CN110829272B - Dangerous case self-rescue method for high-voltage line inspection robot at high altitude - Google Patents
Dangerous case self-rescue method for high-voltage line inspection robot at high altitude Download PDFInfo
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- CN110829272B CN110829272B CN201911268957.3A CN201911268957A CN110829272B CN 110829272 B CN110829272 B CN 110829272B CN 201911268957 A CN201911268957 A CN 201911268957A CN 110829272 B CN110829272 B CN 110829272B
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- 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
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Abstract
The invention discloses a dangerous case self-rescue method for a high-altitude inspection robot for a high-voltage line, which comprises a conventional inspection robot, various conventional detection sensors, a dangerous case discovery device, an intelligent circuit board, dangerous case analysis software, a dangerous case rescue device and a dangerous case identification device, wherein the dangerous case analysis software is installed in the intelligent circuit board and is provided with a storage module, and the dangerous case analysis software discovers a dangerous case and starts a dangerous case self-rescue method. The invention can find the dangerous situations of corrosion, abrasion and strand breakage of the power transmission line in time, carries out remediation for the dangerous situation production countermeasure, identifies and warns the serious dangerous situation which exceeds the self-rescue range, informs power transmission line maintainers of carrying out rescue in the future, grades the dangerous situations, has reliable operation, can self-evaluate the rescue effect, and evaluates the rescue effect for the power transmission line maintainers to follow up.
Description
Technical Field
The invention relates to the field of fruit packaging, in particular to a dangerous case self-rescue method for a high-voltage line high-altitude inspection robot.
Background
At present, 6000 kilometers of overhead transmission lines are administered by a power transmission department, and new lines are continuously put into production every year. The overhead transmission line has wide coverage area and complex terrain passing through the area. In addition, the distance between the overhead line and the ground wire is high, the wire diameter is relatively small, the existing defects or hidden dangers are not easy to find, in order to accurately master the running condition of the line and timely eliminate the potential hidden dangers of the line, the line inspection and acceptance are mainly carried out through manual regular line inspection and manual line routing at the present stage, the method is high in labor intensity, long in time consumption and low in efficiency, some line sections are subjected to topographic factors and even cannot be inspected, and inspection dead angles also exist even when the unmanned aerial vehicle inspects the line. In recent years, partial overhead ground wires directly enter the ground wires to be wired and inspected in a close distance by manpower, a large number of defects of corrosion, abrasion and strand breakage are discovered, some defects are in an emergency grade and must be treated by taking measures immediately, however, the manual wiring has high safety risk, huge workload, high labor intensity and low working efficiency, and can not be carried out in a live-line manner, and the wiring and inspection are difficult to complete if the wiring and inspection are carried out according to a scheduled inspection plan.
CN205704212U discloses a wire rod obstacle crossing mechanism of an inspection robot, CN109066464A discloses an obstacle crossing device of an inspection robot, and CN102427209B discloses a obstacle crossing sliding mechanism of an inspection robot and an inspection robot device.
Aiming at the current situation, a power transmission line full-working-condition remote control wiring robot is developed, 8 sets of equipment prototype machines are applied to actual work in total for inspection, and the full-working-condition (8-11 kilometers in one strain section) remote control wiring work can be really realized.
In the process of a large number of line patrolling, a large number of interference sources of environmental sundries also appear, the service life and the use safety of the transmission line are seriously influenced, for example, various sundries brought by wind can generate galvanic corrosion, mechanical hidden dangers, accidental electric shock discharge dangers and the like, because the 500KV transmission line is higher off the ground, objects with attached hidden dangers comprise light and thin iron sheets, films, braided fabrics, cables, branch weeds and other stubborn obstacles which are easy to wind, rain and snow can continuously freeze and accumulate with excessive thickness and the like, the cutting is carried out by adopting a cutter, the efficiency is low, the effect is not good, oil flame is used for combustion, the oil flame is difficult to burn completely, the oil flame has no use especially for metal wires, iron sheets and the like, and becomes a main interference source for corroding the transmission line like the residual waste residues after the combustion, oxyhydrogen flame or acetylene flame with the temperature of up to 3000 ℃ can be used for completely removing foreign, the high-temperature flame has to heat the power transmission line at the same time, so that the defects of heat softening, chemical oxidation, mechanical property reduction, tensile deformation and the like of the power transmission line are caused due to the existence of fusing of the power transmission line, the service life of the power transmission line is seriously shortened, the power transmission line is not different from cut and mending sore, abnormal high-temperature flame is needed for reliably treating foreign matters on the surface of the power transmission line to ensure burning off, burning down and no residue, and the direct influence of the flame on the power transmission line needs to be reduced as much as possible, which is a very important technical problem which causes the technical problem of headache of technicians in.
CN101243591 discloses a system for inductively powering a remote device, the inductive power supply powering the device without a direct physical connection. In those devices that utilize inductive power, the device and the inductive power supply are typically designed so that the device operates only with a particular type of inductive power supply. This requires each device to have a uniquely designed inductive power supply, which according to one embodiment includes a switch operating at a frequency, a primary coil energized by the switch, a primary transceiver for receiving frequency change information from a remote device, and a controller for changing the frequency in response to the frequency change information. According to a second embodiment, a remote device capable of being energized by an inductive power supply includes a secondary coil, a load, a secondary controller for determining an actual voltage across the load, and a secondary transceiver for transmitting a frequency adjustment command to the inductive power supply. According to yet another embodiment, a method of operating an inductive power supply includes: exciting the primary coil at an initial frequency; polling a remote device; and disconnecting the primary coil if the remote device does not respond. According to yet another embodiment, a remote device having a secondary coil for receiving power at an operating frequency from an inductive power supply and powering a load, a method of operating the remote device comprising: comparing the desired voltage with the actual voltage; and sending an instruction to correct the actual voltage to the inductive power supply.
CN105021924A discloses an inductive power supply system and method for facilitating load matching, the system includes an inductive power supply, a load module and a matching display module. The induction power supply is used for outputting alternating current to the load module and calculating the matching rate between the load module and the output power of the induction power supply according to the load parameters of the output alternating current; the load module is connected with the induction power supply and used for receiving alternating current output by the induction power supply and generating an induction magnetic field. According to the system, whether the induction power supply is matched with the load module can be judged, if not, the coil of the load module can be adjusted to enable the load module to be matched with the induction power supply, and then the induction power supply is enabled to output with the maximum power.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provides a high-voltage line inspection robot dangerous case self-rescue method, which can shield wind and rain, resist the sun and the influence of environmental sundries, effectively protect movable components and sensors for detection, can stably and reliably work all weather in severe environments with high wind and freezing and easy damage of transmission lines, and establishes measures for timely finding, positioning and solving the faults, defects and hidden dangers of the transmission lines.
In order to achieve the technical purpose and achieve the technical effect, the invention is realized by the following technical scheme:
a dangerous case self-rescue method for a high-voltage line inspection robot at high altitude comprises a conventional line inspection robot, a conventional detection sensor, a dangerous case discovery device, an intelligent circuit board, dangerous case analysis software, a dangerous case rescue device and a dangerous case identification device, wherein the dangerous case analysis software is installed in the intelligent circuit board and is provided with a storage module, the dangerous case analysis software discovers a dangerous case and needs to start a dangerous case self-rescue method, and the dangerous case self-rescue method comprises the following steps:
a. in a normal line patrol mode of the line patrol robot, a conventional detection sensor and/or a dangerous case finding device acquire data information and send the data information to an intelligent circuit board for analysis by dangerous case analysis software;
b. analyzing the data information by the dangerous case analysis software, comparing the key characteristics of the dangerous case, finding the dangerous case, and sending the dangerous case information to the intelligent circuit board;
c. the intelligent circuit board classifies the dangerous case information, identifies the dangerous case level and the emergency degree, and sends the dangerous case level and the emergency degree to power transmission line maintenance personnel for decision making or automatically starts prestored dangerous case countermeasures;
d. starting an intelligent circuit board to start a dangerous case rescue device, and implementing a dangerous case self-rescue measure according to the actual dangerous case situation;
e. after the dangerous case self-rescue measures are implemented, acquiring dangerous case self-rescue data information by using a conventional detection sensor and/or a dangerous case discovery device;
f. dangerous case analysis software analyzes the dangerous case self-rescue data information, compares the key characteristics of the dangerous case and evaluates the rescue implementation effect;
g. the intelligent circuit board starts the dangerous case identification device, and adds a dangerous case self-rescue identification to the dangerous case self-rescue area according to the rescue implementation evaluation effect;
h. the intelligent circuit board stores information of dangerous case self-rescue process and dangerous case self-rescue evaluation;
i. the inspection robot continues to move forward, crosses the dangerous case self-rescue area and enters a normal inspection mode.
Further, the conventional detection sensor and/or the dangerous case discovery device is one or more of a camera, an ultrasonic flaw detector, an X-ray machine, a distance resistance measuring device or a spectrum analyzer.
Further, the dangerous case analysis software acquires data information obtained by a conventional detection sensor and/or a dangerous case finding device, compares the data information with preset standard characteristics of corrosion, abrasion and strand breakage defects, and if the data information meets the coverage range of the defect standard characteristics in fuzzy tolerance or has the defect standard characteristics, the dangerous case is found.
Furthermore, the dangerous case rescue device comprises more than one of an electric rust removal spraying device, an electric epoxy resin spraying device and an electric strip winding device, and is connected with the intelligent circuit board, and the position and the time of dangerous case self rescue are controlled by the intelligent circuit board according to needs.
Furthermore, the dangerous case identification device comprises more than one of an electric spraying device, an electric winding device or an electric strip sticking device, and is connected with the intelligent circuit board, and the position and the opportunity of the dangerous case self-rescue identification are controlled by the intelligent circuit board according to needs.
Furthermore, the coating used by the electric spraying device, the wire used by the electric winding device and the strip used by the electric strip sticking device are different in color or shape or printing, so that the size and the severity of the dangerous case and the self-rescue urgency are distinguished, and a beneficial reference is provided for power transmission line maintenance personnel to follow up with different dangerous cases.
Further, the dangerous case self-rescue mark at least comprises more than one of a safety mark for eliminating the dangerous case, a paying attention mark for processing the dangerous case and needing frequent attention, a regular rechecking mark for processing the dangerous case and needing important attention, and an emergency mark for unprocessed the dangerous case and needing emergency treatment, wherein the emergency mark exceeds the self-rescue capability range.
Furthermore, the intelligent circuit board is provided with a wireless communication device, and is in butt joint with power transmission line maintenance personnel or a master control computer through wireless signals, so that the working state of the line inspection robot is fed back in real time, the instruction of the maintenance personnel or the master control computer is received, and the appointed working content is implemented.
Furthermore, an induced power supply is also arranged, the induced power supply is provided with an induction coil, electric energy is obtained by inducing the change of the voltage and/or the current of the power transmission line, the intelligent circuit board is connected, and power is supplied to each electric appliance through the intelligent circuit board.
Further, the induction coil obtains electric energy by inducing the voltage and/or current change of the power transmission line to supply power to the main control circuit board, the sensor and the motor, please refer to an induction power supply system and method for facilitating load matching disclosed in CN105021924A and a system for inductively supplying power to a remote device disclosed in CN101243591 for details, which are cheap and good.
The invention has the beneficial effects that:
(1) the dangerous situations of corrosion, abrasion and strand breakage of the power transmission line are found in time;
(2) remedying the measures for dangerous case production;
(3) the serious dangerous case exceeding the self-rescue range is identified and warned, and power transmission line maintenance personnel are informed of the coming rescue;
(4) the dangerous case grading is realized, the operation is reliable, the rescue effect can be self-evaluated and evaluated, and the follow-up of power transmission line maintenance personnel is realized.
The foregoing is a summary of the present invention, and in order to provide a clear understanding of the technical means of the present invention and to be implemented in accordance with the present specification, the following is a detailed description of the preferred embodiments of the present invention with reference to the accompanying drawings. The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic structural distribution diagram of a high-altitude dangerous case self-rescue line patrol robot related to the invention;
FIG. 2 is a schematic diagram of the dangerous case discovery and processing flow according to the present invention.
The reference numbers in the figures illustrate: the dangerous case detection system comprises a conventional line inspection robot 1, a dangerous case discovery device 2, a dangerous case rescue device 3, a dangerous case identification device 4, an induced power supply 5, a power transmission line 6, a conventional detection sensor 101, an intelligent circuit board 102, dangerous case analysis software 103, a storage module 104, dangerous case key features 105, dangerous case response measures 106 and an induction coil 501.
Detailed Description
The invention is further described with reference to the accompanying drawings in which:
referring to fig. 1-2, a dangerous case self-rescue method for a high-voltage line inspection robot at high altitude comprises a conventional line inspection robot 1 provided with various conventional detection sensors 101, a dangerous case discovery device 2, an intelligent circuit board 102, dangerous case analysis software 103, a dangerous case rescue device 3 and a dangerous case identification device 4, wherein the dangerous case analysis software 103 is installed in the intelligent circuit board 102 and is provided with a storage module 104, the dangerous case analysis software 103 discovers a dangerous case and needs to start a dangerous case self-rescue method, and as shown in fig. 2, the dangerous case self-rescue method comprises the following steps:
a. in a normal line patrol mode of the line patrol robot, the conventional detection sensor 101 and/or the dangerous case discovery device 2 acquire data information and send the data information to the intelligent circuit board 102 for analysis by the dangerous case analysis software 103;
b. the dangerous case analysis software 103 analyzes the data information, compares the dangerous case key characteristics 105, finds the dangerous case, and sends the dangerous case information to the intelligent circuit board 102;
c. the intelligent circuit board 102 classifies the dangerous case information, identifies the dangerous case level and the emergency degree, and sends the dangerous case level and the emergency degree to a power transmission line maintenance worker for decision making or starts a prestored dangerous case countermeasure 106 by self;
d. starting the intelligent circuit board 102 to start the dangerous case rescue device 3, and implementing dangerous case self-rescue measures according to the actual dangerous case situation;
e. after the dangerous case self-rescue measures are implemented, acquiring dangerous case self-rescue data information by using a conventional detection sensor 101 and/or a dangerous case discovery device 2;
f. the dangerous case analysis software 103 analyzes the dangerous case self-rescue data information, compares the dangerous case key characteristics 105 and evaluates the rescue implementation effect;
g. the intelligent circuit board 101 starts the dangerous case identification device 4, and adds a dangerous case self-rescue identification 5 to the dangerous case self-rescue area according to the rescue implementation evaluation effect;
h. the intelligent circuit board 101 stores dangerous case self-rescue process information and dangerous case self-rescue evaluation;
i. the inspection robot 1 continues to move forward, crosses the dangerous case self-rescue area and enters a normal inspection mode.
Further, the conventional detection sensor 101 and/or the dangerous situation finding device 2 is one or more of a camera, an ultrasonic flaw detector, an X-ray machine, a distance resistance measuring device or a spectrum analyzer.
Further, the dangerous case analysis software 103 acquires data information obtained by the conventional detection sensor 101 and/or the dangerous case discovery device 3, compares the data information with preset standard characteristics of corrosion, abrasion and strand breakage defects, and if the data information meets the coverage range of the defect standard characteristics in fuzzy tolerance or has the defect standard characteristics, the dangerous case is deemed to be discovered.
Further, the dangerous case rescue device 3 comprises more than one of an electric rust removal spraying device, an electric epoxy resin spraying device and an electric strip winding device, and is connected with the intelligent circuit board 102, and the position and the time of dangerous case self rescue are controlled by the intelligent circuit board 102 according to needs.
Further, the dangerous case identification device 4 includes one or more of an electric spraying device, an electric winding device or an electric strip sticking device, and is connected with the intelligent circuit board 102, and the position and the time of the dangerous case self-rescue identification are controlled by the intelligent circuit board according to the needs.
Furthermore, the coating used by the electric spraying device, the wire used by the electric winding device and the strip used by the electric strip sticking device are different in color or shape or printing, so that the size and the severity of the dangerous case and the self-rescue urgency are distinguished, and a beneficial reference is provided for power transmission line maintenance personnel to follow up with different dangerous cases.
Further, the dangerous case self-rescue mark at least comprises more than one of a safety mark for eliminating the dangerous case, a paying attention mark for processing the dangerous case and needing frequent attention, a regular rechecking mark for processing the dangerous case and needing important attention, and an emergency mark for unprocessed the dangerous case and needing emergency treatment, wherein the emergency mark exceeds the self-rescue capability range.
Furthermore, the intelligent circuit board 102 is provided with a wireless communication device, and is in butt joint with a power transmission line maintenance worker or a main control computer through a wireless signal, so that the working state of the inspection robot is fed back in real time, the instruction of the maintenance worker or the main control computer is received, and the specified working content is implemented.
Further, an induction power supply is provided, which is provided with an induction coil 501, obtains electric energy by inducing the change of voltage and/or current of the power transmission line 6, connects to the intelligent circuit board 102, and supplies power to each electric appliance through the intelligent circuit board 102.
Further, conventional line patrol robot is provided with running gear, walking drive arrangement, hinders subassembly, sensor module and main control circuit board more, installs respectively and fixes on the housing subassembly, main control circuit board is connected and is controlled walking drive arrangement, hinders subassembly and sensor module work more, hinder the subassembly more and be used for crossing pole support and high altitude obstacle, sensor module is used for discovering and monitors the impaired condition of electric wire, walking drive arrangement is used for driving running gear and removes along the electric wire, hinders the subassembly more and suggests to use a line patrol robot lead screw that CN205704212U disclosed hinders mechanism more, the line patrol robot that CN109066464A disclosed hinders the device more or a line patrol robot that CN102427209B disclosed strides over obstacle glide machanism and line patrol robot equipment. The development cost can be reduced, a die with high manufacturing cost is not needed to be purchased in small batches, and the purchase cost is low.
Furthermore, the walking driving device is a motor connected with an induced power supply or a storage battery, the walking device is a concave disc, and the walking device is connected with the motor through a gear, a belt or a rotating shaft to realize power-on walking. If an induction power supply system is used, borrowing is recommended preferentially, research and development cost can be reduced, a die with high manufacturing cost is not needed for small-batch purchase, matched control software does not need to be developed, and purchasing cost is low.
Furthermore, the concave disc is provided with a power transmission line accommodating groove ring, the groove width of the power transmission line accommodating groove ring is 1.05-1.3 times of the power transmission line diameter, the groove depth is 0.75-2 times of the power transmission line diameter, and the power transmission line accommodating groove ring cannot loosen and fall off when rotating 90 degrees in a normal working state.
Further, the side surface and/or the bottom surface of the power transmission line accommodating groove ring is/are provided with a plurality of anti-skidding soft ribs which are uniformly distributed in 360 degrees.
Furthermore, the shape of the anti-skid soft rib is bidirectional sawtooth.
Furthermore, the side surface of the power transmission line accommodating groove ring is provided with a wear-resistant flexible convex strip or bulge for damping.
Furthermore, the walking driving device is a motor connected with an induced power supply or a storage battery, the walking device is a concave disc, and the walking device is connected with the motor through a gear, a belt or a rotating shaft to realize power-on walking. The inductive power supply system is low in cost and preferably recommended, and please refer to CN105021924A for details to facilitate the load matching of the inductive power supply system and the system for inductively supplying power to a remote device disclosed in CN101243591, which are cheap and inexpensive.
The specific embodiment is as follows:
the invention is placed on a transmission line on one side between two transmission line supports by a transmission line management department by using a tool, the invention is stably placed, a line patrol robot is started to work, a main control circuit board is electrified (high-voltage coils are used for directly obtaining electric energy from high-voltage line non-contact induction), a walking driving device (a motor) is instructed to drive a walking device (wheels) to rotate through gears and belts, the walking driving device moves to the other side between the two transmission line supports, a sensor assembly (a camera, a resistance measuring instrument, an X-ray or ultrasonic flaw detection instrument and the like) is driven to work at the same time, various defects (corrosion, abrasion, strand breakage and the like) of the transmission line are found in time, when the invention reaches the other side between the two transmission line supports or meets a larger obstacle on the transmission line, an obstacle crossing assembly works to cross over an electric pole support and an overhead obstacle, and if the obstacle crossing assembly is damaged or not installed, the obstacle crossing is manually realized by a power transmission line management department by using a tool, and the interval line patrol of the next power transmission line is carried out.
The 500KV transmission line is positioned at high altitude, no wind and rain shielding object exists in the nearby environment, the transmission line can only be exposed outside and can be tested by exposure to the sun, rain, wind, frost, rain and snow, the high altitude has no obstacle, generally, the wind speed is high, various sundries fly with the wind, are blocked by the transmission line and are laid or wound on the transmission line, the high altitude is difficult to clean by conventional means, the high altitude is frozen in the sky and the rain is blown to be frozen, strange obstacles are formed on the transmission line and become important inducements of corrosion, abrasion and strand breakage of the transmission line, the walking detection of the inspection robot is influenced, the service life of the transmission line is also influenced, various dangerous situations are brought to the high voltage line, and in the normal inspection mode of the inspection robot, the sensor assembly finds environmental sundry interference sources and dangerous situations such as corrosion, abrasion and strand breakage and the like which are wound or bonded on the surface of the transmission line, and; the conventional detection sensor 101 and/or the dangerous case discovery device 2 acquire data information and send the data information to the intelligent circuit board 102 for analysis by the dangerous case analysis software 103; the dangerous case analysis software 103 analyzes the data information, compares the dangerous case key characteristics 105, finds the dangerous case, and sends the dangerous case information to the intelligent circuit board 102; the intelligent circuit board 102 classifies the dangerous case information, identifies the dangerous case level and the emergency degree, and sends the dangerous case level and the emergency degree to a power transmission line maintenance worker for decision making or starts a prestored dangerous case countermeasure 106 by self; starting the intelligent circuit board 102 to start the dangerous case rescue device 3, and implementing dangerous case self-rescue measures according to the actual dangerous case situation; if corrosion and foreign matters are found, more than one of a rust removal spraying device, an electric epoxy resin spraying device and an electric strip winding device can be used for removing rust and cleaning, resin is sprayed or a strip is wound to prevent continuous rusting and strand breakage, if wear and strand breakage are found, the strip can be wound and wrapped to improve the mechanical property, the fatigue fracture of the transmission line is prevented in a cautious way, dangerous case self-rescue measures are implemented, and the conventional detection sensor 101 and/or the dangerous case finding device 2 are used for acquiring dangerous case self-rescue data information; the dangerous case analysis software 103 analyzes the dangerous case self-rescue data information, compares the dangerous case key characteristics 105 and evaluates the rescue implementation effect; the intelligent circuit board 101 starts the dangerous case identification device 4, and adds a dangerous case self-rescue identification 5 to the dangerous case self-rescue area according to the rescue implementation evaluation effect; the intelligent circuit board 101 stores dangerous case self-rescue process information and dangerous case self-rescue evaluation; the inspection robot 1 continues to move forward, crosses the dangerous case self-rescue area and enters a normal inspection mode.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. The utility model provides a high-tension line high altitude inspection robot dangerous case method of saving oneself, includes inspection robot (1), is provided with various detection sensor (101), its characterized in that: the emergency self-rescue system is further provided with an emergency discovery device (2), an intelligent circuit board (102), emergency analysis software (103), an emergency rescue device (3) and an emergency identification device (4), the emergency analysis software (103) is installed in the intelligent circuit board (102), a storage module (104) is arranged, an induced power supply is further arranged, the induced power supply is provided with an induction coil (501), electric energy is obtained through the change of voltage and/or current of an induction power transmission line (6), the induction power supply is connected with the intelligent circuit board (102), power is supplied to all electrical appliances through the intelligent circuit board (102), the emergency analysis software (103) discovers an emergency, and an emergency self-rescue method needs to be started, and the emergency self-rescue method comprises the following steps:
a. in a normal line patrol mode of the line patrol robot, a detection sensor (101) and/or a dangerous case discovery device (2) acquire data information and send the data information to an intelligent circuit board (102) for analysis by dangerous case analysis software (103);
b. the dangerous case analysis software (103) analyzes the data information, compares the dangerous case key characteristics (105), finds the dangerous case and sends the dangerous case information to the intelligent circuit board (102);
c. the intelligent circuit board (102) classifies the dangerous case information, identifies the dangerous case level and the emergency degree, and sends the dangerous case level and the emergency degree to a power transmission line maintenance worker for decision, or starts a prestored dangerous case countermeasure (106) by self;
d. starting an intelligent circuit board (102) to start the dangerous case rescue device (3), and implementing dangerous case self-rescue measures according to the actual dangerous case situation;
e. after the dangerous case self-rescue measures are implemented, acquiring dangerous case self-rescue data information by using a detection sensor (101) and/or a dangerous case discovery device (2);
f. dangerous case analysis software (103) analyzes the dangerous case self-rescue data information, compares the dangerous case key characteristics (105) and evaluates the rescue implementation effect;
g. the intelligent circuit board (102) starts the dangerous case identification device (4), and adds a dangerous case self-rescue identification (5) for the dangerous case self-rescue area according to the rescue implementation evaluation effect;
h. the intelligent circuit board (102) stores information of a dangerous case self-rescue process and dangerous case self-rescue evaluation;
i. the line patrol robot (1) continues to move forward, crosses the dangerous case self-rescue area and enters a normal line patrol mode.
2. The high-voltage line high-altitude inspection robot dangerous case self-rescue method according to claim 1, characterized in that: the detection sensor (101) and/or the dangerous case discovery device (2) is/are more than one of a camera, an ultrasonic flaw detector, an X-ray machine, a distance resistance measuring device or a spectrum analyzer.
3. The high-voltage line high-altitude inspection robot dangerous case self-rescue method according to claim 1, characterized in that: the dangerous case analysis software (103) acquires data information obtained by the detection sensor (101) and/or the dangerous case discovery device (3), compares the data information with preset standard characteristics of corrosion, abrasion and strand breakage defects, and if the data information meets the coverage range of the defect standard characteristics in fuzzy tolerance or has the defect standard characteristics, the dangerous case is discovered.
4. The high-voltage line high-altitude inspection robot dangerous case self-rescue method according to claim 1, characterized in that: the dangerous case rescue device (3) comprises more than one of an electric rust removal spraying device, an electric epoxy resin spraying device and an electric strip winding device, is connected with the intelligent circuit board (102), and controls the position and the time of dangerous case rescue according to the requirement by the intelligent circuit board (102).
5. The high-voltage line high-altitude inspection robot dangerous case self-rescue method according to claim 1, characterized in that: the dangerous case identification device (4) comprises more than one of an electric spraying device, an electric winding device or an electric strip sticking device, is connected with the intelligent circuit board (102), and controls the position and the opportunity of the dangerous case self-rescue identification according to the need.
6. The high-voltage line high-altitude inspection robot dangerous case self-rescue method according to claim 5, characterized in that: the coating used by the electric spraying device, the wire used by the electric winding device and the strip used by the electric strip sticking device are different in color or shape or printing, so that the size, the severity and the self-rescue urgency of dangerous cases are distinguished, and a beneficial reference is provided for power transmission line maintenance personnel to follow up with different dangerous cases.
7. The high-voltage line high-altitude inspection robot dangerous case self-rescue method according to claim 1, characterized in that: the dangerous case self-rescue mark at least comprises more than one of a safety mark for eliminating the dangerous case, a paying-attention mark for processing the dangerous case but needing frequent attention, a regular rechecking mark for processing the dangerous case but needing important attention, and an emergency mark for processing the dangerous case but not processing the dangerous case and needing emergency treatment, wherein the emergency mark exceeds the self-rescue capability range.
8. The high-voltage line high-altitude inspection robot dangerous case self-rescue method according to claim 1, characterized in that: the intelligent circuit board (102) is provided with a wireless communication device, is in butt joint with power transmission line maintenance personnel or a main control computer through wireless signals, feeds back the working state of the line inspection robot in real time, receives instructions of the maintenance personnel or the main control computer, and implements appointed working contents.
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| CN111553088B (en) * | 2020-05-07 | 2023-06-13 | 广东技术师范大学 | Development method and application method of automatic clamping device for replacing broken ground wire |
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