CN110682295A - Detection robot and detection method for power transmission line or cable - Google Patents
Detection robot and detection method for power transmission line or cable Download PDFInfo
- Publication number
- CN110682295A CN110682295A CN201910816343.8A CN201910816343A CN110682295A CN 110682295 A CN110682295 A CN 110682295A CN 201910816343 A CN201910816343 A CN 201910816343A CN 110682295 A CN110682295 A CN 110682295A
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- transmission line
- cable
- power transmission
- machine body
- roller
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 90
- 238000001514 detection method Methods 0.000 title claims abstract description 32
- 230000002159 abnormal effect Effects 0.000 claims abstract description 31
- 238000000034 method Methods 0.000 claims abstract description 13
- 238000012546 transfer Methods 0.000 claims abstract description 3
- 238000007689 inspection Methods 0.000 claims description 16
- 238000004891 communication Methods 0.000 claims description 6
- 230000006835 compression Effects 0.000 claims description 6
- 238000007906 compression Methods 0.000 claims description 6
- 238000007405 data analysis Methods 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 claims 1
- 238000013461 design Methods 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
A robot and a method for detecting a transmission line or a cable relate to the field of detection devices and comprise a machine body, wherein the top of the machine body is provided with a plurality of rotor wings, the bottom of the machine body is provided with a driving assembly which enables the machine body to move along the transmission line or the cable, the driving assembly comprises a left support, a right support, a one-dimensional electric sliding table and a motor, the bottom of the machine body is provided with an upper roller, and the left support is fixedly arranged on the machine body and provided with a left roller; the right bracket is movably arranged on the machine body through a one-dimensional electric sliding table, is provided with a right roller and a lower roller, and is also provided with a motor for driving the lower roller to act; the fuselage is equipped with laser sensor and the ultrasonic sensor towards the transfer chain setting. The invention assembles the body and the transmission line or the cable together through the driving mechanism, and the body can move along the transmission line or the cable under the condition of keeping a fixed posture by utilizing the driving mechanism to match with the rotor wing. In the moving process, the laser sensor and the ultrasonic sensor are utilized to scan the power transmission line or the cable in a close range, so as to detect whether the power transmission line or the cable is abnormal, for example; cracks, deformations, etc.
Description
Technical Field
The invention relates to the field of detection devices, in particular to a detection robot and a detection method for a transmission line or a cable.
Background
High-voltage transmission lines are usually overhead transmission lines, and regular line patrol inspection of the transmission lines is usually required by manual work, but detection objects are usually limited to the transmission lines and other parts near the electric wire towers, the transmission lines between the two electric wire towers cannot be detected easily, and potential safety hazards are easy to occur after long-time use, so that a device capable of automatically detecting the transmission lines between the two electric wire towers is required to be designed.
The cable is a running track of a cable car, and a power transmission line is usually required to be periodically checked manually, but the cable is usually erected at a high altitude, a cliff or a cliff and the like, so that the detection difficulty is high, and potential safety hazards are easy to exist after the cable is used for a long time, so that a device capable of automatically detecting the cable is required to be designed.
Disclosure of Invention
The invention provides a detection robot and a detection method for a transmission line or a cable, and aims to solve the problems in the prior art.
The technical scheme adopted by the invention is as follows:
a robot for detecting a transmission line or a cable rope comprises a machine body, wherein the top of the machine body is provided with a plurality of rotor wings, the bottom of the machine body is provided with a driving assembly which enables the machine body to move along the transmission line or the cable rope, the driving assembly comprises a left support, a right support, a one-dimensional electric sliding table and a motor, the bottom of the machine body is provided with an upper roller, one end of the left support is fixedly arranged on the machine body, and the other end of the left support is provided with a; one end of the right bracket is arranged on the machine body in a manner of moving left and right through the one-dimensional electric sliding table, a right roller is arranged in the middle of the right bracket, and a lower roller is arranged at the other end of the right bracket and is provided with a motor for driving the lower roller to move; the fuselage is equipped with a plurality of laser sensor and the ultrasonic sensor that set up towards the transfer chain.
Furthermore, the front end of the machine body is provided with a front arc-shaped mounting plate with a downward opening, the three laser sensors are uniformly distributed on the front arc-shaped mounting plate, and the ultrasonic sensors are arranged on the front arc-shaped mounting plate.
Furthermore, the rear end of the machine body is provided with a rear arc-shaped mounting plate with a downward opening, and the rear arc-shaped mounting plate is provided with at least one camera for shooting a power transmission line or a mooring rope.
Further, as an embodiment: and a data processing module is arranged in the machine body and used for receiving scanning data of the laser sensor and the ultrasonic sensor and judging whether the transmission line or the cable is abnormal or not through data analysis.
Further, as another embodiment: the intelligent monitoring system is characterized by further comprising a server, wherein a communication module is arranged in the machine body, and the server is wirelessly connected with the communication module and used for receiving scanning data of the laser sensor and the ultrasonic sensor and judging whether the transmission line or the cable is abnormal or not through data analysis.
Further, go up the gyro wheel through the subassembly that floats can set up in with floating from top to bottom the fuselage, the subassembly that floats includes pin joint seat, lower pin joint seat, floating bar, stop nut and compression spring, go up the gyro wheel rotationally install in through the pivot pin joint seat down, go up the pin joint seat set firmly in the bottom of fuselage, the pin joint seat has set firmly a plurality of down the floating bar, the upper end of floating bar is worn to locate with moving about from top to bottom go up pin joint seat and lock and be equipped with stop nut, the floating bar is equipped with between last pin joint seat and lower pin joint seat compression spring simultaneously.
A detection method using the detection robot comprises the following steps: (1) the detection robot moves the body to the upper part of a power transmission line or a cable rope by a rotor wing; (2) scanning the power transmission line or the cable by using a laser sensor and an ultrasonic sensor; (3) the detecting robot controls the body to move towards the power transmission line or the cable rope by using the rotor wing according to the scanning data, so that the upper roller and the left roller are respectively leaned against the upper cambered surface and the left cambered surface of the power transmission line or the cable rope; after the machine body is stabilized, the right roller and the lower roller are moved towards the left by the one-dimensional electric sliding table until the right roller and the lower roller are respectively leaned against the right cambered surface and the lower cambered surface of the transmission line or the mooring rope; (4) the rotor wing for the detection robot controls the body to float upwards, so that the lower roller is tightly attached to a power transmission line or a cable; (5) starting a motor to enable the lower roller to roll and drive the machine body to move along a power transmission line or a cable; (6) scanning the power transmission line or the cable by using a laser sensor, and detecting whether the surface of the power transmission line or the cable is abnormal or not; (7) meanwhile, the ultrasonic sensor is used for scanning the power transmission line or the cable rope, and whether the inside of the power transmission line or the cable rope is abnormal or not is detected.
Further, when the laser sensor detects that the surface of the power transmission line or the cable rope is abnormal in the step (6), the detection robot records the abnormal position and continues to move forwards, and when the camera aligns to the abnormal position, the abnormal position is photographed by the camera and is transmitted to the server for the overhaul workers to check.
Further, the detection robot establishes a three-dimensional model of the transmission line or the cable by using the scanning data in the step (6); meanwhile, shooting the surrounding mountainous region by using a camera and carrying out three-dimensional modeling according to the shot image to manufacture a complete three-dimensional model.
Further, in the step (6) and the step (7), the scanning data of the laser sensor and the ultrasonic sensor are wirelessly transmitted to the server, and the server processes and analyzes the detection data to detect whether the transmission line or the cable is abnormal.
As can be seen from the above description of the present invention, compared with the prior art, the present invention has the following advantages:
the invention assembles the body and the transmission line or the cable together through the driving mechanism, and the body can move along the transmission line or the cable under the condition of keeping a fixed posture by utilizing the driving mechanism to match with the rotor wing. In the moving process, the laser sensor and the ultrasonic sensor are utilized to scan the power transmission line or the cable in a close range, so as to detect whether the power transmission line or the cable is abnormal, for example; cracks, deformations, etc.
Drawings
Fig. 1 is a front view of a detection robot according to the present invention.
Fig. 2 is a left side view of the inspection robot according to the present invention.
Fig. 3 is a right side view of the inspection robot according to the present invention.
Fig. 4 is a rear view of the inspection robot in the present invention.
FIG. 5 is a schematic structural diagram of a floating assembly according to the present invention.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings. Numerous details are set forth below in order to provide a thorough understanding of the present invention, but it will be apparent to those skilled in the art that the present invention may be practiced without these details.
Referring to fig. 1 to 4, a robot for detecting a power transmission line (or a cable) comprises a body 1, wherein a plurality of rotors 2 are arranged on the top of the body 1. Fuselage 1, rotor 2 and the inside control of fuselage 1 constitute a miniature unmanned aerial vehicle, wherein the specific structure and the technique that relate to, and the structure and the technique that present unmanned aerial vehicle can be referred to the technical staff in the field, need not be repeated herein.
Referring to fig. 1 to 4, the bottom of the body 1 is provided with a driving assembly 3 for moving it along a power line a (or a cable). As a specific embodiment: the driving assembly 3 comprises a left bracket 31, a right bracket 35, a one-dimensional electric sliding table 37 and a motor 36. The bottom of the body 1 is provided with an upper roller 39. One end of the left bracket 31 is fixedly arranged on the machine body 1, and the other end is provided with a left roller 32. One end of the right bracket 35 is disposed in the body 1 so as to be movable left and right through a one-dimensional electric slide table 37, a right roller 38 is disposed in the middle of the right bracket 35, and the other end is provided with a lower roller 33 and a motor 36 for operating the lower roller 33. Specifically, the one-dimensional electric sliding table 37 is two electric screw sliding tables linked by a synchronizing shaft.
Referring to fig. 1 to 5, specifically, the right bracket 35 is provided with a transmission shaft 34, one end of the transmission shaft 34 is provided with a right roller 38, and the other end is connected with a motor 36. In order to facilitate the right roller 38 to smoothly engage with the lower arc surface of the power transmission line a (or cable) when moving to the right along with the one-dimensional electric sliding table 37, the upper roller 39 is disposed on the body 1 in a manner of floating up and down through the floating assembly 4. The floating assembly 4 includes an upper pivot base 41, a lower pivot base 45, a floating rod 44, a limit nut 42 and a compression spring 43. The upper roller 39 is rotatably mounted on the lower pivot seat 45 through a rotating shaft, the upper pivot seat 41 is fixedly arranged at the bottom of the machine body 1, the lower pivot seat 45 is fixedly provided with a plurality of floating rods 44, the upper ends of the floating rods 44 can movably penetrate through the upper pivot seat 41 up and down and are buckled with limit nuts 42, and meanwhile, each floating rod 44 is sleeved with a compression spring 43 between the upper pivot seat 41 and the lower pivot seat 45.
Referring to fig. 1 to 4, the body 1 is provided with a plurality of laser sensors 5 and ultrasonic sensors 6 provided toward the conveyor line a. Specifically, the front end of the body 1 is provided with a front arc-shaped mounting plate 7 with a downward opening, the three laser sensors 5 are uniformly distributed on the front arc-shaped mounting plate 7, and the ultrasonic sensors 6 are also arranged on the front arc-shaped mounting plate 7.
Referring to fig. 1 to 4, the rear end of the body 1 is further provided with a rear arc-shaped mounting plate 8 having a downward opening, and the rear arc-shaped mounting plate is provided with three cameras 9 for photographing the power transmission line a (or the cable). The number of the laser sensors 5, the ultrasonic sensors 6, and the cameras 9 can be increased or decreased as needed.
Referring to fig. 1 to 4, preferably: supporting legs 78 are horizontally arranged between the rear arc-shaped mounting plate 8 and the front arc-shaped mounting plate 7, and the supporting legs 78 can be used for facilitating the horizontal placement of the machine body 1 on the ground and reinforcing the rear arc-shaped mounting plate 8 and the front arc-shaped mounting plate 7.
Referring to fig. 1 to 4, as an embodiment: the body 1 is provided with a data processing module (not shown) inside for receiving the scanning data of the laser sensor 5 and the ultrasonic sensor 6 and judging whether the power transmission line a (or the cable) is abnormal or not through data analysis.
Referring to fig. 1 to 4, as another embodiment: the power transmission line monitoring system further comprises a server (not shown in the figure), a communication module (not shown in the figure) is arranged in the machine body, and the server is connected with the communication module in a wireless mode and used for receiving scanning data of the laser sensor 5 and the ultrasonic sensor 6 and judging whether the power transmission line a (or the cable) is abnormal or not through data analysis.
A detection method using the detection robot comprises the following steps:
(1) the detection robot moves the body to the upper side of the power transmission line a (or the cable) by the rotor.
(2) The power line a (or cable) is scanned with a laser sensor and an ultrasonic sensor.
(3) The detecting robot controls the body to move towards the power transmission line a (or a cable) by using the rotor wing according to the scanning data, so that the upper roller and the left roller are respectively leaned against the upper cambered surface and the left cambered surface of the power transmission line a (or the cable); after the machine body is stabilized, the right roller and the lower roller are moved towards the left by the one-dimensional electric sliding table until the right roller and the lower roller are respectively leaned against the right cambered surface and the lower cambered surface of the power transmission line a (or the mooring rope).
(4) The rotor wing for the detection robot controls the body to float upwards, so that the lower roller is tightly attached to the power transmission line a (or a mooring rope).
(5) The lower roller rolls when the motor is started, and the machine body is driven to move along the power transmission line a (or the cable).
(6) The laser sensor is used for scanning the power transmission line a (or the cable) to detect whether the surface of the power transmission line a (or the cable) is abnormal. When the laser sensor detects that the surface of the power transmission line or the cable rope is abnormal, the detection robot records the abnormal position and continues to move forwards, and when the camera is aligned to the abnormal position, the abnormal position is photographed by the camera and is transmitted to the server for the overhaul worker to check. Meanwhile, the detection robot establishes a three-dimensional modeling of the power transmission line a (or the cable) by using the scanning data in the step (6); meanwhile, the camera is used for shooting the surrounding mountainous region and carrying out three-dimensional modeling according to the shooting, and a complete three-dimensional model is manufactured, so that the maintainers can know the abnormal position and the surrounding mountainous region condition conveniently, and the overhauling efficiency is improved.
(7) Meanwhile, the ultrasonic sensor is used for scanning the power transmission line a (or the cable) to detect whether the inside of the power transmission line a (or the cable) is abnormal or not. In the steps (6) and (7), the scanning data of the laser sensor and the ultrasonic sensor are wirelessly transmitted to the server, and the server processes and analyzes the detection data to detect whether the power transmission line a (or the cable) is abnormal.
In summary, the invention assembles the body and the power transmission line or the cable through the driving mechanism, and the driving mechanism is matched with the rotor wing to enable the body to move along the power transmission line or the cable under the condition of keeping a fixed posture. In the moving process, the laser sensor and the ultrasonic sensor are utilized to scan the power transmission line or the cable in a close range, so as to detect whether the power transmission line or the cable is abnormal, for example; cracks, deformations, etc.
The above description is only an embodiment of the present invention, but the design concept of the present invention is not limited thereto, and any insubstantial modifications made by using the design concept should fall within the scope of infringing the present invention.
Claims (10)
1. A robot for detecting a power transmission line or a cable, comprising: the power transmission device comprises a machine body, wherein a plurality of rotors are arranged at the top of the machine body, a driving assembly which enables the rotors to move along a power transmission line or a cable rope is arranged at the bottom of the machine body, the driving assembly comprises a left support, a right support, a one-dimensional electric sliding table and a motor, an upper roller is arranged at the bottom of the machine body, one end of the left support is fixedly arranged on the machine body, and a left roller is arranged at the other end; one end of the right bracket is arranged on the machine body in a manner of moving left and right through the one-dimensional electric sliding table, a right roller is arranged in the middle of the right bracket, and a lower roller is arranged at the other end of the right bracket and is provided with a motor for driving the lower roller to move; the fuselage is equipped with a plurality of laser sensor and the ultrasonic sensor that set up towards the transfer chain.
2. An inspection robot for power transmission lines or cables as claimed in claim 1, wherein: the front end of the machine body is provided with a front arc-shaped mounting plate with a downward opening, the three laser sensors are uniformly distributed on the front arc-shaped mounting plate, and the ultrasonic sensors are arranged on the front arc-shaped mounting plate.
3. A robot for inspecting power transmission lines or cables as claimed in claim 2, wherein: the rear end of the machine body is provided with a rear arc-shaped mounting plate with a downward opening, and the rear arc-shaped mounting plate is provided with at least one camera for shooting transmission lines or mooring ropes.
4. An inspection robot for power transmission lines or cables as claimed in claim 1, wherein: and a data processing module is arranged in the machine body and used for receiving scanning data of the laser sensor and the ultrasonic sensor and judging whether the transmission line or the cable is abnormal or not through data analysis.
5. An inspection robot for power transmission lines or cables as claimed in claim 1, wherein: the intelligent monitoring system is characterized by further comprising a server, wherein a communication module is arranged in the machine body, and the server is wirelessly connected with the communication module and used for receiving scanning data of the laser sensor and the ultrasonic sensor and judging whether the transmission line or the cable is abnormal or not through data analysis.
6. An inspection robot for power transmission lines or cables as claimed in claim 1, wherein: go up the gyro wheel through the subassembly of floating can set up in with floating from top to bottom the fuselage, the subassembly of floating includes pin joint seat, lower pin joint seat, floating rod, stop nut and compression spring, it rotationally install in through the pivot to go up the gyro wheel pin joint seat down, go up the pin joint seat set firmly in the bottom of fuselage, the pin joint seat has set firmly a plurality of down the floating rod, the upper end of floating rod is movably worn to locate from top to bottom go up pin joint seat and lock and is equipped with stop nut, the floating rod is equipped with between last pin joint seat and lower pin joint seat compression spring simultaneously.
7. An inspection method using the inspection robot according to claim 3, comprising the steps of: (1) the detection robot moves the body to the upper part of a power transmission line or a cable rope by a rotor wing; (2) scanning the power transmission line or the cable by using a laser sensor and an ultrasonic sensor; (3) the detecting robot controls the body to move towards the power transmission line or the cable rope by using the rotor wing according to the scanning data, so that the upper roller and the left roller are respectively leaned against the upper cambered surface and the left cambered surface of the power transmission line or the cable rope; after the machine body is stabilized, the right roller and the lower roller are moved towards the left by the one-dimensional electric sliding table until the right roller and the lower roller are respectively leaned against the right cambered surface and the lower cambered surface of the transmission line or the mooring rope; (4) the rotor wing for the detection robot controls the body to float upwards, so that the lower roller is tightly attached to a power transmission line or a cable; (5) starting a motor to enable the lower roller to roll and drive the machine body to move along a power transmission line or a cable; (6) scanning the power transmission line or the cable by using a laser sensor, and detecting whether the surface of the power transmission line or the cable is abnormal or not; (7) meanwhile, the ultrasonic sensor is used for scanning the power transmission line or the cable rope, and whether the inside of the power transmission line or the cable rope is abnormal or not is detected.
8. An inspection method using the inspection robot according to claim 3, wherein: when the laser sensor detects that the surface of the power transmission line or the cable rope is abnormal in the step (6), the detection robot records the abnormal position and continues to move forwards, and when the camera aligns to the abnormal position, the abnormal position is photographed by the camera and is transmitted to the server for a maintenance worker to check.
9. An inspection method using the inspection robot according to claim 3, wherein: the detection robot establishes three-dimensional modeling of the transmission line or the cable by using the scanning data in the step (6); meanwhile, shooting the surrounding mountainous region by using a camera and carrying out three-dimensional modeling according to the shot image to manufacture a complete three-dimensional model.
10. An inspection method using the inspection robot according to claim 3, wherein: in the step (6) and the step (7), the scanning data of the laser sensor and the ultrasonic sensor are wirelessly transmitted to the server, and the server processes and analyzes the detection data to detect whether the transmission line or the cable is abnormal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910816343.8A CN110682295A (en) | 2019-08-30 | 2019-08-30 | Detection robot and detection method for power transmission line or cable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910816343.8A CN110682295A (en) | 2019-08-30 | 2019-08-30 | Detection robot and detection method for power transmission line or cable |
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| Publication Number | Publication Date |
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| CN110682295A true CN110682295A (en) | 2020-01-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910816343.8A Pending CN110682295A (en) | 2019-08-30 | 2019-08-30 | Detection robot and detection method for power transmission line or cable |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111740236A (en) * | 2020-08-04 | 2020-10-02 | 广东电网有限责任公司东莞供电局 | Electric power rescue robotic arm |
| KR102351536B1 (en) * | 2020-09-15 | 2022-01-14 | 한전케이디엔주식회사 | Upward opgw checking for drone |
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Application publication date: 20200114 |