CN111740345A - Power transmission line online inspection system and method with automatic obstacle crossing function - Google Patents
Power transmission line online inspection system and method with automatic obstacle crossing function Download PDFInfo
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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Abstract
The invention relates to an online inspection system and method for a power transmission line with an automatic obstacle crossing function, wherein the system comprises an S-shaped wire climbing robot, a communication device and a background control device, the S-shaped wire climbing robot comprises a robot body, a driver, a camera, a photoelectric distance measuring sensor, a mutual inductance electricity taking unit, an intelligent control unit and a power supply for supplying power to the whole S-shaped wire climbing robot, the driver, the camera, the photoelectric distance measuring sensor and the mutual inductance electricity taking unit are all connected with the intelligent control unit, the intelligent control unit is connected with the background control device through the communication device, and the robot body is wound in the power transmission line to be inspected in advance. Compared with the prior art, the online inspection system and the online inspection method for the power transmission line can span obstacles, combine autonomous walking of the robot with background manual control, effectively fill up the defects of manual and unmanned aerial vehicle operation, effectively improve inspection quality and inspection frequency, and improve working efficiency.
Description
Technical Field
The invention relates to the field of power transmission line inspection, in particular to a power transmission line online inspection system and method with an automatic obstacle crossing function.
Background
The long-distance transmission of electric energy depends on extra-high voltage transmission lines. Because the distribution points of the power transmission line are multi-faceted and wide, the terrain is complex, the natural environment is severe, the power transmission line body and the accessory facilities are exposed in the field for a long time, and the defects of strand breakage, abrasion, corrosion, vibration damper displacement, glass insulator spontaneous explosion, abnormal heating of the synthetic insulator and the like easily occur due to the influence of comprehensive factors such as continuous mechanical tension, electrical stress and the like, and the power transmission line body and the accessory facilities need to be repaired or replaced in time when necessary. In addition, as the channel environment of the transmission line is complex and changeable, once flying objects such as kite lines, color steel plates, agricultural sunshade yarns and the like are wound on the transmission line, line fault tripping is caused, and meanwhile, once a safe distance is broken through, line fault tripping also occurs by using large-scale machinery such as a pump truck crane and the like at various hidden danger points in a line protection area, so that safe and reliable operation of the transmission line of the main network frame in the Shanghai is directly influenced. Therefore, the power transmission line must be regularly inspected, and the running condition of the power transmission line, especially the running condition of the important power transmission line in Shanghai and the change condition of the channel environment are mastered and known at any time, so that the defects of the body and the hidden danger of the channel are timely found and eliminated, the occurrence of accidents is prevented, and the power supply safety is ensured.
The traditional ground manual inspection method has large workload and outstanding difficulty, and particularly, the inspection of the power transmission lines of large-span sections and three-span sections crossing the river is difficult to find local tiny defects, particularly tiny kite lines of foreign matters which often cause line tripping because of the limitation of manual visual angles during ground inspection. Along with unmanned aerial vehicle patrols line more and more obtains using, has effectively promoted the work efficiency and the quality of patrolling the line, nevertheless unmanned aerial vehicle patrols the line also to a certain extent and has had not enough, and it is big mainly to show to receive the high-voltage electromagnetic field interference, patrols and examines and often need be close to high pressure lead, ground wire, can appear remote control operation failure, the picture of the drawing unclear this moment. In addition, the cruising ability of the unmanned aerial vehicle is insufficient, the unmanned aerial vehicle is greatly influenced by the weather environment, the control is difficult to achieve, the control distance is limited to a certain degree, the unmanned aerial vehicle is limited by the region to be large, the no-fly region is more particularly in the Shanghai environment, and the wide applicability is insufficient.
Many achievements have been made in the aspect of automatic inspection devices for power transmission lines at home and abroad, but most of the achievements are kept in theoretical research, and the formed products have single functions, and only need live working or only need to remove ice and foreign matters.
The research in the field of inspection robots abroad started earlier, in 1988, Sawada et al, Tokyo, Japan, developed an optical fiber composite overhead ground wire (OPGW) inspection mobile robot, and in 1989 developed one prototype, as shown in FIGS. 1 and 2.
The device can climb along the ground wire (OPGW) by using a pair of driving wheels and a pair of clamping wheels, and can cross over obstacles such as a vibration damper, a spiral shock absorber and the like on the ground wire. When encountering the line tower, the device adopts a human-simulated climbing mechanism, firstly, the arc-shaped arms are unfolded and carried, the two ends of the arms hook the ground wires on the two sides of the line tower to form a guide rail, then the body slides to the other side of the line tower along the guide rail, and after the clamping wheels of the device tightly hold the ground wires on the other side of the line tower, the arc-shaped arms are folded and folded for the next use. A damage detection unit carried by the device detects the damage condition of an optical fiber composite overhead ground wire (OPGW) armor layer by adopting an eddy current analysis method and records detection data on a magnetic tape. The guide rail carried by the device is about 100kg, the device is overweight, and the device has higher requirement on battery power supply.
The development work of HQ LineROVer remote-controlled cars was started in 2000 by Serge Montambault et al, Kuibek Research Institute On electric, Canada. The HQLineROVer remote control car is shown in FIG. 3. The remote control trolley is initially used for clearing accumulated ice on a ground wire of a power transmission line, and is gradually developed into a multipurpose mobile platform for line inspection, maintenance and the like. The trolley adopts a flexible modular structure, can complete live-line work such as overhead line vision and infrared inspection, pressure joint state evaluation, lead and ground wire replacement, lead decontamination, deicing and the like by installing different working heads, and is subjected to multiple field tests on a 315kv power line with the working current of 800A. However, HQ LineROVer has no obstacle crossing capability and can only work on the power line between two line towers.
As shown in fig. 4 and 5, the extra-high voltage transmission line inspection robot with independent intellectual property rights developed by shenyang automation research institute of chinese academy of sciences has developed a live inspection test in cooperation with the super-high voltage office of china at 4/12 d 2006, and has successfully completed walking along the line on the 500kV extra-high voltage transmission line (two eastern liao lines) under its jurisdiction, but has no obstacle crossing capability.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an online power transmission line inspection system and an online power transmission line inspection method with an automatic obstacle crossing function.
The purpose of the invention can be realized by the following technical scheme:
the utility model provides a transmission line system of patrolling and examining on line with automatic function of hindering more, includes snakelike climbing line robot, communication device and backstage controlling means, snakelike climbing line robot includes robot body, driver, camera, photoelectric distance measuring sensor, mutual inductance gets power unit, intelligent control unit and for the power of whole snakelike climbing line robot power supply, driver, camera, photoelectric distance measuring sensor and mutual inductance get the power unit and all connect intelligent control unit, intelligent control unit passes through communication device connects backstage controlling means, the robot body twines in advance in waiting the transmission line of patrolling and examining.
Further, the snakelike climbing robot is integrated by a plurality of section units.
Further, the section unit comprises a section unit main body, a section unit driving micro motor and a section unit walking wheel, the section unit driving micro motor is connected with the section unit main body and the section unit walking wheel respectively, the section unit driving micro motor is connected with the intelligent control unit, the section unit is connected with the section unit through a joint elastic hinge, and the section unit driving micro motor forms the driver.
Further, be located the festival unit of snakelike head of climbing line robot includes camera, climbing tentacle, the rotatory micromotor of hook and festival unit main part, it connects respectively to save the unit main part the camera with the rotatory micromotor of hook, the rotatory micromotor of hook is connected the climbing tentacle, the camera with the rotatory micromotor of hook all connects the intelligent control unit.
Further, the camera is a two-dimensional rotary camera.
Furthermore, the intelligent control unit comprises a microprocessor, an I/O interface and a communication interface, wherein the microprocessor is connected with the camera through the I/O interface, and the microprocessor is connected with the communication device through the communication interface.
Further, the microprocessor is an STM32F417 series microprocessor.
Further, the head and the tail of the robot body are provided with the photoelectric distance measuring sensors.
Furthermore, the snakelike wire climbing robot is of a metal shell or a non-metal shell internal clamping metal mesh structure.
Furthermore, the mutual inductance electricity taking unit comprises a mutual inductance coil and a self-recovery protection circuit, the mutual inductance coil surrounds the outer side of the power transmission line, and the self-recovery protection circuit is respectively connected with the mutual inductance coil and the intelligent control unit.
Further, the self-recovery protection circuit controls voltage through a TVS tube.
Further, the snakelike line climbing robot is further provided with a motor protection circuit, and the motor protection circuit is respectively connected with the driver and the intelligent control unit.
The invention also provides a power transmission line online inspection method of the power transmission line online inspection system with the automatic obstacle crossing function, which comprises the following steps:
starting up: the background control device sends a starting control command, the snakelike wire climbing robot receives the starting control command and walks along the power transmission line to be inspected;
an image acquisition step: the snake-shaped climbing robot acquires images in real time through a camera and transmits the images to a background control device;
and (3) automatic obstacle crossing step: the snakelike climbing robot detects the relative distance between the obstacle and the snakelike climbing robot through the photoelectric distance measuring sensor and transmits the relative distance to the intelligent control unit, and the intelligent control unit avoids the obstacle by controlling the deflection flapping angles of drivers at the head and the tail of the snakelike climbing robot;
background monitoring: and the background management personnel check the line condition through the background control device and generate a corresponding control command.
Compared with the prior art, the invention has the following advantages:
(1) the snakelike wire climbing robot can run on line for a long time in a transmission line section through the mutual inductance electricity taking unit; the device can cross over barriers such as a strain clamp, a linear suspension string, a vibration damper, a spacer and the like through a camera, a photoelectric distance measuring sensor and an intelligent control unit; through communication device and backstage controlling means, realize the intelligent control to snakelike line climbing robot, independently walk with the robot and control with the backstage manual work and combine together, effectively fill the not enough of artifical and unmanned aerial vehicle operation, effectively promote to patrol quality and patrol the video frequency, improve work efficiency to produce huge economic benefits and social.
(2) The snakelike wire climbing robot adopts the section modular design, integrates section units, improves convenience, and reduces the influence on the installation of a power transmission line.
(3) The photoelectric distance measuring sensors arranged at the head and the tail of the snakelike wire climbing robot can flexibly adjust the spatial position and the attitude.
(4) The snakelike wire climbing robot has the advantages that the metal net structure is clamped in the metal shell or the nonmetal shell, the internal design of the robot is shielded, and the influence of the strong electromagnetic environment of a high-voltage line on the normal operation of internal equipment of the robot is avoided.
(5) According to the invention, the self-recovery protection circuit is arranged in the mutual inductance power taking unit, the voltage is controlled through the TVS pipe, the anti-surge impact is inhibited, the multi-stage protection such as lightning protection is realized, and the stable work of the mutual inductance power taking unit is protected.
(6) By the online inspection system for the power transmission line, background workers can conveniently judge the line condition and determine whether to maintain the line; meanwhile, the working state data of the robot can be checked in the background to determine whether to intervene in the motion of the robot.
Drawings
Fig. 1 is a first schematic diagram of a mobile robot for routing inspection of an optical fiber composite overhead ground wire in the background art;
fig. 2 is a second schematic diagram of a mobile robot for routing inspection of an optical fiber composite overhead ground wire in the background art;
FIG. 3 is a schematic diagram of an HQ LineROVer remote control car in the background art;
fig. 4 is a first schematic diagram of an inspection robot for an extra-high voltage transmission line in the background art;
fig. 5 is a second schematic diagram of an inspection robot for an extra-high voltage transmission line in the background art;
FIG. 6 is a schematic structural diagram of the transmission line online inspection system with an automatic obstacle crossing function according to the present invention;
FIG. 7 is a schematic view of a first structure of the snake-shaped wire climbing robot of the present invention;
FIG. 8 is a second structural diagram of the snake-shaped crawling robot of the present invention;
FIG. 9 is a schematic view of the working state of the snake-shaped wire climbing robot of the present invention;
FIG. 10 is a schematic structural diagram of an intelligent control unit according to the present invention;
FIG. 11 is a schematic diagram of a motor protection circuit of the present invention;
in the figure, 1, a snakelike wire climbing robot, 11, a section unit main body, 12, a section unit driving micro motor, 13, a section unit walking wheel, 14, a joint elastic hinge, 15, a climbing tentacle, 16, a two-dimensional rotating camera, 17, a claw rotating micro motor, 2, a communication device, 3, a background control device, 4 and a power transmission line.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
Example 1
This embodiment provides a transmission line system of patrolling and examining on line with automatic function of crossing obstacles, climb line robot 1 including snakelike, communication device 2 and backstage controlling means 3, snakelike line robot 1 that climbs includes the robot, the driver, the camera, photoelectric distance measuring sensor, mutual inductance gets the electric unit, intelligent control unit, motor protection circuit and the power for whole snakelike line robot 1 power supply that climbs, the driver, the camera, photoelectric distance measuring sensor and mutual inductance get the electric unit and all connect intelligent control unit, motor protection circuit connects driver and intelligent control unit respectively, intelligent control unit passes through communication device 2 and connects backstage controlling means 3, the robot twines in advance in the transmission line 4 that waits to patrol and examine.
The components are described in detail below.
1. Snakelike climbing robot 1
The snake-shaped climbing robot 1 adopts a snake-shaped motion mechanism and is integrated by a plurality of section units. The section unit comprises a section unit main body 11, a section unit driving micro motor 12 and a section unit walking wheel 13, the section unit driving micro motor 12 is respectively connected with the section unit main body 11 and the section unit walking wheel 13, the section unit driving micro motor 12 is connected with the intelligent control unit, the two section units are connected through a joint elastic hinge 14, and the section unit driving micro motor 12 forms a driver.
The section unit of the snake head of the snake-shaped wire climbing robot 1 comprises a camera, a climbing tentacle 15, a hook claw rotating micro motor 17 and a section unit main body 11, the section unit main body 11 is respectively connected with the camera and the hook claw rotating micro motor 17, the hook claw rotating micro motor 17 is connected with the climbing tentacle 15, and the camera and the hook claw rotating micro motor 17 are both connected with an intelligent control unit. The camera is a two-dimensional rotating camera 16.
The head and the tail of the robot body are both provided with photoelectric distance measuring sensors.
For the guarantee accuracy of patrolling and examining robot data collection, improve the reliability of wireless trafficability characteristic, snakelike line climbing robot 1's protective properties requirement reaches IP54 standard, possesses field work condition under the various environment, and whole robot adopts metal casing or non-metal casing internal clamp metal mesh form, plays the shielding effect to robot inner design, avoids high-voltage line forceful electric magnetic environment to influence the normal operating of robot inner equipment.
From the perspective of mechanism kinematics, the snakelike climbing robot 1 can realize rolling, creeping, crossing and obstacle avoidance, and the head end actuator and the tail end actuator have spatial position adjustment movement; from the angle of motion control, the snake-shaped climbing robot 1 has less freedom and forms an equipotential body with a lead; from the application angle, the snakelike climbing robot 1 has a small, compact and light mechanical structure, is easy to carry out the on-line operation, is convenient to carry and the like.
2. Mutual inductance electricity taking unit
The mutual inductance electricity taking unit comprises a mutual inductance coil and a self-recovery protection circuit, the mutual inductance coil surrounds the outer side of the power transmission line 4, and the self-recovery protection circuit is respectively connected with the mutual inductance coil and the intelligent control unit.
The robot gets electric energy from a high-voltage wire through mutual inductance, a mutual inductance coil gets alternating voltage from the wire, the current getting is controlled through a self-recovery protection circuit, and the current of a main loop is controlled to be below 3.0A, so that a protection circuit part can stably work within 1600A. TVS transient suppression and surge impact resistance, a 200V TVS tube is selected to clamp the voltage within 200V. The multi-stage protection of lightning protection, etc. and the switch voltage stabilizing part comprising regulating tube, reference voltage, sampling circuit, error amplifier circuit, etc. and the lithium battery is charged via the charging management IC.
The electromagnetic iron core is selected and obtained by the magnetic circuit ohm law, and the calculation expression is as follows:
to obtain:
to obtain:
in the above equation, the magnetic permeability μ of the magnetic circuit is not constant (varying with the excitation current), and is usually calculated by using the physical quantity of the magnetic field strength H, which is expressed by the following formula:
IN＝Hl (2)
when alternating current i is introduced into the iron core coil, variable magnetic flux is generated in the iron core coil, the reference direction of the variable magnetic flux can be determined by a right spiral rule, and part of the magnetic flux is closed when passing through the iron core, and the variable magnetic flux is called as main magnetic flux phi. The alternating magnetic flux generates an electromotive force, the magnitude and direction of which can be determined by the law of faraday-lenz electromagnetic induction.
The equation (3) is given as Φ ═ BS. The induced electromotive force U is proportional to the core sectional area.
U≈E＝4.44fNΦ (3)
And (3) obtaining the known wire current I, the iron size and material and the air gap length according to the formulas (1) and (2), and then calculating the output voltage U of the induction coil. Since μ is not constant (as a function of the excitation current), the size of the core can be estimated from the known current I and the measured induced electromotive force U.
3. Intelligent control unit
The intelligent control unit comprises a microprocessor, an I/O interface and a communication interface, the microprocessor is connected with the camera through the I/O interface, and the microprocessor is connected with the communication device 2 through the communication interface.
Based on low power consumption and low cost requirements, the microprocessor is an STM32F417 series microprocessor. The processor has a main frequency of 168MHz, the processing performance of the processor can reach 210MIPS under the working frequency, and the power consumption is only 38.6mA by 3.3V. The processor finishes image acquisition, sensor data acquisition and motor drive control by directly connecting the I/0 port with the camera to reduce peripheral equipment.
As shown in fig. 10, in this embodiment, the microprocessor is connected to a camera module, a pan/tilt drive, a 4G module, a WIFI module, an RJ45 interface, an SD card, and other extensions through an I/O interface; the sensor is connected through an SPI interface; the sensor is connected through an A/D conversion interface; the driver is connected through a PWM interface; the circuit is provided with a JTAG interface, an RTC interface, a reset circuit and a crystal oscillator circuit. The camera module comprises two-dimensional rotary camera 16, and the driver comprises festival unit drive micromotor 12 and the rotatory micromotor 17 of hook, realizes the remote and local control of robot through IO interface connection 4G module and WIFI module.
4. Motor protection circuit
The motor is operated under the condition that the rated load is exceeded, various faults can occur if the motor works under the condition of overload for a long time, and the motor protection circuit is arranged to protect the node unit to drive the micro-motor 12.
As shown in fig. 11, in the motor protection circuit, R3 is a sampler, a MAX4372 signal amplifier, R4 and C2 form an RC filter circuit, the filtered signal ADSI is sent to a processor for AD sampling, two ends of R3 are connected to a protected motor circuit and ground, two ends of R3 are also connected to two signal input ends of the MAX4372 signal amplifier, a power supply end of the MAX4372 signal amplifier is connected to a power supply circuit, the power supply circuit includes a ground terminal, a capacitor C1, a 3.3V power supply, and a power supply end of the MAX4372 signal amplifier, which are connected in sequence, an output end and a ground terminal of the MAX4372 signal amplifier are connected to the RC filter circuit, the RC filter circuit includes R4, C2 and D1, D1 is connected in parallel to two ends of R4 and C2, an ADSI signal output line is connected between R4 and C2, and the filtered signal ADSI is sent to the processor.
In practical applications, to reduce the heat generation at R3, the U1 amplification is typically increased and a smaller sampling resistor is selected. In order to make the measurement accurate, the ripple of the power supply should be as small as possible. The intelligent control unit gives an early warning once the current abnormality of the motor is measured through the motor protection circuit, the sampling rate is increased, the comparison and judgment are further carried out, and if the abnormality continues, an alarm is given. After the alarm occurs, the intelligent control unit controls the running state of the section unit driving micromotor 12 to protect the section unit driving micromotor 12.
5. Communication device 2
The communication device 2 comprises a main controller and a 4G/5G communication module which are sequentially connected, and the communication between the snakelike crawling robot 1 and the background control device 3 is realized.
6. Background control device 3
The core part of the background management and control system comprises: organization architecture management, role management, authority management, user management, password policy configuration, home page customization, module customization, document uploading, password modification, video, image acquisition and presentation, split screen, storage, calling, analysis and the like.
The background management and control software functions are shown in table 1.
TABLE 1
The embodiment also discloses an online inspection method of the power transmission line of the online inspection system of the power transmission line with the automatic obstacle crossing function, which comprises the following steps:
starting up: the background control device 3 sends a starting control command, the snakelike climbing robot 1 receives the starting control command and walks along the power transmission line 4 to be inspected;
an image acquisition step: the snake-shaped climbing robot 1 collects images in real time through a camera and transmits the images to the background control device 3;
and (3) automatic obstacle crossing step: the snakelike climbing robot 1 detects the relative distance between an obstacle and the snakelike climbing robot through a photoelectric distance measuring sensor and transmits the relative distance to an intelligent control unit, and the intelligent control unit avoids the obstacle by controlling the deflection flapping angles of drivers at the head and the tail of the snakelike climbing robot 1;
specifically, adopt sensor automated inspection, the navigation of snakelike line machine people 1 that climbs is accomplished to the mode that image and wireless communication combined together, and snakelike line machine people 1 that climbs independently walks and controls with backstage manual work and combine together. The snakelike machine of patrolling and examining is when walking, meets typical obstacle such as stockbridge damper, suspension clamp, strain clamp, detects the relative distance with self through the photoelectric distance measuring sensor of robot head, afterbody installation. The microprocessor controls the deflection and swing angles of the head and the tail to automatically avoid the obstacle.
Background monitoring: and the background manager checks the line condition through the background control device 3 and generates a corresponding control command.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. The utility model provides a transmission line system of patrolling and examining on line with automatic function of hindering more, a serial communication port, climb line robot (1), communication device (2) and backstage controlling means (3) including snakelike, snakelike climbing line robot (1) includes robot body, driver, camera, photoelectric ranging sensor, mutual inductance and gets electric unit, intelligent control unit and for the power of whole snakelike climbing line robot (1) power supply, driver, camera, photoelectric ranging sensor and mutual inductance are got the electric unit and are all connected intelligent control unit, intelligent control unit passes through communication device (2) are connected backstage controlling means (3), the robot body twines in advance in transmission line (4) of waiting to patrol and examine.
2. The transmission line online inspection system with the automatic obstacle crossing function according to claim 1, characterized in that the snakelike line climbing robot (1) is integrated by a plurality of section units.
3. The on-line power transmission line inspection system with the automatic obstacle crossing function according to claim 2, wherein the section unit comprises a section unit main body (11), a section unit driving micro motor (12) and a section unit traveling wheel (13), the section unit driving micro motor (12) is respectively connected with the section unit main body (11) and the section unit traveling wheel (13), the section unit driving micro motor (12) is connected with the intelligent control unit, the two section units are connected through a joint elastic hinge (14), and the section unit driving micro motor (12) forms the driver.
4. The online power transmission line inspection system with the automatic obstacle crossing function according to claim 3, wherein a section unit of a snake head of the snake-shaped wire climbing robot (1) comprises a camera, a climbing tentacle (15), a claw rotating micro-motor (17) and a section unit main body (11), the section unit main body (11) is respectively connected with the camera and the claw rotating micro-motor (17), the claw rotating micro-motor (17) is connected with the climbing tentacle (15), and the camera and the claw rotating micro-motor (17) are both connected with the intelligent control unit.
5. The on-line power transmission line inspection system with the automatic obstacle crossing function according to claim 1, wherein the intelligent control unit comprises a microprocessor, an I/O interface and a communication interface, the microprocessor is connected with the camera through the I/O interface, and the microprocessor is connected with the communication device (2) through the communication interface.
6. The online power transmission line inspection system with the automatic obstacle crossing function according to claim 1, wherein the photoelectric distance measuring sensors are arranged at the head and the tail of the robot body.
7. The transmission line online inspection system with the automatic obstacle crossing function according to claim 1, wherein the snakelike climbing robot (1) is of a metal shell or non-metal shell structure with a metal mesh sandwiched therein.
8. The transmission line on-line inspection system with the automatic obstacle crossing function according to claim 1, wherein the mutual inductance electricity taking unit comprises a mutual inductance coil and a self-recovery protection circuit, the mutual inductance coil surrounds the outer side of the transmission line (4), and the self-recovery protection circuit is respectively connected with the mutual inductance coil and the intelligent control unit.
9. The online power transmission line inspection system with the automatic obstacle crossing function according to claim 1, wherein the snakelike climbing robot (1) is further provided with a motor protection circuit, and the motor protection circuit is respectively connected with the driver and the intelligent control unit.
10. The transmission line online inspection method of the transmission line online inspection system with the automatic obstacle crossing function according to claim 1, characterized by comprising the following steps:
starting up: the background control device (3) sends a starting control command, the snakelike wire climbing robot (1) receives the starting control command and walks along the power transmission line (4) to be inspected;
an image acquisition step: the snakelike line climbing robot (1) collects images in real time through a camera and transmits the images to the background control device (3);
and (3) automatic obstacle crossing step: the snakelike line climbing robot (1) detects the relative distance between an obstacle and the snakelike line climbing robot through a photoelectric distance measuring sensor and transmits the relative distance to the intelligent control unit, and the intelligent control unit avoids the obstacle by controlling the deflection flapping angles of drivers at the head and the tail of the snakelike line climbing robot (1);
background monitoring: and the background manager checks the line condition through the background control device (3) and generates a corresponding control command.
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