CN107966985A - A kind of power transmission line crusing robot freedom positioning system and its method - Google Patents
A kind of power transmission line crusing robot freedom positioning system and its method Download PDFInfo
- Publication number
- CN107966985A CN107966985A CN201711038522.0A CN201711038522A CN107966985A CN 107966985 A CN107966985 A CN 107966985A CN 201711038522 A CN201711038522 A CN 201711038522A CN 107966985 A CN107966985 A CN 107966985A
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- CN
- China
- Prior art keywords
- crusing robot
- power transmission
- transmission line
- barrier
- steel tower
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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
- G05D1/0231—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
- G05D1/0276—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 freedom positioning system, it is characterised in that：Including Global localization module and local locating module；The Global localization module, the power transmission line for wanting inspection to crusing robot position, and obtain the preliminary route of crusing robot；The local positioning module, is detected, more variation route for the concrete condition in advancing to crusing robot.The present invention is detected and identified power transmission line and barrier by the combination of Global localization and local positioning, power transmission line and barrier are accurately positioned, realize autonomous positioning.
Description
Technical field
The present invention relates to especially a kind of power transmission line crusing robot freedom positioning system and its 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 defects of holding the operation conditions of circuit, also finding circuit and equipment in time and the change of local environmental conditions, are 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.
To solve the above-mentioned problems, using robot to circuit carry out inspection, robot can multitask perform at the same time, in real time
Feedback line situation, can thoroughly free worker 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 become Robot circuit operation obstacle,
Obstacle climbing ability becomes the important requirement of crusing robot.
Existing power transmission line crusing robot needs indirect labor to be controlled mostly, can't completely realize and independently patrol
Inspection, because existing crusing robot does not possess autonomous positioning, is only able to detect obstacle and power transmission line, and it is accurately fixed to carry out
Position.
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 crusing robot is autonomous
Alignment system, global path is obtained by Global localization, according to local positioning, more accurate location information is obtained, with reference to complete
Office's positioning and local positioning, obtain accurate location information, so as to independently be positioned, it is not necessary to the control on ground.
The technical solution adopted by the present invention is as follows：
A kind of power transmission line crusing robot freedom positioning system of the present invention, including Global localization module and local locating module；Institute
Global localization module is stated, the power transmission line for wanting inspection to crusing robot positions, and obtains the preliminary of crusing robot
Route；The local positioning module, is detected, more variation route for the concrete condition in advancing to crusing robot.
Further, the Global localization module includes the iron tower location system being arranged on steel tower, and is arranged on inspection
Range unit and image collecting device in robot；The iron tower location system, for gathering the location information of steel tower；It is described
Range unit, for measuring the distance between steel tower；Described image harvester, for gathering the figure of power transmission line between steel tower
Picture.
Further, the Global localization module further includes obliquity sensor, for measuring power transmission line and horizontal angle.
Further, the Global localization module further includes crusing robot alignment system, the crusing robot positioning system
System, for gathering the positional information of crusing robot.
Further, the local positioning module includes machine vision, Hall proximity transducer and photoelectric sensor；The machine
Device vision, for gathering power transmission line and obstructions chart picture；The Hall proximity transducer, for detecting crusing robot and transmission of electricity
The distance between line or barrier；The photoelectric sensor, for detecting power transmission line.
A kind of power transmission line crusing robot autonomic positioning method of the present invention, comprises the following steps：
A：The positional information of steel tower is obtained by the alignment system set on steel tower, by between distance measuring sensor detection steel tower
Distance, by the transmission of electricity line image between image acquisition device steel tower, by the alignment system of crusing robot itself, obtains
To the positional information of crusing robot；
B：According to the transmission of electricity line image and inspection machine between the distance between the positional information of obtained steel tower, steel tower, steel tower
The positional information of people, and the inclination angle of power transmission line, cook up the global initial path of crusing robot；
C：Crusing robot starts inspection according to global initial path；
D：In inspection, the machine vision, Hall proximity transducer and the photoelectric sensor that are set on crusing robot are transmitted electricity at the same time
Line and barrier are detected, and plan local walking path according to detection information；
E：Crusing robot carries out inspection according to local walking path；When an obstacle is detected, barrier is positioned；
F：By the positioning to barrier, crusing robot obstacle detouring is controlled.
Further, the positioning carried out in the step E to barrier includes position, barrier and the inspection machine of barrier
The distance between people and the volume of barrier.
Further, the method for obstacle detouring is positioned in the step F to be included：By the volume of the barrier of detection, obstacle is obtained
The height and length of thing, support arm A is swung forward or backward, is stablized and is kept the distance between power transmission line to be more than barrier
Height；Traveling wheel is driven to move forward, whether detection barrier is in the lower end of support arm A, when support arm A clears the jumps
Afterwards, support arm A is resetted, support arm B is swung forward or backward, the operation of the above is repeated, until whole crusing robot is crossed
Barrier.
In conclusion by adopting the above-described technical solution, the beneficial effects of the invention are as follows：Compared with prior art, originally
Invention passes through the combination of Global localization and local positioning, detects the information of more power transmission lines and barrier, and according to detection
Information accurately positions power transmission line and barrier, while location information realizes obstacle detouring location control, realizes autonomous positioning.
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 structure diagram 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, traveling 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 power transmission line crusing robot freedom positioning system structure diagram 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,
Replaced by other equivalent or with similar purpose alternative features.I.e., unless specifically stated, each feature is a series of
An example in equivalent or similar characteristics.
Such as Fig. 1, such as Fig. 1,2, a kind of power transmission line crusing robot, it includes body 1, and the body 1 passes through preceding walking
Mechanism 5, middle walking mechanism 6 and rear walking mechanism 7 support and be arranged on power transmission line；Wherein each walking mechanism includes branch
Brace 4 and traveling wheel 2,4 upper end of support arm are flexibly connected with body 1, and lower end is provided with traveling wheel 2, and the traveling wheel 2 is set
Put and drive body 1 to be moved along power transmission line on power transmission line；4 lower end of support arm can be along before power transmission line extending direction or backward
Swing, traveling wheel 2 is lifted and is departed from power transmission line；4 upper end of support arm is rotatably connected on body 1 by swinging axle, is swung
Axis is connected with oscillating motor, and the oscillating motor drives support arm 4 to swing forward or backward；Traveling wheel 2 is set by drive shaft
Put and be connected in 4 lower end of support arm, drive shaft with driving motor, the driving motor drives traveling wheel 2 to rotate；The preceding vehicle with walking machine
Structure 5, middle 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, is made
Power transmission line runs through body 1 from front to back；The pre-walking mechanism 5, middle walking mechanism 6 and rear walking mechanism 7 are arranged on body 1
Interior, 1 top of support body, drives body 1 to be moved on power transmission line；Wherein support arm upper end is movably connected in machine by swinging axle
The top of body 1；The top of body 1, top and/or the both sides can open；Control cabinet, the control cabinet are provided with the body 1
Positioned at 1 bottom of body, controller is provided with the control cabinet.
Such as Fig. 3, a kind of power transmission line crusing robot freedom positioning system of the present invention, including Global localization module and part
Locating module；The Global localization module, the power transmission line for wanting inspection to crusing robot position, and obtain survey monitor
The preliminary route of device people；The local positioning module, is detected for the concrete condition in advancing to crusing robot, renewal
Route.
The Global localization module includes the iron tower location system being arranged on steel tower, and is arranged on crusing robot
Range unit and image collecting device；The iron tower location system, for gathering the location information of steel tower；The ranging dress
Put, for measuring the distance between steel tower；Described image harvester, for gathering the image of power transmission line between steel tower.
The Global localization module further includes obliquity sensor, for measuring power transmission line and horizontal angle.
The Global localization module further includes crusing robot alignment system, and the crusing robot alignment system, is used for
Gather the positional information of crusing robot.
The local positioning module includes machine vision, Hall proximity transducer and photoelectric sensor；The machine vision,
For gathering power transmission line and obstructions chart picture；The Hall proximity transducer, for detecting crusing robot and power transmission line or barrier
Hinder the distance between thing；The photoelectric sensor, for detecting power transmission line.
A kind of power transmission line crusing robot autonomic positioning method of the present invention, comprises the following steps：
A：The positional information of steel tower is obtained by the alignment system set on steel tower, by between distance measuring sensor detection steel tower
Distance, by the transmission of electricity line image between image acquisition device steel tower, by the alignment system of crusing robot itself, obtains
To the positional information of crusing robot；
B：According to the transmission of electricity line image and inspection machine between the distance between the positional information of obtained steel tower, steel tower, steel tower
The positional information of people, and the inclination angle of power transmission line, cook up the global initial path of crusing robot；
C：Crusing robot starts inspection according to global initial path；
D：In inspection, the machine vision, Hall proximity transducer and the photoelectric sensor that are set on crusing robot are transmitted electricity at the same time
Line and barrier are detected, and plan local walking path according to detection information；
E：Crusing robot carries out inspection according to local walking path；When an obstacle is detected, barrier is positioned；
F：By the positioning to barrier, crusing robot obstacle detouring is controlled.
The positioning carried out in the step E to barrier is included between position, barrier and the crusing robot of barrier
Distance and barrier volume.
The method of obstacle detouring is positioned in the step F to be included：By the volume of the barrier of detection, the height of barrier is obtained
And length, support arm A is swung forward or backward, the height stablized and keep the distance between power transmission line to be more than barrier；
Traveling wheel is driven to move forward, whether detection barrier after support arm A clears the jumps, will support in the lower end of support arm A
Arm A resets, and support arm B is swung forward or backward, the operation of the above is repeated, until whole crusing robot clears the jumps.
The invention is not limited in foregoing embodiment.The present invention, which expands to, any in the present specification to be disclosed
New feature or any new combination, and disclose any new method or process the step of or any new combination.
Claims (8)
- A kind of 1. power transmission line crusing robot freedom positioning system, it is characterised in that：Including Global localization module and local positioning Module；The Global localization module, the power transmission line for wanting inspection to crusing robot position, and obtain crusing robot Preliminary route；The local positioning module, is detected for the concrete condition in advancing to crusing robot, updates road Line.
- 2. power transmission line crusing robot freedom positioning system according to claim 1, it is characterised in that：The Global localization Module includes the iron tower location system being arranged on steel tower, and the range unit and Image Acquisition being arranged on crusing robot Device；The iron tower location system, for gathering the location information of steel tower；The range unit, for measuring between steel tower Distance；Described image harvester, for gathering the image of power transmission line between steel tower.
- 3. power transmission line crusing robot freedom positioning system according to claim 1, it is characterised in that：The Global localization Module further includes obliquity sensor, for measuring power transmission line and horizontal angle.
- 4. power transmission line crusing robot freedom positioning system according to claim 1, it is characterised in that：The Global localization Module further includes crusing robot alignment system, the crusing robot alignment system, for gathering the position of crusing robot Information.
- 5. power transmission line crusing robot freedom positioning system according to claim 1, it is characterised in that：The local positioning Module includes machine vision, Hall proximity transducer and photoelectric sensor；The machine vision, for gathering power transmission line and obstacle Object image；The Hall proximity transducer, for detecting crusing robot and the distance between power transmission line or barrier；The light Electric transducer, for detecting power transmission line.
- A kind of 6. power transmission line crusing robot autonomic positioning method, it is characterised in that：Comprise the following steps：A：The positional information of steel tower is obtained by the alignment system set on steel tower, by between distance measuring sensor detection steel tower Distance, by the transmission of electricity line image between image acquisition device steel tower, by the alignment system of crusing robot itself, obtains To the positional information of crusing robot；B：According to the transmission of electricity line image and inspection machine between the distance between the positional information of obtained steel tower, steel tower, steel tower The positional information of people, and the inclination angle of power transmission line, cook up the global initial path of crusing robot；C：Crusing robot starts inspection according to global initial path；D：In inspection, the machine vision, Hall proximity transducer and the photoelectric sensor that are set on crusing robot are at the same time to defeated Electric wire and barrier are detected, and plan local walking path according to detection information；E：Crusing robot carries out inspection according to local walking path；When an obstacle is detected, barrier is positioned；F：By the positioning to barrier, crusing robot obstacle detouring is controlled.
- 7. power transmission line crusing robot autonomic positioning method according to claim 6, it is characterised in that：In the step E The positioning carried out to barrier includes the body of the distance between position, barrier and crusing robot of barrier and barrier Product.
- 8. power transmission line crusing robot autonomic positioning method according to claim 6, it is characterised in that：In the step F The method of positioning obstacle detouring includes：By the volume of the barrier of detection, obtain the height and length of barrier, by support arm A to Preceding or swing backward, the height stablized and keep the distance between power transmission line to be more than barrier；Traveling wheel is driven to move forward, Barrier is detected whether in the lower end of support arm A, after support arm A clears the jumps, support arm A is resetted, support arm B is forward Or swing backward, the operation of the above is repeated, until whole crusing robot clears the jumps.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711038522.0A CN107966985A (en) | 2017-10-31 | 2017-10-31 | A kind of power transmission line crusing robot freedom positioning system and its method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711038522.0A CN107966985A (en) | 2017-10-31 | 2017-10-31 | A kind of power transmission line crusing robot freedom positioning system and its method |
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| Publication Number | Publication Date |
|---|---|
| CN107966985A true CN107966985A (en) | 2018-04-27 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711038522.0A Withdrawn CN107966985A (en) | 2017-10-31 | 2017-10-31 | A kind of power transmission line crusing robot freedom positioning system and its method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110375578A (en) * | 2019-07-09 | 2019-10-25 | 上海钧工机器人有限公司 | A kind of novel gunnery training system based on motor pattern |
| CN110687904A (en) * | 2019-12-09 | 2020-01-14 | 广东科凯达智能机器人有限公司 | Visual navigation routing inspection and obstacle avoidance method for inspection robot |
-
2017
- 2017-10-31 CN CN201711038522.0A patent/CN107966985A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110375578A (en) * | 2019-07-09 | 2019-10-25 | 上海钧工机器人有限公司 | A kind of novel gunnery training system based on motor pattern |
| CN110375578B (en) * | 2019-07-09 | 2023-06-16 | 上海钧工机器人有限公司 | Novel shooting training system based on movement mode |
| CN110687904A (en) * | 2019-12-09 | 2020-01-14 | 广东科凯达智能机器人有限公司 | Visual navigation routing inspection and obstacle avoidance method for inspection robot |
| WO2021114508A1 (en) * | 2019-12-09 | 2021-06-17 | 广东科凯达智能机器人有限公司 | Visual navigation inspection and obstacle avoidance method for line inspection robot |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180427 |
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| WW01 | Invention patent application withdrawn after publication |