated with earth station.
Above structure, controller and ground station communications, detection information can be sent to earth station, while can pass through ground
Face station is controlled, auxiliary body work；And crusing robot can be monitored.
Further, the clamping device is stretching structure.
A kind of power transmission line crusing robot climbing control method of the present invention, comprises the following steps：
S1：Obliquity sensor detects power transmission line and horizontal angle a；
S2：When angle a is less than default angle, controller sends walking execute instruction, motor drive module to motor drive module
Control traction drive motor to rotate, drive three road wheels to rotate；
S3：If angle a is more than default angle, front walking wheel or middle road wheel are fixed by clamping device, unclamped sliding corresponding to it
Motivation structure, while drive other road wheels to move；
S4：When the distance between two road wheels are less than pre-determined distance, rear walking wheel is fixed by clamping device, it is corresponding to unclamp its
Sliding equipment, drive other road wheels move；
S5：When angle a is less than default angle, while three road wheels rotations of driving.
Above method, by the mating reaction of road wheel and corresponding sliding equipment, promoted using the movement of sliding equipment
The movement of road wheel, ensure stability of the crusing robot in climbing, while fixed part road wheel, other road wheels move
Dynamic, so as to provide powerful power for body climbing, being advantageous to crusing robot can climb the power transmission line of more high inclination-angle, raising
The climbing capacity of crusing robot.
Further, in the S3, if angle a is more than default angle, front walking wheel and middle walking are fixed by clamping device
Wheel, unclamps its corresponding sliding equipment, while drive front walking wheel to move.
Further, the execute instruction that the controller is sent to motor drive module, given birth to by controller according to detection information
Into or earth station generated based on detection information, and upload to controller.
Further, in the S3, if angle a is more than default angle, clamping device is extended, before being clamped in crusing robot
On the power transmission line of side, by shrinking clamping device, crusing robot is pulled to move forward；S4：Current road wheel and clamping device
Between angle be less than preset value, road wheel is fixed on power transmission line, unclamp clamping device, clamping device is extended, clamp
On the power transmission line in front of crusing robot, road wheel is unclamped, by shrinking clamping device, pulls crusing robot to reach
It is dynamic, the process before repeating.
Above method, by the elongation and contraction of clamping device, first clamping device is fixed on power transmission line, so as to drive
The movement of body, so as to provide the climbing capacity of body.
Further, in the S3, if angle a is more than default angle, by gripper mechanism grips at crusing robot rear
On power transmission line, by extending clamping device, crusing robot is promoted to move forward.
In summary, by adopting the above-described technical solution, the beneficial effects of the invention are as follows：Compared with prior art, originally
The power transmission line crusing robot climbing control system of invention, can realize the fast obstacle of power transmission line inspection, while have very strong
Crusing robot climbing capacity, and can stablize realize 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 power transmission line crusing robot climbing control system of the present invention.
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.
Embodiment one:
Such as Fig. 3, a kind of power transmission line crusing robot climbing control system of the present invention, including controller, the controller connect respectively
Connect detection module and motor drive module；The motor drive module connects actuating motor；The detection module, it is defeated for detecting
Electric wire and horizontal angle；The motor drive module, for controlling the operation of executing agency；The detection module includes inclining
Angle transducer；The actuating motor includes traction drive motor, sliding equipment motor and clamping device motor；Institute
Traction drive motor is stated, for driving road wheel to move；The sliding equipment motor, for driving the shifting of sliding equipment
It is dynamic, the distance between regulation road wheel；The clamping device motor, for locking or unlocking clamping device to power transmission line
Effect.
Embodiment two：
Compared with embodiment one, in the present embodiment, the controller is also connected with wireless communication module, is communicated with earth station；
The clamping device is stretching structure.
Embodiment three：
A kind of power transmission line crusing robot climbing control method of the present invention, comprises the following steps：
S1：Obliquity sensor detects power transmission line and horizontal angle a；
S2：When angle a is less than default angle, controller sends walking execute instruction, motor drive module to motor drive module
Control traction drive motor to rotate, drive three road wheels to rotate；
S3：If angle a is more than default angle, front walking wheel or middle road wheel are fixed by clamping device, unclamped sliding corresponding to it
Motivation structure, while drive other road wheels to move；
S4：When the distance between two road wheels are less than pre-determined distance, rear walking wheel is fixed by clamping device, it is corresponding to unclamp its
Sliding equipment, drive other road wheels move；
S5：When angle a is less than default angle, while three road wheels rotations of driving.
Example IV：
Compared with embodiment three, in the present embodiment, in the S3, if angle a is more than default angle, before being fixed by clamping device
Road wheel and middle road wheel, its corresponding sliding equipment is unclamped, while drive front walking wheel to move.
Embodiment five：
Compared with other embodiment, in the present embodiment, execute instruction that the controller is sent to motor drive module, by controlling
Device is generated according to detection information or earth station is generated based on detection information, and uploads to controller.
Embodiment six：
Compared with embodiment three, in the present embodiment, in the S3, if angle a is more than default angle, clamping device is extended, pressed from both sides
Hold on the power transmission line in front of crusing robot, by shrinking clamping device, pull crusing robot to move forward；S4：Currently
Angle between road wheel and clamping device is less than preset value, and road wheel is fixed on power transmission line, unclamps clamping device, will press from both sides
Mechanism elongation is held, is clamped on the power transmission line in front of crusing robot, unclamps road wheel, by shrinking clamping device, pulling is patrolled
Examine robot to move forward, the process before repeating.
Embodiment seven：
Compared with embodiment six, in the present embodiment, in the S3, if angle a is more than default angle, gripper mechanism grips are being patrolled
On the power transmission line for examining robot rear, by extending clamping device, crusing robot is promoted to move forward.
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 (10)
- The control system 1. a kind of power transmission line crusing robot is climbed, it is characterised in that：Including controller, the controller connects respectively Connect detection module and motor drive module；The motor drive module connects actuating motor；The detection module, it is defeated for detecting Electric wire and horizontal angle；The motor drive module, for controlling the operation of executing agency.
- The control system 2. power transmission line crusing robot according to claim 1 is climbed, it is characterised in that：The detection module Including obliquity sensor.
- The control system 3. power transmission line crusing robot according to claim 1 is climbed, it is characterised in that：The actuating motor Including traction drive motor, sliding equipment motor and clamping device motor；The traction drive motor, is used for Drive road wheel movement；The sliding equipment motor, for driving the movement of sliding equipment, adjust between road wheel away from From；The clamping device motor, for locking or unlocking effect of the clamping device to power transmission line.
- The control system 4. power transmission line crusing robot according to claim 1 is climbed, it is characterised in that：The controller is also Wireless communication module is connected, is communicated with earth station.
- The control system 5. power transmission line crusing robot according to claim 1 is climbed, it is characterised in that：The clamping device For stretching structure.
- The control method 6. a kind of power transmission line crusing robot is climbed, it is characterised in that：Comprise the following steps：S1：Obliquity sensor detects power transmission line and horizontal angle a；S2：When angle a is less than default angle, controller sends walking execute instruction, motor drive module to motor drive module Control traction drive motor to rotate, drive three road wheels to rotate；S3：If angle a is more than default angle, front walking wheel or middle road wheel are fixed by clamping device, unclamped sliding corresponding to it Motivation structure, while drive other road wheels to move；S4：When the distance between two road wheels are less than pre-determined distance, rear walking wheel is fixed by clamping device, it is corresponding to unclamp its Sliding equipment, drive other road wheels move；S5：When angle a is less than default angle, while three road wheels rotations of driving.
- The control method 7. power transmission line crusing robot according to claim 6 is climbed, it is characterised in that：In the S3, if Angle a is more than default angle, fixes front walking wheel and middle road wheel by clamping device, unclamps its corresponding sliding equipment, together When drive front walking wheel movement.
- The control method 8. power transmission line crusing robot according to claim 6 is climbed, it is characterised in that：The controller to The execute instruction that motor drive module is sent, is generated by controller according to detection information or earth station is generated based on detection information, And upload to controller.
- The control method 9. power transmission line crusing robot according to claim 6 is climbed, it is characterised in that：In the S3, if Angle a is more than default angle, and clamping device is extended, is clamped on the power transmission line in front of crusing robot, is clamped by shrinking Mechanism, crusing robot is pulled to move forward；S4：Currently the angle between road wheel and clamping device is less than preset value, by row Walk wheel to be fixed on power transmission line, unclamp clamping device, clamping device is extended, the power transmission line being clamped in front of crusing robot On, road wheel is unclamped, by shrinking clamping device, pulls crusing robot to move forward, the process before repeating.
- The control method 10. power transmission line crusing robot according to claim 6 is climbed, it is characterised in that：In the S3, if Angle a is more than default angle, by gripper mechanism grips on the power transmission line at crusing robot rear, by extending clamping device, Crusing robot is promoted to move forward.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711038518.4A CN107831767A (en) | 2017-10-31 | 2017-10-31 | A kind of power transmission line crusing robot climbing control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711038518.4A CN107831767A (en) | 2017-10-31 | 2017-10-31 | A kind of power transmission line crusing robot climbing control system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107831767A true CN107831767A (en) | 2018-03-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711038518.4A Withdrawn CN107831767A (en) | 2017-10-31 | 2017-10-31 | A kind of power transmission line crusing robot climbing control system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111026112A (en) * | 2019-12-02 | 2020-04-17 | 华中科技大学 | Control system for automatic walking of wheeled robot along slope center line |
-
2017
- 2017-10-31 CN CN201711038518.4A patent/CN107831767A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111026112A (en) * | 2019-12-02 | 2020-04-17 | 华中科技大学 | Control system for automatic walking of wheeled robot along slope center line |
| CN111026112B (en) * | 2019-12-02 | 2021-03-26 | 华中科技大学 | Control system for automatic walking of wheeled robot along slope center line |
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Application publication date: 20180323 |