CN111355186A - Automatic inspection device of formula of flying away many rotors overhead transmission line - Google Patents
Automatic inspection device of formula of flying away many rotors overhead transmission line Download PDFInfo
- Publication number
- CN111355186A CN111355186A CN202010232777.6A CN202010232777A CN111355186A CN 111355186 A CN111355186 A CN 111355186A CN 202010232777 A CN202010232777 A CN 202010232777A CN 111355186 A CN111355186 A CN 111355186A
- Authority
- CN
- China
- Prior art keywords
- module
- rotor
- walking
- inspection device
- transmission line
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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 invention belongs to power line inspection equipment, and particularly relates to a flyable and movable automatic inspection device for overhead power transmission line inspection. The flying mechanism consists of a six-rotor unmanned aerial vehicle and an up-down line guide mechanism and completes the flying function; the walking mechanism consists of walking wheels and pinch rollers and completes the on-line walking function; the body control box is composed of a flight control module, a walking control module, an internal state sensing module, an external environment monitoring module and a wireless communication module, and is used for completing flight switching, state sensing, environment monitoring and remote control. The device is characterized in that the device can fly and walk, and solves the problems of line feeding and discharging and tower head crossing of the inspection equipment by taking a plurality of rotors as power; the problems of automatic adaptation of the inspection equipment, such as sliding, climbing, protection, horizontal obstacle crossing and the like in a gear section are solved by taking the travelling wheels as power and matching with the pressing mechanism; meanwhile, physical guarantee is provided for a follow-up inspection method for multi-sensor integration of the device.
Description
Technical Field
The invention relates to the field of detection of overhead transmission lines, in particular to a flyable and movable automatic inspection device for inspection of overhead transmission lines.
Background
Along with the development of electric power systems in China, the construction of high-voltage and extra-high-voltage transmission lines and the like, the mileage of the transmission lines is longer and longer, and the reliable transmission of electric energy by the transmission lines becomes the basic guarantee for the rapid development of economy and the guarantee of daily life of the nation in China. The distribution of transmission lines in China is wide, and a large amount of manpower, material resources and financial resources are invested by the power department every year to carry out regular line patrol work. Not only economic loss is caused for a long time, but also a great deal of manpower, material resources and financial resources are wasted. On the other hand, the high-voltage line is often influenced by wind, sunshine and material aging, and the occurrence of harmful conditions such as strand breakage, abrasion and the like can cause serious accidents and large-area power failure.
The current line patrol modes mainly comprise four modes, namely manual operation, vehicle-mounted operation, airborne operation and robot operation. The labor intensity of manual line patrol is high, the accuracy is low, and the manual line patrol cannot reach regions where the person trace is relatively rare to work. There is a need to find a viable alternative routing mode. The vehicle-mounted line patrol can only patrol lines arranged along a traffic line. The airborne line patrol can be divided into three types, namely a helicopter, a large unmanned plane and a rotor unmanned plane. The helicopter and the large unmanned aerial vehicle can carry sensing equipment to carry out large-area combined operation at the same time. But the helicopter is difficult to be close to a power transmission line to implement fine routing inspection, the acquisition cost and the technical door are too high, and the helicopter is also limited by weather, environment and the like. Rotor unmanned aerial vehicle is small, it is high to patrol and examine the circuit and become more meticulous, but its load is limited, the time of endurance is short. The robot patrols the line and can go deep into the area that people are difficult to reach along the power line and lock the circuit and patrol and examine that become more meticulous, but the robot patrols the line and needs the manual work or installs special lifting device on the electric tower line and supply it to cross the electric tower to and the robot is bulky, design and control system are too complicated.
Therefore, the automatic inspection equipment which is flexible, adaptable to various lines and obstacle surmounting, capable of solving the energy consumption problem and aiming at the fine inspection of a power transmission channel is urgently needed according to the conventional inspection operation equipment of the overhead power transmission line.
Disclosure of Invention
The invention mainly aims to overcome the defects and shortcomings of the prior art and provides a flying type multi-rotor overhead transmission line automatic inspection device to solve the problems that the conventional inspection device cannot meet both flexible obstacle surmounting and long-distance fine inspection.
In order to achieve the above object, the present invention provides the following technical solutions.
The utility model provides a many rotors of formula of flying away automatic inspection device of overhead transmission line, it includes and presents octahedron cavity box by two the same octahedron thin plates and six rotor arm rotary joints through bolted connection, and rotor arm connects rotor arm rotary joint and can rotate around the box, realizes that the rotor arm opens and receive and release. 6 rotor motors are arranged on the box body; the box body is internally provided with a flight control module, a walking control module, an internal state sensing module, a wireless communication module and a power supply module; the upper end of the box body is provided with an external environment monitoring module; the internal state sensing module and the wireless communication module which are arranged in the box body are electrically connected with the signal input end of the external environment monitoring module; the upper end of the box body is provided with a mechanical arm positioned on one side of the ground wire and an electric travelling mechanism contacted with the ground wire; the upper end of the box body is provided with a pressing mechanism with mutually matched electric traveling mechanisms; the electric walking mechanism, the pressing mechanism and the rotor motor are respectively connected with the output end of the control system; the wireless communication module is electrically connected with the control system; the output end of the power supply module is respectively connected with the control system, the wireless communication module, the internal state sensing module and the wireless communication module.
Furthermore, the flying type multi-rotor-wing overhead transmission line automatic inspection device also comprises an electric travelling mechanism, wherein the electric travelling mechanism comprises a mechanical arm arranged on one side of the ground wire, a travelling wheel contacted with the ground wire and at least two driven wheels contacted with the ground wire; the mechanical arm is provided with a walking motor, a bearing, a coder connecting disc, a walking wheel shaft and a motor reducer. The device comprises a traveling motor flange, a temperature sensor, a speed sensor and an angular displacement sensor; the temperature sensor, the speed sensor and the angular displacement sensor are electrically connected with the output end of the power supply; the walking motor is electrically connected with the control system.
Furthermore, the automatic inspection device of the flying multi-rotor overhead transmission line also comprises a pressing mechanism, wherein the pressing mechanism comprises a sliding block with threads on a guide rail device arranged on the box body; the lead screw is matched with the sliding block; the compression wheel is matched with the travelling wheel; and a gear arranged at the tail end of the screw rod is matched with a gear arranged on a shaft of the lifting motor to form gear set transmission. A travel switch module is arranged on the guide rail device; the lifting driving device is provided with a speed sensor and a rotating speed sensor and is used for detecting the speed and the rotating speed of the lifting driving motor; the travel switch module and the lifting driving motor are electrically connected with the output end of the control system.
Furthermore, the automatic inspection device of the multi-rotor overhead transmission line comprises a control system, an inspection system, a navigation system, a mechanical system and a base station management system.
Furtherly, automatic inspection device of many rotors of formula of flying away overhead transmission line, its characterized in that: the control system, the inspection system, the navigation system, the mechanical system and the base station management system comprise a speed sensor, a height sensor, a gyroscope, a GPS positioning module, an ultrasonic sensor, an air pressure sensor, a rotating speed sensor, an angular displacement sensor and a pressure sensor. And a distance measuring sensor.
The beneficial effects of the invention are as follows.
Compared with other circuit line patrol equipment, the walking type multi-rotor overhead transmission line patrol device is more intelligent, light in weight, small in size, flexible and capable of quickly hanging lines, low in energy consumption, long in endurance time and capable of crossing stockbridge dampers and flying tower lines.
The invention is designed into a flying multi-rotor wing device because the gyroplane is more flexible and can be quickly wired, thereby reducing the possibility of manual wiring. And is suitable for flying over various suspended obstacles or various tower heads. The flying mode conversion solves the problems of short endurance time and high energy consumption in the line patrol of the unmanned aerial vehicle.
The reason for the on-line electric walking mechanism in the designed flying type multi-rotor overhead transmission line automatic inspection device is that the inspection equipment is hung on the line and is loaded by a cable, so that the energy consumption can be greatly saved, and the navigation time in the line inspection process is increased; meanwhile, the power line is used as a guide rail, so that a navigation system can be simplified; because hang on the power line, it is more stable to patrol the line. An encoder, a motor reducer and an angular displacement sensor are arranged in the on-line electric walking mechanism, so that the flying type multi-rotor overhead transmission line equipment can automatically adapt to sliding, climbing, protecting and crossing horizontal obstacles in a gear section.
The pressing mechanism in the design of the invention can prevent the flying-away type multi-rotor circuit inspection device from falling off the electric wire in the online inspection process, thereby effectively protecting the device.
The automatic inspection device of the flying type multi-rotor overhead transmission line designed by the invention is wired on a ground wire and inspects other phase lines. And finishing flying mode replacement on the ground wire to cross over obstacles such as a vibration damper, a tower head and the like.
Drawings
Fig. 1 is a schematic perspective view of a flying-away type multi-rotor-wing overhead transmission line automatic inspection device.
Fig. 2 is a three-dimensional schematic labeling diagram of the automatic inspection device for the flying multi-rotor overhead transmission line.
Fig. 3 and 4 are schematic circuit signals in the invention.
Fig. 5 is a schematic view of the mechanism of the on-line traveling module of the present invention.
Fig. 6 is a schematic view of the lift drive mechanism of the present invention.
Fig. 7 is a schematic view of a pressing mechanism in the elevating driving device of the present invention.
Fig. 8 is a schematic view showing a first process of crossing the stockbridge damper when the flying six-rotor line patrol unmanned aerial vehicle works.
Fig. 9 is a schematic diagram of a second process of crossing the stockbridge damper when the flying six-rotor line patrol unmanned aerial vehicle works.
Fig. 10 is a schematic diagram showing a third process of crossing the stockbridge damper when the flying six-rotor line patrol unmanned aerial vehicle works.
Fig. 11, 12 and 13 are schematic diagrams of a crossing tower and a wire clamp process when the flying six-rotor line patrol unmanned aerial vehicle works.
Fig. 14 is a schematic flow chart of obstacle surmounting.
Wherein: 1-box, 2-rotor motor, 3-rotor, 4-rotor guard shields, 5-rotor arm rotating head, 6-camera, 7-rotor arm, 8-pinch roller, 9-pinch roller member, 10-from the driving wheel, 11-walking wheels, 12-action wheel flange, 13-arm, 14-slider, 15-lead screw, 16-lift driving motor, 17-walking wheel bearing, 18-encoder, 19-encoder flange. 20-motor reducer, 21-traveling wheel shaft, 22-traveling driving motor, 23-driven gear, 24-driving gear, 25-lifting driving motor shaft, 26-sliding rail, 27-pressing wheel, 28-forward stroke switch, 29-reverse stroke switch, 30-power module, 100-ground wire, 200-on-line traveling device, 300-lifting pressing mechanism, 400-shockproof hammer and 500-wire clamp;
detailed description of the preferred embodiments.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention; it is to be understood that the described embodiments are only a few, and not all, of the present invention; all other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Examples are given.
The core of the invention is to provide a flying type multi-rotor automatic inspection device for overhead transmission lines, which is used for inspecting electric lines so as to solve the problems that the existing circuit inspection equipment is heavy in quality, inflexible in line inspection process, high in energy consumption, short in endurance time, incapable of crossing tower lines and the like, and the manual inspection strength is reduced.
Another core of the invention is to provide a wire inspection device with mutually converted flying modes.
Referring to fig. 2-7, the automatic inspection device for the flying multi-rotor overhead transmission line comprises an octahedral hollow box body (1) formed by connecting two identical octahedral thin plates with a six-rotor arm rotary joint (5) through bolts; the rotor arm (7) is connected with the rotor arm rotating joint (5) and can rotate around the box body, so that the rotor arm can be opened and retracted; 6 rotor arms (7) are arranged on the box body (1); each rotor arm (7) is provided with a rotor motor (3); a flight control module, a walking control module, an internal state sensing module, a wireless communication module and a power supply module (30) are arranged in the box body (1); an external environment monitoring module (6) is arranged at the upper end of the box body (1); the internal state sensing module and the wireless communication module which are arranged in the box body (1) are electrically connected with the signal input end of the external environment monitoring module (6); the upper end of the box body (1) is provided with a mechanical arm (13) positioned on one side of the ground wire (100) and an electric travelling mechanism contacted with the ground wire (100); the upper end of the box body (1) is provided with a pressing mechanism with mutually matched electric traveling mechanisms; the electric walking mechanism, the pressing mechanism and the rotor motor (3) are respectively connected with the output end of the control module; the wireless communication module is electrically connected with the control module; the output end of the power supply module (30) is respectively connected with the control module wireless communication module, the internal state sensing module and the wireless communication module.
The electric walking mechanism comprises a mechanical arm (13) arranged on one side of the ground wire (100), a walking wheel (11) contacted with the ground wire (100) and at least two driven wheels (10) contacted with the ground wire; the mechanical arm (13) is provided with a walking motor (22), a bearing (17), an encoder (18), an encoder connecting disc (19), a wheel shaft (21) and a motor reducer (20). A traveling motor flange (12), a temperature sensor, a speed sensor and an angular displacement sensor; the temperature sensor, the speed sensor and the angular displacement sensor are electrically connected with the output end of the power supply (30); the walking motor (22) is electrically connected with the control system.
The pressing mechanism comprises a guide rail device (26) arranged on the box body (1) and a sliding block (14) with threads; a lead screw (15) which is matched with the slide block (14); the compression wheel (27) and the compression wheel (10) are matched with the travelling wheel (11); a gear (22) is arranged at the tail end of the lead screw (15) and is matched with a gear (23) arranged on a shaft of the lifting motor to form gear set transmission; travel switch modules (28) and (29) are installed on the guide rail device (26); the lifting driving device is provided with a speed sensor and a rotating speed sensor and is used for detecting the speed and the rotating speed of the lifting driving motor; the travel switch modules (28) and (29) are electrically connected with the output end of the control module through a lifting driving motor (16). The speed sensor and the rotating speed sensor are electrically connected with the output end of the power supply (30).
According to the automatic inspection device of many rotors of formula of walking overhead transmission line, including inside state perception module, inside perception module, including many rotors of when patrolling and examining equipment motion state discernment. The method specifically comprises the steps of detecting the position of the multi-rotor-wing inspection equipment during inspection, detecting each current signal inside the multi-rotor-wing inspection equipment and detecting the motion state of the inspection equipment, specifically 1, detecting the current of each driving shaft, and judging the motion state according to each detected current; 2. detecting the position state of the pressing mechanism when the pressing mechanism reaches the limit; 3. and the position state of the walking wheel is detected, and the internal sensing module is electrically connected with the output end of the power supply device (30).
According to the automatic inspection device of many rotors overhead transmission line of formula of flying away, its characterized in that: the system also comprises an external environment monitoring module, wherein the external environment monitoring module (6) comprises global environment identification and local environment identification; the global environment identification comprises the whole line patrol process, and consists of a GPS positioning sensor and a high-definition camera, and the whole line patrol process of the patrol equipment is detected in real time to determine the global environment of the patrol line of the patrol equipment; the local environment recognition means the line patrol process of the patrol inspection equipment, and specifically comprises a distance measurement sensor and an inclination angle sensor, wherein the distance measurement and positioning of the shockproof hammer and the tower line are completed by the distance measurement sensor, and the inclination angle sensor is used for recognizing the gradient of the current operation of the patrol inspection equipment. The ground external environment monitoring module (6) is electrically connected with the output end of the power supply module (30).
The automatic inspection device is characterized by comprising a control system, an inspection system, a navigation system, a mechanical system and a base station management system.
According to the automatic inspection device of many rotors of formula of walking overhead transmission line, its characterized in that includes control system, system of patrolling and examining, navigation, mechanical system and basic station management system and includes speedtransmitter, altitude sensor, gyroscope, GPS orientation module, ultrasonic sensor, baroceptor, rotational speed sensor, angle displacement sensor, pressure sensor. And a distance measuring sensor.
As shown in fig. 2, 3, 4, 8-14, the obstacle crossing process of the automatic inspection device for the flying multi-rotor overhead transmission line is as follows.
S1, the flying type multi-rotor-wing inspection device is controlled by a gyroscope for sensing flying postures, a GPS positioning module, an ultrasonic sensor, an air pressure sensor and other functional sensors and a control circuit to take off from the ground to be close to the ground wire 100, and is hung on the ground wire under the guidance of an upper wire guiding device and a lower wire guiding device; a control circuit in the control system controls the rotor motor to stop working, and then the control circuit in the control system controls the walking motor and the pressing motor in the pressing mechanism to start working; an electric travelling mechanism in the flying type multi-rotor-wing inspection device travels on the ground wire, and a pressing mechanism is matched with an on-line travelling mechanism to press the electric wire; global environment recognition, local environment recognition and state recognition of a flying type multi-rotor-wing inspection device in a navigation system in the box body start to work, and whether a stockbridge damper or an approaching pylon is detected or not is judged according to a high-definition camera, a GPS positioning module and a ranging sensor; if yes, the process goes to S2, otherwise, the judgment of walking on the line is continued.
S2, when the shockproof hammer is detected by the GPS positioning module and the ranging sensor, the GPS positioning module and the ranging sensor feed back signals to the control system; the control system controls a compaction motor in the compaction mechanism through a control circuit according to a feedback signal, so that the slide block (14) moves downwards to reach a reverse stroke switch (29), the drive motor stops working, and a compaction wheel in the lifting drive mechanism is lowered to the lowest point; the multi-rotor inspection equipment in the flying mode is driven by the online upper traveling wheels to pass through the vibration damper.
S2, 2, when detecting that the access tower is connected, the GPS positioning module and the ranging sensor feed back signals to the control system; the control system controls the walking motor to stop working through the control circuit according to the feedback signal, then controls the compaction motor to work through the control circuit in the control system, the compaction motor works to enable the sliding block (14) to move downwards to reach the position of the reverse stroke switch (29), and the lifting motor stops working; finally, the control circuit in the control system controls the rotor motor to start working. And then, the flying type multi-rotor-wing inspection device flies off the tower.
S3, 1, when the flying multi-rotor inspection equipment crosses the shockproof hammer, the GPS positioning module and the ranging sensor detect signals and send the signals to the control system, and the control system controls the lifting motor in the lifting drive mechanism through the control circuit according to the feedback signals; the lifting motor starts to work, the driving slide block (14) reaches the positive stroke switch (28), and the lifting driving motor stops working. A pressing wheel and a walking wheel in the pressing mechanism are matched to press the electric wire. Make many rotors of formula of flying away patrol and examine equipment and continue to patrol and examine the circuit.
S3, 2 the rotor motor provides power, and the formula of fleing many rotors is patrolled and examined equipment and is leaped the tower head.
S4, 1, repeating the process of S1; an electric walking mechanism in the flying type multi-rotor polling device continuously walks on the ground; global environment identification, local environment identification and the multi-rotor-wing inspection device state identification of the flying type in the box body navigation system start working, and whether a stockbridge damper or an approaching pylon is detected or not is judged according to a high-definition camera, a GPS positioning module and a ranging sensor.
S2 and 2, re-hanging the wire of the flying type multi-rotor inspection equipment. The process of S1 is repeated.
In conclusion, the invention provides a flying six-rotor line patrol unmanned aerial vehicle; with the help of the multi-module synergistic effects of the camera, the GPS and the like, the flying type six-rotor line patrol unmanned aerial vehicle can improve the working efficiency of the patrol line and improve the economic benefit, and meanwhile, the cost of manual patrol is reduced, and the manpower, material resources and financial resources are saved.
The above embodiments are the preferred embodiments of the present invention; the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which are made without departing from the spirit and principle of the present invention are all equivalent substitutions and are within the scope of the present invention.
Claims (6)
1. The utility model provides a automatic inspection device of many rotors of formula of flying away overhead transmission line which characterized in that: the rotor wing type wind power generator comprises an octahedral hollow box body (1) formed by connecting two identical octahedral thin plates with a plurality of rotor wing arm rotating joints (5) through screws, wherein at least 4 rotor wing motors (3) are arranged on the box body (1); a flight control module, a walking control module, an internal state sensing module, a wireless communication module and a power supply module (30) are arranged in the box body (1); an external environment monitoring module (6) is arranged at the upper end of the box body (1); the internal state sensing module and the wireless communication module which are arranged in the box body (1) are electrically connected with the signal input end of the external environment monitoring module (6); the upper end of the box body (1) is provided with a mechanical arm (13) positioned on one side of the ground wire (100) and an electric travelling mechanism contacted with the ground wire (100); the upper end of the box body (1) is provided with a pressing mechanism with mutually matched electric traveling mechanisms; the electric walking mechanism, the pressing mechanism and the rotor motor (3) are respectively connected with the output end of the control system; the wireless communication module is electrically connected with the control system; the output end of the power supply module (30) is respectively connected with the control module, the internal state sensing module and the wireless communication module.
2. The automatic inspection device of many rotors of formula of flying away overhead transmission line according to claim 1, its characterized in that: the electric walking mechanism comprises a mechanical arm (13) arranged on one side of the ground wire (100), a walking wheel (11) contacted with the ground wire (100) and at least two driven wheels (10) contacted with the ground wire; the mechanical arm (13) is provided with a walking motor (22), a bearing (17), an encoder (18), an encoder connecting disc (19), a walking wheel shaft (21) and a motor reducer (20),
a traveling motor flange (12), a temperature sensor, a speed sensor and an angular displacement sensor; the walking motor (22) is electrically connected with the control system.
3. The automatic inspection device of many rotors of formula of flying away overhead transmission line according to claim 1, its characterized in that: the pressing mechanism comprises a guide rail device (26) arranged on the box body (1) and a sliding block (14) with threads; a lead screw (15) which is matched with the slide block (14); the compression wheel (27) and the compression wheel (10) are matched with the travelling wheel (11); a gear (23) is arranged at the tail end of the screw rod (15) and is matched with a gear (24) arranged on a lifting motor shaft to form gear set transmission; travel switch modules (28) and (29) are installed on the guide rail device (26); the lifting driving device is provided with a speed sensor and a rotating speed sensor and is used for detecting the speed and the rotating speed of the lifting driving motor; the speed sensor and the rotating speed sensor are electrically connected with the output end of the power supply (30): the travel switch modules (28) and (29) and the lifting drive motor (16) are electrically connected with the output end of the control module.
4. The automatic inspection device of many rotors of formula of flying away overhead transmission line according to claim 1, its characterized in that: the internal state sensing module comprises a multi-rotor-wing inspection device and is used for identifying the motion state of the multi-rotor-wing inspection device; the method specifically comprises the steps of detecting the position of multi-rotor inspection equipment during inspection, detecting each internal current signal and detecting the motion state of the inspection equipment; the internal sensing module is electrically connected with the output end of the power supply device (30).
5. The automatic inspection device of many rotors of formula of flying away overhead transmission line according to claim 1, its characterized in that: the system also comprises an external environment monitoring module, wherein the external environment monitoring module (6) comprises global environment identification and local environment identification; the external environment monitoring module (6) is electrically connected with the output end of the power supply module (30).
6. The automatic inspection device of many rotors of formula of flying away overhead transmission line according to claim 1, its characterized in that: the system comprises a control system, an inspection system, a navigation system, a mechanical system and a base station management system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010232777.6A CN111355186A (en) | 2020-03-28 | 2020-03-28 | Automatic inspection device of formula of flying away many rotors overhead transmission line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010232777.6A CN111355186A (en) | 2020-03-28 | 2020-03-28 | Automatic inspection device of formula of flying away many rotors overhead transmission line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111355186A true CN111355186A (en) | 2020-06-30 |
Family
ID=71196429
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010232777.6A Pending CN111355186A (en) | 2020-03-28 | 2020-03-28 | Automatic inspection device of formula of flying away many rotors overhead transmission line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111355186A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112152144A (en) * | 2020-09-21 | 2020-12-29 | 石河子大学 | Flying snake high-voltage transmission line maintenance robot system and control method |
| CN112591087A (en) * | 2020-12-18 | 2021-04-02 | 海南电网有限责任公司琼海供电局 | Unmanned aerial vehicle for detecting power cable faults |
| CN112748184A (en) * | 2020-12-28 | 2021-05-04 | 海南电网有限责任公司琼海供电局 | A ultrasonic wave hidden danger detection device for distribution network |
| CN113013785A (en) * | 2021-04-21 | 2021-06-22 | 石河子大学 | Power grid maintenance and unmanned patrol integrated operation platform |
| CN113253751A (en) * | 2021-01-31 | 2021-08-13 | 石河子大学 | Rapid line falling control method for overhead power transmission cable flying type inspection robot |
| CN113328381A (en) * | 2021-06-08 | 2021-08-31 | 国网河北省电力有限公司邱县供电分公司 | Cable inspection device |
| CN112748184B (en) * | 2020-12-28 | 2024-04-26 | 海南电网有限责任公司琼海供电局 | Ultrasonic hidden trouble detection device for power distribution network |
-
2020
- 2020-03-28 CN CN202010232777.6A patent/CN111355186A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112152144A (en) * | 2020-09-21 | 2020-12-29 | 石河子大学 | Flying snake high-voltage transmission line maintenance robot system and control method |
| CN112591087A (en) * | 2020-12-18 | 2021-04-02 | 海南电网有限责任公司琼海供电局 | Unmanned aerial vehicle for detecting power cable faults |
| CN112748184A (en) * | 2020-12-28 | 2021-05-04 | 海南电网有限责任公司琼海供电局 | A ultrasonic wave hidden danger detection device for distribution network |
| CN112748184B (en) * | 2020-12-28 | 2024-04-26 | 海南电网有限责任公司琼海供电局 | Ultrasonic hidden trouble detection device for power distribution network |
| CN113253751A (en) * | 2021-01-31 | 2021-08-13 | 石河子大学 | Rapid line falling control method for overhead power transmission cable flying type inspection robot |
| CN113013785A (en) * | 2021-04-21 | 2021-06-22 | 石河子大学 | Power grid maintenance and unmanned patrol integrated operation platform |
| CN113328381A (en) * | 2021-06-08 | 2021-08-31 | 国网河北省电力有限公司邱县供电分公司 | Cable inspection device |
| CN113328381B (en) * | 2021-06-08 | 2022-09-27 | 国网河北省电力有限公司邱县供电分公司 | Cable inspection device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111355186A (en) | Automatic inspection device of formula of flying away many rotors overhead transmission line | |
| US10591927B2 (en) | Smart mobile detection platform for greenhouse | |
| CN103825338B (en) | High-voltage line inspection robot independently locates control device and the method for docking charging | |
| CN101807080B (en) | Robot airship control system for overhead line inspection and control method thereof | |
| CN109066473A (en) | A kind of transmission line high-altitude line walking intelligent inspection robot and method for inspecting | |
| CN107291081A (en) | Rail vehicle inspection trolley | |
| CN106655006A (en) | Transmission line inspection robot obstacle-crossing device | |
| CN105835063A (en) | Indoor inspection robot system for substation and inspection method for indoor inspection robot system | |
| CN106786170A (en) | Transmission line polling robot | |
| CN212626849U (en) | Automatic inspection device of formula of flying away many rotors overhead transmission line | |
| CN212500734U (en) | Intelligent inspection robot | |
| CN111827108A (en) | Be applied to dual-purpose intelligent robot in land and air that bridge crack detected | |
| CN102063746A (en) | Program-controlled patrol machine and program-controlled patrol method for transformer station | |
| CN205998127U (en) | A kind of flying robot of bridge machinery | |
| CN112563965B (en) | Power transmission line inspection robot and method | |
| CN111313322A (en) | Transmission line inspection robot with aerial crossing capability | |
| CN206757405U (en) | Unmanned plane high-tension cable automatic running on transmisson line system | |
| CN214648679U (en) | Automatic inspection robot for wind energy wind tower and solar power station | |
| CN113253751B (en) | Rapid line falling control method for overhead power transmission cable flying type inspection robot | |
| CN112977819B (en) | Power transmission line inspection flying robot comprising double machines | |
| CN117144792A (en) | Bridge crack detection robot and working method thereof | |
| CN202025364U (en) | Programmable control inspection machine for substation | |
| CN214267595U (en) | Agricultural inspection robot walking on strop cable | |
| CN210570803U (en) | Electric power system monitoring and collecting device | |
| CN113997262A (en) | Air-ground inspection robot and working method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |