CN111515969A - Inspection robot device and inspection system - Google Patents
Inspection robot device and inspection system Download PDFInfo
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- CN111515969A CN111515969A CN202010338736.5A CN202010338736A CN111515969A CN 111515969 A CN111515969 A CN 111515969A CN 202010338736 A CN202010338736 A CN 202010338736A CN 111515969 A CN111515969 A CN 111515969A
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- electric energy
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- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
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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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
Abstract
The invention provides an inspection robot device and an inspection system, wherein the device comprises a spherical shell, an energy storage battery, a solar battery module and a travelling mechanism; the solar photovoltaic cell module comprises a solar energy collecting film layer and a solar energy conversion circuit, wherein the solar energy collecting film layer is coated on the outer side of the spherical shell and is used for collecting solar energy, converting the solar energy into electric energy through the solar energy conversion circuit and inputting the electric energy into the energy storage cell; the inspection robot device is hung on a preset lead of the power transmission line through the U-shaped opening; the walking mechanism is arranged in the spherical shell and used for driving the inspection robot device to walk on a preset lead according to the electric energy provided by the energy storage battery.
Description
Technical Field
The invention relates to the technical field of power transmission line monitoring, in particular to an inspection robot device and an inspection system.
Background
Along with extra-high voltage power grid construction, the tower height is higher and higher, and artifical ground inspection is more and more difficult. Meanwhile, due to the reasons of distance, visual angle, shielding and the like, the defects of the upper part of the wire and the top end of the tower cannot be seen by the artificial ground line patrol. Under specific meteorological conditions, the manual tower climbing inspection does not have operation conditions. The external force damage is also frequent in places with intensive personnel activities, and the external force damage is difficult to find and stop in time due to the limited number of the polling personnel and the limited polling frequency.
The quality of manual inspection also depends on the responsibility of inspection personnel, and the inspection arrival rate is difficult to ensure. In addition, with the rise of labor cost in China, many labor-intensive enterprises begin to convert from 'robot to robot', a large number of robot manufacturers appear in China, and industrial robots become a new industry.
However, the existing power transmission line inspection robot has large weight, is difficult to get on and off the line, has short online operation time and is difficult to realize practicability; the inspection robot needs to be developed, which is microminiature, light in weight and capable of running on a ground wire, so that inspection of lines, hardware fittings, insulators, pole towers and line corridors is guaranteed in an operation mode of short-term online inspection and long-term stay of the pole towers, the problems of the conventional inspection robot are solved, and the practicability of inspection of the robot is realized.
Disclosure of Invention
The invention aims to provide an inspection robot device and an inspection system, which are used for automatically walking on a power transmission line, and simultaneously adopt a more efficient power supply mode and structure, ensure all-weather power supply of a robot and solve the problems of discharge effect and the like faced by the robot in the work at high altitude.
In order to achieve the purpose, the inspection robot device provided by the invention specifically comprises a spherical shell, an energy storage battery, a solar battery module and a travelling mechanism; the solar photovoltaic cell module comprises a solar energy collecting film layer and a solar energy conversion circuit, wherein the solar energy collecting film layer is coated on the outer side of the spherical shell and is used for collecting solar energy, converting the solar energy into electric energy through the solar energy conversion circuit and inputting the electric energy into the energy storage cell; the inspection robot device is hung on a preset lead of the power transmission line through the U-shaped opening; the walking mechanism is arranged in the spherical shell and used for driving the inspection robot device to walk on a preset lead according to the electric energy provided by the energy storage battery.
In the inspection robot device, preferably, the traveling mechanism includes a body support, a driving traveling wheel, a driving wheel driving mechanism, a driven wheel, and a driven wheel position adjusting mechanism; the driving travelling wheel, the driven wheel travelling mechanism, the driving wheel driving mechanism and the driven wheel position adjusting mechanism are fixed in the spherical shell through the body support; the driving wheel driving mechanism is respectively connected with the driving travelling wheels and the energy storage battery and is used for driving the driving travelling wheels to rotate according to electric energy provided by the energy storage battery; the driven wheel is connected with the body bracket through the driven wheel position adjusting mechanism, is arranged opposite to the driving travelling wheel, is used for combining with the driving travelling wheel to clamp a preset conducting wire on a transmission line, and is matched with the driving travelling wheel to rotate when the driving travelling wheel operates; and the driven wheel position adjusting mechanism is used for adjusting the clamping force between the driven wheel travelling mechanism and the driving travelling wheel.
In the inspection robot device, preferably, the driven wheel position adjustment mechanism includes a spring and a fixing member; one end of the spring is connected with the driven wheel, and the other end of the spring is fixed on the body bracket through the fixing element; the spring is used for pressing the driven wheel to a preset lead according to preset elasticity, so that the driven wheel and the driving travelling wheel are combined to clamp the preset lead on the transmission line.
In the inspection robot device, preferably, the device further includes an electric energy monitoring module, and the electric energy monitoring module is configured to monitor the electric energy output quantity of the solar energy conversion circuit and the remaining electric energy information in the energy storage battery; and adjusting the conversion rate of converting solar energy into electric energy by the solar energy conversion circuit according to the residual electric quantity information of the energy storage battery and the electric energy output quantity of the solar energy conversion circuit.
In the inspection robot device, preferably, the device further includes an image capturing sensor; the spherical shell is provided with a through hole at a preset position, and the image acquisition sensor acquires image data in a preset direction through the through hole.
In the inspection robot device, preferably, the device further includes a processing chip; the processing chip is used for acquiring the image data, acquiring characteristic information in the image data according to an image analysis method, and comparing the characteristic information with preset alarm information; and generating an alarm signal according to the comparison result.
In the inspection robot device, preferably, the device further includes an environment detection sensor; the environment detection sensor is used for acquiring environment data of the inspection robot device; the processing chip compares the environmental data with a preset threshold value and generates a prompt signal according to a comparison result; wherein the environment detection sensor includes: the position detection sensor, the inclination angle sensor, the ultrasonic sensor, the temperature and humidity sensor and the infrared detection sensor.
In the inspection robot device, preferably, the inspection robot device further includes an eddy current sensor, and the eddy current sensor is configured to detect a wire in a traveling direction of the inspection robot device and generate a strand breakage detection signal; and the processing chip compares the broken strand detection signal with a preset broken strand detection threshold value and generates an alarm signal according to a comparison result.
The invention also provides an inspection system comprising the inspection robot device, and the system also comprises a wireless charging nest arranged on a preset lead of a power transmission line; the inspection robot device also comprises a wireless charging receiving module, and the wireless charging receiving module is used for storing the received electric energy into the energy storage battery; the wireless charging nest comprises a fixed module, a solar cell module, an energy storage module and a wireless charging and discharging module; the fixing module is used for fixing the wireless charging nest on a preset wire, and the radial cross section of the fixing module is smaller than a U-shaped opening on the spherical shell; the solar cell module is used for converting solar energy into electric energy and storing the electric energy into the energy storage module; the wireless charging and discharging module is used for inputting the electric energy in the energy storage module to the inspection robot through the wireless charging and receiving module.
In the inspection system, preferably, the inspection robot further comprises a data transmission module, and the data transmission module is used for outputting data acquired by the inspection robot device; the wireless charging nest further comprises a relay, and the relay is used for receiving the data collected by the inspection robot device and forwarding the data to a preset server.
In the above-mentioned system of patrolling and examining, it is preferred that wireless nest of charging still contains the wire and gets can the device, the wire is got can the device and is used for gathering the electric energy on predetermined wire, and will the electric energy is deposited in the energy storage module.
In the inspection system, preferably, the wireless charging nest further comprises a detection module, and the detection module monitors the electric energy output quantity of the solar battery module to the energy storage module and the information of the residual electric quantity in the energy storage module; and adjusting the electric energy output quantity of the solar battery module to the energy storage module according to the residual electric quantity information of the energy storage module and the electric energy output quantity of the solar battery module.
The invention has the beneficial technical effects that: compared with the manual tower climbing inspection, the robot inspection can reduce the labor intensity of the manual inspection, reduce the danger of the manual tower climbing inspection, reduce the operation and maintenance cost, improve the inspection quality, the inspection flexibility and the intelligent level of the inspection, ensure the safe operation of a power grid, and have huge economic and social benefits. The inspection robot can greatly shorten the inspection period and eliminate the problems caused by the long inspection period, thereby reducing the cost of regular manual inspection and the power charge loss possibly caused by power failure. An important objective of robot inspection is to find early defects of the power transmission line in time so as to remind maintainers of overhauling in time, thereby avoiding major accidents and reducing negative social influence caused by power failure.
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 principles of the invention. In the drawings:
fig. 1A and 1B are schematic structural views of an inspection robot device according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a traveling mechanism according to an embodiment of the present invention;
fig. 3 is a schematic view of an application structure of an inspection robot device according to an embodiment of the present invention;
fig. 4 is a schematic view of an installation structure of an image capturing sensor according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an inspection system according to an embodiment of the present invention;
fig. 6 is a schematic view of an application structure of the inspection system according to an embodiment of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be provided with reference to the drawings and examples, so that how to apply the technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented. It should be noted that, unless otherwise specified, the embodiments and features of the embodiments of the present invention may be combined with each other, and the technical solutions formed are within the scope of the present invention.
Additionally, the steps illustrated in the flow charts of the figures may be performed in a computer system such as a set of computer-executable instructions and, although a logical order is illustrated in the flow charts, in some cases, the steps illustrated or described may be performed in an order different than here.
Referring to fig. 1A and 1B, an inspection robot device according to an embodiment of the present invention includes a spherical housing, an energy storage battery, a solar cell module, and a traveling mechanism; the solar photovoltaic cell module comprises a solar energy collecting film layer and a solar energy conversion circuit, wherein the solar energy collecting film layer is coated on the outer side of the spherical shell and is used for collecting solar energy, converting the solar energy into electric energy through the solar energy conversion circuit and inputting the electric energy into the energy storage cell; the inspection robot device is hung on a preset lead of the power transmission line through the U-shaped opening; the walking mechanism is arranged in the spherical shell and used for driving the inspection robot device to walk on a preset lead according to the electric energy provided by the energy storage battery. Therefore, the special discharge risk of a power transmission scene is effectively reduced by utilizing the spherical structure; secondly, adopt solar charging can make to patrol and examine the robot and have longer time of endurance, reduce transmission line and erect high cost and high risk that traditional base of charging brought, also reduced the staff for patrol and examine the high altitude construction risk that the robot charges and comes, moreover, utilize solar energy can make to patrol and examine the robot and also can charge on the transmission line, timely electric quantity exhausts, also can supply under sunshine shines, avoids traditional robot under the electroless state, need get back the loaded down with trivial details high risk step of replenishing the electric energy.
Referring to fig. 2, in an embodiment of the present invention, the traveling mechanism may include a body bracket, a driving traveling wheel, a driving wheel driving mechanism, a driven wheel and a driven wheel position adjusting mechanism; the driving travelling wheel, the driven wheel travelling mechanism, the driving wheel driving mechanism and the driven wheel position adjusting mechanism are fixed in the spherical shell through the body support; the driving wheel driving mechanism is respectively connected with the driving travelling wheels and the energy storage battery and is used for driving the driving travelling wheels to rotate according to electric energy provided by the energy storage battery; the driven wheel is connected with the body bracket through the driven wheel position adjusting mechanism, is arranged opposite to the driving travelling wheel, is used for combining with the driving travelling wheel to clamp a preset conducting wire on a transmission line, and is matched with the driving travelling wheel to rotate when the driving travelling wheel operates; and the driven wheel position adjusting mechanism is used for adjusting the clamping force between the driven wheel travelling mechanism and the driving travelling wheel. Therefore, the whole inspection robot can travel only by adopting one driving structure, namely a driving wheel driving mechanism, so that the equipment volume of the inspection robot is effectively reduced; meanwhile, the master-slave structure is adopted, and the adjustability of the position adjusting mechanism of the driven wheel is utilized, so that the inspection robot can be more convenient when a worker installs the inspection robot, and the working time of high-altitude operation is effectively reduced.
In the above embodiment, the driven wheel position adjustment mechanism may include a spring and a fixing member; one end of the spring is connected with the driven wheel, and the other end of the spring is fixed on the body bracket through the fixing element; the spring is used for pressing the driven wheel to a preset lead according to preset elasticity, so that the driven wheel and the driving travelling wheel are combined to clamp the preset lead on the transmission line; from this, utilize the elasticity of this application of spring will extrude extremely from the driving wheel on the wire to the cooperation action wheel realizes fixing the purpose on the wire of robot of patrolling and examining, and not only the structure is comparatively simple and practical, also lower on the energy consumption simultaneously, when further having promoted the continuation of the journey cycle of robot of patrolling and examining again, reduces staff's the installation degree of difficulty.
Referring to fig. 3, in an embodiment of the present invention, the apparatus further includes an electric energy monitoring module, where the electric energy monitoring module is configured to monitor an electric energy output amount of the solar energy conversion circuit and information of remaining electric energy in the energy storage battery; and adjusting the conversion rate of converting solar energy into electric energy by the solar energy conversion circuit according to the residual electric quantity information of the energy storage battery and the electric energy output quantity of the solar energy conversion circuit. Therefore, the utilization rate of solar energy can be effectively improved through the electric energy monitoring module; for example: when the residual electric quantity in the energy storage battery is low and the conversion rate of the solar energy to the electric energy is high, the redundant electric energy except the normal operation of the inspection robot can be utilized for storing energy; when the residual electric quantity in the energy storage battery is higher and is close to full charge, in order to avoid unnecessary damage of the battery caused by charging the energy storage battery continuously, the conversion rate of the solar energy conversion circuit can be reduced, and only the requirement of normal operation of the inspection robot is met; of course, how to reduce the conversion rate of the solar energy conversion circuit in actual operation can be realized by the prior art, and the invention is not described one by one again.
Referring to fig. 4, in an embodiment of the present invention, the apparatus may further include an image capturing sensor; the spherical shell is provided with a through hole at a preset position, and the image acquisition sensor acquires image data in a preset direction through the through hole. In this embodiment, the positions and sizes of the through holes can be selected according to actual needs, which is not limited herein; the image acquisition sensor can adopt a high-definition camera or other acquisition equipment meeting the requirements of images, and related technicians in the field can select the setting according to actual needs.
In the above embodiment, the apparatus may further include a processing chip, and the processing chip is used to implement data analysis; specifically, the processing chip is configured to obtain the image data, obtain feature information in the image data according to an image analysis method, and compare the feature information with preset alarm information; and generating an alarm signal according to the comparison result. In actual work, traditional data can be output to a remote server, and the remote server performs data analysis work; the embodiment aims to reduce the workload brought by the remote server when a large amount of data needs to be processed, and the characteristic comparison is completed at each inspection robot through the embodiment, so that the processing efficiency of the remote server is improved only by outputting the alarm signal to the remote server; obtaining characteristic information in the image data according to an image analysis method, and comparing the characteristic information with preset alarm information; the process of generating the alarm signal according to the comparison result can be realized by adopting the prior art, namely, the traditional process of processing data by the server is transferred to the inspection robot for processing; in this regard, the present invention does not describe the data analysis method in detail.
On the basis that the inspection robot is provided with the processing chip, in one embodiment of the invention, the device can also comprise an environment detection sensor; the environment detection sensor is used for acquiring environment data of the inspection robot device; the processing chip compares the environmental data with a preset threshold value and generates a prompt signal according to a comparison result; wherein the environment detection sensor includes: the position detection sensor, the inclination angle sensor, the ultrasonic sensor, the temperature and humidity sensor and the infrared detection sensor. The environment data can be used for effectively analyzing the condition of the inspection robot, and the position data measured by the position detection sensor can be combined to further analyze whether the wire of the inspection robot is abnormal, such as galloping and other conditions; therefore, the safety detection of the power transmission line is realized more comprehensively; as shown in the foregoing embodiments, in actual work, the processing function of the processing chip may not be needed, that is, only the collected environment data is sent to the remote server, and the present invention is not limited thereto, and those skilled in the art may select settings according to actual needs.
In an embodiment of the invention, the device may further include an eddy current sensor, and the eddy current sensor is configured to detect a wire in a traveling direction of the inspection robot device and generate a strand breakage detection signal; and the processing chip compares the broken strand detection signal with a preset broken strand detection threshold value and generates an alarm signal according to a comparison result. Specifically, the broken strand detection principle adopted by the eddy current sensor is as follows: when the ground wire is broken, starting the eddy current sensor to detect the broken strands of the ground wire when the robot walks along the ground wire; the eddy current sensor generates an alternating magnetic field through an exciting coil of alternating current, so that the surface of a transmission line generates an eddy current, and the eddy current can generate a magnetic field to act on the coil, so that the electrical parameters of the coil are changed, and the impedance and the voltage of the coil are changed. Therefore, when the eddy current is distorted due to a strand break of the ground wire, the defect position can be specified based on the position information of the robot when the distortion occurs.
Referring to fig. 5, the present invention further provides an inspection system including the inspection robot apparatus, the inspection system further including a wireless charging nest disposed on a predetermined wire of a power transmission line; the inspection robot device also comprises a wireless charging receiving module, and the wireless charging receiving module is used for storing the received electric energy into the energy storage battery; the wireless charging nest comprises a fixed module, a solar cell module, an energy storage module and a wireless charging and discharging module; the fixing module is used for fixing the wireless charging nest on a preset wire, and the radial cross section of the fixing module is smaller than a U-shaped opening on the spherical shell; the solar cell module is used for converting solar energy into electric energy and storing the electric energy into the energy storage module; the wireless charging and discharging module is used for inputting the electric energy in the energy storage module to the inspection robot through the wireless charging and receiving module. Therefore, the inspection robot can realize all-weather inspection operation by using the wireless charging as a supplement scheme of solar power supply, and the charging action can be completed by using the electric energy stored in the wireless charging nest even at night or in other rainy days. In the actual work, the staff can be according to actual need with wireless nest distributing type that charges is located patrol and examine on the robot patrols and examines the wire of highway section, fixed as fixed module by the preformed armor rods will wireless nest of charging is fixed on the power transmission line, can prevent to dwell the slip and the rotation of nest. Therefore, the inspection robot can complete charging work at each node, and the specific installation position and the number of the wireless charging nests can be set according to actual needs.
In order to facilitate that the inspection system cannot supplement electric energy through solar energy in extreme weather, please refer to fig. 6, in an embodiment of the present invention, the wireless charging nest further includes a wire energy-taking device, and the wire energy-taking device is configured to collect electric energy on a predetermined wire and store the electric energy in the energy storage module. The wire energy-taking device can adopt the existing induction type or the mode of connecting into a power transmission network and the like to finish the purpose of collecting electric energy, related technicians in the field can adopt the same or similar technology in the prior art to realize the purpose, and the invention does not further limit the specific structure of the wire energy-taking device. Because the inspection system can have more diversified energy taking modes, for this reason, in another embodiment of the present invention, the wireless charging nest may further include a detection module, and the detection module monitors the electric energy output amount from the solar battery module to the energy storage module and the information of the remaining electric energy in the energy storage module; and adjusting the electric energy output quantity of the solar battery module to the energy storage module according to the residual electric quantity information of the energy storage module and the electric energy output quantity of the solar battery module. The detection module is similar to the electric energy monitoring module of the inspection robot, and is used for judging whether the energy is acquired by a lead energy acquisition device or reducing the electric energy output quantity of the solar cell module to the energy storage module according to the residual electric quantity information of the energy storage module and the electric energy output quantity of the solar cell module; the specific implementation strategy can be set by persons skilled in the art, and the detailed description of the invention is omitted.
Referring to fig. 6 again, in the above embodiment, the inspection robot further includes a data transmission module, and the data transmission module is configured to output data collected by the inspection robot device; the wireless charging nest further comprises a relay, and the relay is used for receiving the data collected by the inspection robot device and forwarding the data to a preset server. Therefore, the wireless charging nest can also realize the function of a repeater, so that the inspection robot can still complete communication with a remote server when in a remote area or in poor signals, and data interaction is realized; therefore, the power requirement of the communication element on the inspection robot is reduced, the use and manufacturing cost of the inspection robot is greatly reduced, and the stability and the practicability of the inspection system are effectively improved.
The invention has the beneficial technical effects that: compared with the manual tower climbing inspection, the robot inspection can reduce the labor intensity of the manual inspection, reduce the danger of the manual tower climbing inspection, reduce the operation and maintenance cost, improve the inspection quality, the inspection flexibility and the intelligent level of the inspection, ensure the safe operation of a power grid, and have huge economic and social benefits. The inspection robot can greatly shorten the inspection period and eliminate the problems caused by the long inspection period, thereby reducing the cost of regular manual inspection and the power charge loss possibly caused by power failure. An important objective of robot inspection is to find early defects of the power transmission line in time so as to remind maintainers of overhauling in time, thereby avoiding major accidents and reducing negative social influence caused by power failure.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (12)
1. The inspection robot device is characterized by comprising a spherical shell, an energy storage battery, a solar battery module and a travelling mechanism;
the solar photovoltaic cell module comprises a solar energy collecting film layer and a solar energy conversion circuit, wherein the solar energy collecting film layer is coated on the outer side of the spherical shell and is used for collecting solar energy, converting the solar energy into electric energy through the solar energy conversion circuit and inputting the electric energy into the energy storage cell;
the inspection robot device is hung on a preset lead of the power transmission line through the U-shaped opening;
the walking mechanism is arranged in the spherical shell and used for driving the inspection robot device to walk on a preset lead according to the electric energy provided by the energy storage battery.
2. The inspection robot device according to claim 1, wherein the traveling mechanism includes a body bracket, a driving traveling wheel, a driving wheel driving mechanism, a driven wheel and a driven wheel position adjusting mechanism;
the driving travelling wheel, the driven wheel travelling mechanism, the driving wheel driving mechanism and the driven wheel position adjusting mechanism are fixed in the spherical shell through the body support;
the driving wheel driving mechanism is respectively connected with the driving travelling wheels and the energy storage battery and is used for driving the driving travelling wheels to rotate according to electric energy provided by the energy storage battery;
the driven wheel is connected with the body bracket through the driven wheel position adjusting mechanism, is arranged opposite to the driving travelling wheel, is used for combining with the driving travelling wheel to clamp a preset conducting wire on a transmission line, and is matched with the driving travelling wheel to rotate when the driving travelling wheel operates;
and the driven wheel position adjusting mechanism is used for adjusting the clamping force between the driven wheel travelling mechanism and the driving travelling wheel.
3. The inspection robot device according to claim 2, wherein the driven wheel position adjustment mechanism includes a spring and a securing element;
one end of the spring is connected with the driven wheel, and the other end of the spring is fixed on the body bracket through the fixing element; the spring is used for pressing the driven wheel to a preset lead according to preset elasticity, so that the driven wheel and the driving travelling wheel are combined to clamp the preset lead on the transmission line.
4. The inspection robot device according to claim 1, further comprising an electric energy monitoring module for monitoring the electric energy output quantity of the solar energy conversion circuit and the remaining electric energy information in the energy storage battery; and adjusting the conversion rate of converting solar energy into electric energy by the solar energy conversion circuit according to the residual electric quantity information of the energy storage battery and the electric energy output quantity of the solar energy conversion circuit.
5. The inspection robot device according to claim 1, wherein the device further includes an image acquisition sensor; the spherical shell is provided with a through hole at a preset position, and the image acquisition sensor acquires image data in a preset direction through the through hole.
6. The inspection robot device according to claim 5, wherein the device further includes a processing chip; the processing chip is used for acquiring the image data, acquiring characteristic information in the image data according to an image analysis method, and comparing the characteristic information with preset alarm information; and generating an alarm signal according to the comparison result.
7. The inspection robot device according to claim 6, wherein the device further includes an environmental detection sensor;
the environment detection sensor is used for acquiring environment data of the inspection robot device; the processing chip compares the environmental data with a preset threshold value and generates a prompt signal according to a comparison result;
wherein the environment detection sensor includes: the position detection sensor, the inclination angle sensor, the ultrasonic sensor, the temperature and humidity sensor and the infrared detection sensor.
8. The inspection robot device according to claim 6, further including an eddy current sensor for sensing a wire in a direction of travel of the inspection robot device to generate a broken strand detection signal; and the processing chip compares the broken strand detection signal with a preset broken strand detection threshold value and generates an alarm signal according to a comparison result.
9. An inspection system including the inspection robot device according to any of the claims 1 to 8, further including a wireless charging nest disposed on a predetermined wire of an electrical transmission line;
the inspection robot device also comprises a wireless charging receiving module, and the wireless charging receiving module is used for storing the received electric energy into the energy storage battery;
the wireless charging nest comprises a fixed module, a solar cell module, an energy storage module and a wireless charging and discharging module; the fixing module is used for fixing the wireless charging nest on a preset wire, and the radial cross section of the fixing module is smaller than a U-shaped opening on the spherical shell; the solar cell module is used for converting solar energy into electric energy and storing the electric energy into the energy storage module; the wireless charging and discharging module is used for inputting the electric energy in the energy storage module to the inspection robot through the wireless charging and receiving module.
10. The inspection system according to claim 9, wherein the inspection robot further includes a data transmission module for outputting data collected by the inspection robot device; the wireless charging nest further comprises a relay, and the relay is used for receiving the data collected by the inspection robot device and forwarding the data to a preset server.
11. The inspection system according to claim 9, wherein the wireless charging nest further includes a wire energy-harvesting device for harvesting electrical energy on a predetermined wire and storing the electrical energy in the energy storage module.
12. The inspection system according to claim 9, wherein the wireless charging nest further includes a detection module that monitors the amount of electric energy output from the solar cell module to the energy storage module and the information of the remaining amount of electric energy in the energy storage module; and adjusting the electric energy output quantity of the solar battery module to the energy storage module according to the residual electric quantity information of the energy storage module and the electric energy output quantity of the solar battery module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010338736.5A CN111515969A (en) | 2020-04-26 | 2020-04-26 | Inspection robot device and inspection system |
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| CN115133453A (en) * | 2022-06-15 | 2022-09-30 | 国网浙江省电力有限公司宁波供电公司 | Multi-line cooperative inspection robot intelligent management system |
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Application publication date: 20200811 |