CN108376938A - A kind of HV Transmission Line Routing Inspection robot system and control method that unmanned plane is compound - Google Patents
A kind of HV Transmission Line Routing Inspection robot system and control method that unmanned plane is compound Download PDFInfo
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- CN108376938A CN108376938A CN201810272202.XA CN201810272202A CN108376938A CN 108376938 A CN108376938 A CN 108376938A CN 201810272202 A CN201810272202 A CN 201810272202A CN 108376938 A CN108376938 A CN 108376938A
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- unmanned plane
- traveling wheel
- robot system
- inspection
- transmission line
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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
The present invention relates to a kind of HV Transmission Line Routing Inspection robot systems and control method that unmanned plane is compound, including unmanned plane mechanism, traveling wheel mechanism, clamp system, equipotential device, frame structure, cabinet and a series of detection sensing devices.Frame structure is located at both sides below unmanned plane mechanism, traveling wheel mechanism is installed in rack, clamp system is installed on immediately below unmanned plane mechanism and the clamped condition of clamp part and traveling wheel are same high, cabinet is for placing power supply and control section, it is installed on frame structure following distance, is adjusted for whole center of gravity.The present invention realizes the inspection to the ultra-high-tension power transmission line that need to be inspected periodically under manual control, suitable for ultra-high-tension power transmission lines such as architomy, double divisions, quadripartion or six divisions, it is not required to emit security risk in unfavorable environment with manual inspection, also it is not required to transformation circuit or increases the complexity of crusing robot, greatly reduce cost and danger level, simple in structure, good portability improves routing inspection efficiency.
Description
Technical field
The present invention relates to a kind of and the compound HV Transmission Line Routing Inspection robot system of unmanned plane more particularly to a kind of nothings
The method of man-machine compound HV Transmission Line Routing Inspection robot inspection, to replace artificial or vehicle to architomy, double divisions, four
The inspection of the ultra-high-tension power transmission lines such as division or six divisions.
Background technology
Aerial high-voltage power transmission line is the important channel of power Transmission in power industry, is directly related to entire national economy
Growth and the normal Working Life of people, transmission line safety and stablize operation directly influence electric system high reliability
With the offer of stability electric energy, therefore to transmission line of electricity carries out that periodically effective inspection and safeguarding has become power industry important
Business.The mode of artificial or vehicle Portable device auxiliary inspection, since most of ultra-high-tension power transmission line passes through rivers, lake or original
The complicated geographical environments such as forest and be restricted, and labor intensity is big, and precision is low, and there are blind areas and security risk.Existing biography
Though system inspection robot for high-voltage line can overcome the above deficiency, in the operation of multi gear section or span line gold utensil, there are many
Inconvenience if you need to which pendency is transformed, or puts up a bridge, or walking arm is made to complicate, and cost is great.Unmanned plane industry development is swift and violent now, more
Family's unmanned plane has realized stabilized flight and precise positioning and attached relatively large load, though patrol UAV has come out, its of short duration continuation of the journey
It is adversely affected caused by circuit with ultra-high-tension power transmission line short distance high-speed flight with rotor duration very important.Gu existing propose
A method of the HV Transmission Line Routing Inspection robot system compound with unmanned plane carrys out inspection circuit, in this way to high pressure
Transmission line of electricity carries out regular visit, the advantages of not only having merged crusing robot more mature now, but also using unmanned plane
Characteristic realizes the leap to barrier, or even can directly cross-line inspection.Meanwhile such method has widened unmanned plane and inspection machine
The application field of people so that job that requires special skills robot develops to more optimized, more perfect direction.
Invention content
The present invention is mainly the technical problem solved present in the prior art, provides a kind of and compound high pressure of unmanned plane
Transmission line polling robot.
Further object of the present invention is the technical problem solved present in the prior art, and nothing can directly be utilized by providing one kind
Man-machine rotor drives this robot to get over the obstacle-detouring method of shaft tower, gold utensil and cross-line.
Further object of the present invention is the technical problem solved present in the prior art, and artificial make can be replaced by providing one kind
Industry, compact-sized, effect is good, the efficient HV Transmission Line Routing Inspection robot compound with unmanned plane.
The above-mentioned technical problem of the present invention is mainly to be addressed by following technical proposals：
A kind of and compound HV Transmission Line Routing Inspection robot system of unmanned plane, it is characterised in that：Including unmanned plane machine
Structure, traveling wheel mechanism, clamp system, equipotential device, frame structure, cabinet and a series of detection sensing devices；The rack
Mechanism is located at below unmanned plane mechanism, has guiding to fall trajectory when for arranging entire crusing robot frame layout and the line of fall
Effect, the unmanned plane mechanism is used to fly and upper offline and obstacle detouring, the traveling wheel mechanism are installed in rack, are used for
The rolling walking of robot, the clamp system are installed below unmanned plane mechanism after the line of fall and the line of fall, clamp system crimping
Point clamped condition and traveling wheel with high, for the clamping to circuit after the traveling wheel mechanism line of fall, during ensureing inspection with this
Stabilization and safety；The equipotential device is for keeping robot and circuit equipotential；The cabinet is installed on frame structure
Lower section, for placing power supply and control section, detection sensing device includes camera, infrared radiation detection apparatus or laser emitter, with
And electromagnetic sensor etc..
In the above-mentioned a kind of and compound HV Transmission Line Routing Inspection robot system of unmanned plane, the traveling wheel mechanism includes
Walking round frame and two traveling wheels, and driving traveling wheel rotation movable motor, the parallel contour installation of the walking round frame
On frame structure, described two traveling wheels are mounted on by the connection of live axle in walking round frame, and the movable motor is embedding
Enter in traveling wheel drives traveling wheel to roll by connecting plate.
In the above-mentioned a kind of and compound HV Transmission Line Routing Inspection robot system of unmanned plane, the frame structure is located at nothing
Man-machine mechanism lower section both sides are simultaneously arranged symmetrically, and pattern curve is designed for supporting whole table apparatus and constrained robot whereabouts rail
Mark.
In the above-mentioned a kind of and compound HV Transmission Line Routing Inspection robot system of unmanned plane, the clamping of the clamp system
The kind of drive is driven using Wire Rope Design for line, and steel wire rope is conducted using multiple pulley grooves set on arm support are clamped, from
And clamping jaw and leadscrew-nut mechanism are connected, so that the displacement of the lines of nut is passed through the transmission of steel wire rope to realize the open and close movement of clamping jaw；
The flexibility of the steel wire rope can make the offset deviation of this clamp system adaptation power transmission line non-ideality.
Above-mentioned a kind of with the compound HV Transmission Line Routing Inspection robot system of unmanned plane, for placement power supply respectively and
Two cabinets of control section point are installed on the both sides of frame structure following distance, this part is for adjusting whole inspection machine
The center of gravity of people makes center of gravity decline and enhances the stability of crusing robot operation on line.
A kind of control method for the HV Transmission Line Routing Inspection robot system that unmanned plane is compound, it is characterised in that：Including：
Step 1, inspection and early-stage preparations；Check that whole crusing robot system transports it into after determining no failure
Firstly the need of ready near the circuit of inspection；
Step 2, crusing robot system is reached the standard grade；People operates the control handle of unmanned plane mechanism, control unmanned plane mechanism
Take off, it is slowly close and be gradually higher than and need the circuit of inspection, when crusing robot two traveling wheel mid-planes and what is needed lead
When line plummet face substantially overlaps, stopping rising and control handle makes unmanned plane mechanism carry under entire crusing robot system starts
Drop, since frame structure has guiding role to its descending trajectory, therefore traveling wheel can the safe line of fall；Crusing robot system is reached the standard grade
Later operation ground base station control clamp system two clamping jaws clamp, can safety and stability reliably walk on the line；
Step 3, start inspection；Crusing robot system can be operated ground base station after reaching the standard grade makes movable motor start to transport
Turn, to start to walk on line with entire robot system, in the process using a series of detection sensing device to circuit
It carries out necessary detection and transfers data to specific base；
Step 4, crusing robot system is offline；When required circuit whole inspection finishes, crusing robot system
Process and upper line process contrary.
During entire inspection, such as damper, conductor spacer, or need to across shelves Duan Yueta can be straight or when needing cross-line inspection
The operation handle of operation unmanned plane mechanism is connect, control UAV system presses proper trajectory flight obstacle detouring.
Therefore, the invention has the advantages that：1, realize to cause to be potentially dangerous because of a variety of causes architomy,
The patrol task of the ultra-high-tension power transmission lines such as double divisions, quadripartion or six divisions.2, artificial or traditional crusing robot can be replaced to make
Inspection operation, simple in structure, portable, effect is good, efficient, and cost is relatively low.
Description of the drawings
Fig. 1 is the overall assembling structural schematic diagram of the present invention.
Fig. 2 is clamp system schematic diagram.
Wherein Fig. 2 a are clamp system clamped condition schematic diagram, and Fig. 2 b are clamp system open configuration schematic diagram.
Fig. 3 is frame structure and unmanned plane mechanism connection diagram.
Fig. 4 is traveling wheel mechanism and frame structure connection diagram.
Fig. 5 is walking mechanism partial schematic diagram.
Wherein Fig. 5 a are walking mechanism partial schematic diagram (visual angle one), and Fig. 5 b are walking mechanism partial schematic diagram (visual angle
Two), Fig. 5 c are walking mechanism partial schematic diagram (visual angle three).
Fig. 6 is guiding role schematic diagram of the frame structure at the line of fall (by taking quadripartion circuit as an example).
Fig. 7 is equipotential schematic device.
Wherein Fig. 7 a are the schematic diagram after the installation of equipotential device, and Fig. 7 b are independent equipotential schematic device.
Fig. 8 is that crusing robot of the present invention is reached the standard grade the process schematic (by taking quadripartion circuit as an example).
Wherein Fig. 8 a are that robot takes off to conducting wire oblique upper, and Fig. 8 b are that robot flies to needing above line of fall conducting wire, Fig. 8 c
To start to fall robot, Fig. 8 d are that the robot line of fall is completed and clamp system clamps.
Fig. 9 is to start inspection operation of walking after the completion of robot of the present invention reaches the standard grade.
In figure, 1- cabinets, 2- frame structures, 3- equipotential devices, 4- traveling wheel mechanisms, 5- detection sensing device (such as take the photograph
As head), 6- unmanned planes mechanism, 7- clamp systems, 8- single clip pawls, 9- clamping motors, 10- clamp arm lids, 11- double fastener pawls, 12- folders
Tight nut, 13- clamp arm support, 14- clamping steel wire ropes, and 15- clamps lead screw, and 16- opens steel wire rope, 17- traveling wheels, 18- walkings
Wheel carrier, 19- cameras, 20- movable motors, 21- terminal pads, 22- guiding axis, 23- guide rods, 24- equipotential wheels, the electricity such as 25-
Position axis, 26- ultra-high-tension power transmission lines.
Specific implementation mode
Below with reference to the embodiments and with reference to the accompanying drawing being described in further detail to embodiment of the present invention.Implement
Example：
The concrete structure of the present invention is introduced first：
In figure, cabinet 1, frame structure 2, equipotential device 3, traveling wheel mechanism 4, detection sensing device (such as camera) 5,
Unmanned plane mechanism 6, clamp system 7, single clip pawl 8, clamping motor 9, clamp arm lid 10, double fastener pawl 11, binding nut 12, clamp arm
Frame 13, clamping steel wire rope 14 clamp lead screw 15, open steel wire rope 16, traveling wheel 17, walking round frame 18, camera 19, walking electricity
Machine 20, terminal pad 21, guiding axis 22, guide rod 23, equipotential wheel 24, equipotential axis 25, ultra-high-tension power transmission line 26.It is introduced below
Mechanical device of the invention once：
The present invention relates to need to be to its regular visit for causing security threat to ultra-high-tension power transmission line due to extraneous factor
A kind of with the compound HV Transmission Line Routing Inspection robot system of unmanned plane, including cabinet 1, frame structure 2, equipotential device
3, traveling wheel mechanism 4, detection sensing device (such as camera) 5, unmanned plane mechanism 6, clamp system 7.
As shown in figures 1 and 3, the unmanned plane mechanism 6 selects existing mature UAV system, the structure compound with it
It is as follows：2 both sides of the frame structure are symmetrically arranged on 6 lower section of unmanned plane mechanism, and the traveling wheel mechanism 4 is contour respectively to be installed on
In machine frame at two sides mechanism 2, the clamp system 7 is installed among two traveling wheel mechanisms 4, is located at immediately below unmanned plane mechanism 6, institute
It states cabinet 1 and is placed in 2 down either side certain distance of frame structure respectively, the detection sensing device includes dual camera 19, red
Outer detector or laser emitter and electromagnetic sensor, the camera 19 are installed on frame structure 2 and traveling wheel mechanism
4 is contour, and the electromagnetic sensor is embedded in machine frame at two sides mechanism 2, described red for the position detection to conducting wire posture such as Fig. 6
Outer detector or laser emitter can be external on frame structure.
As shown in Fig. 2, clamp system 7 is by single clip pawl 8, clamping motor 9, clamp arm lid 10, double fastener pawl 11, binding nut
12, arm support 13 is clamped, clamping steel wire rope 14 clamps lead screw 15, opens the compositions such as steel wire rope 16.13 upper end of clamping arm support with
Unmanned plane mechanism 6 connects.The clamping motor 9, which is installed on, clamps arm support 13 upper end, for drive clamp the rotation of lead screw 15 to
Binding nut 12 is driven to do left and right translational motion.The single clip pawl 8 and double fastener pawl 11 in clamping steel wire rope 14 and open steel wire rope
Clamping or opening under 16 affecting constrain circuit with this.The clamping steel wire rope 14 and opening steel wire rope 16 are being installed on
It clamps leading for multiple pulleys in arm support 10 to go downwards to respectively as shown in Fig. 2 b and Fig. 2 c, left and right translation fortune is done in binding nut 12
Clamping steel wire rope 14 and opening steel wire rope 16 are tightened and are loosened respectively under dynamic drive, to realize 8 He of clamp system single clip pawl
The clamping of double fastener pawl 11 or opening.
As shown in Figure 4 and Figure 5, the traveling wheel mechanism 4 is installed on the middle of two frame structures 2, and wherein one end passes through
Walking round frame 18 is connected with frame structure 2, and the walking round frame 18 is parallel contour to be installed on frame structure 2, movable motor
20 drive two traveling wheels 17 to roll by terminal pad 21, and the movable motor 20 saves space, knot inside traveling wheel 17
Structure is compact.
As shown in fig. 6,2 both sides symmetrical placement of the frame structure, the design of pattern curve not only can support whole dress
It sets, and when unmanned plane mechanism drives entire machine people's system i.e. by the line of fall, constrains its fall trajectory, there is certain be oriented to make to it
With making the traveling wheel just line of fall.
As shown in fig. 7, the equipotential device 3 includes guiding axis 22, and guide rod 23, equipotential wheel 24, equipotential axis 25.
The equipotential wheel 24 is connect by equipotential axis 22 with guide rod 23, and the guide rod 23 is installed in clamp arm 13, described
Guide groove is set on guide rod 23, a upper and lower translation degree of freedom is formed by guiding axis 22 and clamp arm 13, is being transmitted electricity to realize
Make equipotential wheel 24 by certain track upper and lower translation under circuit and gravity force action, so that equipotential wheel 24 connects with circuit always
It touches, keeps Work robot and circuit equipotential.
Workflow of the invention is described below：
First, it checks whole crusing robot system, after determining no failure, transports it into the line firstly the need of inspection
It is ready near road.Then, crusing robot system is reached the standard grade, concrete operations are：Manually in ground controlling unmanned plane mechanism 6
Control handle, control unmanned plane mechanism 6 carries whole device and takes off and slowly rise gradually in the high voltage power transmission that will reach the standard grade
The oblique upper of circuit 26, such as Fig. 8 a；Continue operation handle, make unmanned plane mechanism carry whole device slowly steadily move to will on
The surface of line circuit, such as Fig. 8 b；Continue operation handle, so that unmanned plane mechanism is carried whole device slowly steady fall, such as scheme
8c, until the line of fall under the guiding of frame structure 2 of traveling wheel 17, the single clip pawl 8 of clamp system 7 and double fastener pawl 11 are slowly received at this time
Tightly wherein by circuit constraint, ensure inspection process safety.
After such and compound HV Transmission Line Routing Inspection robot system of unmanned plane is reliably reached the standard grade, you can start to line
Road inspection, such as Fig. 9.At this point, movable motor 20 is started to work, driving traveling wheel 17 rolls, this crusing robot is driven to walk.
The detection sensing device of fuselage arrangement detects circuit and the thereon breakage of gold utensil in the process, and by image or data knot
Fruit passes ground specific base back.
Gold utensil need to be crossed over when encountering, or more tower or when the case where cross-line, manually in the behaviour of terrestrial operation unmanned plane mechanism 6
Make handle, control unmanned plane mechanism 6 carries that whole device is taken off and the line of fall is to appointed place, this process and crusing robot system
Upper line process is similar, does not repeat one by one this moment.
When inspection complete need to will be such offline with the compound HV Transmission Line Routing Inspection robot system of unmanned plane when, under
Line process and upper line process contrary.
Specific embodiment described herein is only an example for the spirit of the invention.Technology belonging to the present invention is led
The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Although cabinet 1 is used more herein, frame structure 2, equipotential device 3, traveling wheel mechanism 4, detection sensing
Device (such as camera) 5, unmanned plane mechanism 6, clamp system 7, single clip pawl 8, clamping motor 9, clamp arm lid 10, double fastener pawl 11,
Binding nut 12 clamps arm support 13, and clamping steel wire rope 14 clamps lead screw 15, opens steel wire rope 16, traveling wheel 17, walking round frame
18, camera 19, movable motor 20, terminal pad 21, guiding axis 22, guide rod 23, equipotential wheel 24, equipotential axis 25, high pressure
The terms such as transmission line of electricity 26, but it does not preclude the possibility of using other terms.The use of these items is only for more convenient
Ground describes and explains the essence of the present invention, and being construed as any one of the additional limitations all is disagreed with spirit of that invention
's.
Claims (6)
1. a kind of and compound HV Transmission Line Routing Inspection robot system of unmanned plane, it is characterised in that：Including unmanned plane mechanism,
Traveling wheel mechanism, clamp system, equipotential device, frame structure, cabinet and a series of detection sensing devices；The frame structure
Below unmanned plane mechanism, there is guiding to make fall trajectory when for arranging entire crusing robot frame layout and the line of fall
With the unmanned plane mechanism is used to fly and upper offline and obstacle detouring, and the traveling wheel mechanism is installed in rack, for falling
The rolling walking of robot, the clamp system are installed below unmanned plane mechanism after line and the line of fall, clamp system clamp part
Clamped condition and traveling wheel with high, for the clamping to circuit after the traveling wheel mechanism line of fall, during ensureing inspection with this
Stablize and safe；The equipotential device is for keeping robot and circuit equipotential；The cabinet is installed under frame structure
Side, for placing power supply and control section, detection sensing device includes camera, infrared radiation detection apparatus or laser emitter, and
Electromagnetic sensor etc..
2. a kind of according to claim 1 and compound HV Transmission Line Routing Inspection robot system of unmanned plane, feature exist
In：The traveling wheel mechanism includes walking round frame and two traveling wheels, and the movable motor of driving traveling wheel rotation, the row
Walk wheel carrier it is parallel it is contour be mounted on frame structure, described two traveling wheels are mounted on traveling wheel by the connection of live axle
On frame, traveling wheel is driven to roll by connecting plate in the movable motor insertion traveling wheel.
3. a kind of according to claim 1 and compound HV Transmission Line Routing Inspection robot system of unmanned plane, feature exist
In：The frame structure is located at both sides below unmanned plane mechanism and is arranged symmetrically, and pattern curve is designed for whole of support
Device and constrained robot's fall trajectory.
4. a kind of according to claim 1 and compound HV Transmission Line Routing Inspection robot system of unmanned plane, feature exist
In：The clamping kind of drive of the clamp system is driven using Wire Rope Design for line, and steel wire rope is set on arm support using clamping
The multiple pulley grooves conduction set, to connect clamping jaw and leadscrew-nut mechanism, makes the displacement of the lines of nut pass through the transmission of steel wire rope
To realize the open and close movement of clamping jaw；The flexibility of the steel wire rope can make the displacement of this clamp system adaptation power transmission line non-ideality
Deviation.
5. a kind of according to claim 1 and compound HV Transmission Line Routing Inspection robot system of unmanned plane, feature exist
In：For disposing two cabinets point of power supply and control section to be installed on the both sides of frame structure following distance, this portion respectively
Center of gravity point for adjusting whole crusing robot makes center of gravity decline and enhances the stability of crusing robot operation on line.
6. a kind of control method for the HV Transmission Line Routing Inspection robot system that unmanned plane is compound, it is characterised in that：Including：
Step 1, inspection and early-stage preparations；Check that whole crusing robot system transports it into first after determining no failure
It needs ready near the circuit of inspection；
Step 2, crusing robot system is reached the standard grade；People operates the control handle of unmanned plane mechanism, and control unmanned plane mechanism takes off,
It is slowly close and be gradually higher than and need the circuit of inspection, the two traveling wheel mid-planes when crusing robot and the conducting wire plummet that needs
When face substantially overlaps, stops rising and controlling handle makes the unmanned plane mechanism entire crusing robot system of carrying begin to decline, by
There is guiding role to its descending trajectory in frame structure, therefore traveling wheel can the safe line of fall；After the reaching the standard grade of crusing robot system
Operate ground base station control clamp system two clamping jaws clamp, can safety and stability reliably walk on the line；
Step 3, start inspection；Crusing robot system can be operated ground base station after reaching the standard grade makes movable motor start running,
To start to walk on line with entire robot system, circuit is carried out using a series of detection sensing device in the process
Necessary detection simultaneously transfers data to specific base；
Step 4, crusing robot system is offline；When required circuit whole inspection finishes, the process of crusing robot system
With upper line process contrary.
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| CN201810272202.XA CN108376938A (en) | 2018-03-29 | 2018-03-29 | A kind of HV Transmission Line Routing Inspection robot system and control method that unmanned plane is compound |
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| CN201810272202.XA CN108376938A (en) | 2018-03-29 | 2018-03-29 | A kind of HV Transmission Line Routing Inspection robot system and control method that unmanned plane is compound |
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| CN109398702A (en) * | 2018-11-06 | 2019-03-01 | 广东电网有限责任公司 | A kind of line of fall device and its line of fall method dropproof based on unmanned plane |
| CN109896012A (en) * | 2019-04-22 | 2019-06-18 | 华北电力大学（保定） | Double-deck more rotor power transmission line inspection devices |
| CN109950829A (en) * | 2019-04-01 | 2019-06-28 | 国网河南省电力公司内乡县供电公司 | A kind of transmission line polling robot based on unmanned aerial vehicle platform |
| CN110445054A (en) * | 2019-08-27 | 2019-11-12 | 国网电力科学研究院武汉南瑞有限责任公司 | A kind of crawler type crusing robot suitable for overhead transmission line |
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Application publication date: 20180807 |