CN112152306B - Online endurance guarantee method for flying snake-shaped high-voltage transmission line maintenance robot - Google Patents
Online endurance guarantee method for flying snake-shaped high-voltage transmission line maintenance robot Download PDFInfo
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- CN112152306B CN112152306B CN202010997194.2A CN202010997194A CN112152306B CN 112152306 B CN112152306 B CN 112152306B CN 202010997194 A CN202010997194 A CN 202010997194A CN 112152306 B CN112152306 B CN 112152306B
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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
- H02J7/02—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
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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
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
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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
- H02J7/32—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from a charging set comprising a non-electric prime mover rotating at constant speed
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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
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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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Abstract
The invention provides an on-line endurance guarantee method for a flying snake-shaped high-voltage transmission line maintenance robot, which reasonably collects four energies of solar energy, wind energy, mechanical energy and electromagnetic energy to guarantee endurance. The robot collects solar energy, wind energy and mechanical energy on the ground wire for supply, and can also change the wire to the phase wire to collect electromagnetic energy, solar energy and wind energy. The device for collecting the four kinds of energy is a solar panel, a ducted fan, a walking motor and an electromagnetic induction electricity-taking device respectively, wherein the solar energy and the wind energy are obtained through the solar panel and the ducted fan at any time, the mechanical energy is required to be obtained through the walking motor at a downhill driving section of the robot, the electromagnetic energy is obtained through the electromagnetic induction electricity-taking device by utilizing an electrified wire induction electricity-generating principle, the four kinds of energy are reasonably collected to be supplied and charged, the on-line self-cruising of the flying snake-shaped high-voltage transmission line maintenance robot is realized, and the bottleneck problem that the cruising robot of the high-voltage transmission line inspection robot generally has insufficient cruising ability is solved.
Description
Technical Field
The invention relates to an on-line endurance guarantee method for a flying snake-shaped high-voltage transmission line maintenance robot, and belongs to the technical field of high-voltage transmission line maintenance devices.
Background
The high-voltage transmission line is an intermediate medium for power transmission, and the stability of the high-voltage transmission line is related to the national civilization. The high-voltage transmission line is often erected in severe outdoor environments such as mountains, rivers, forests and the like, and is exposed outdoors for a long time and is influenced by severe environments such as wind, rain and the like, so that the high-voltage transmission line needs to be regularly patrolled and examined, and the objects to be patrolled and examined mainly comprise line hardware fittings, towers and wires. The current inspection means mostly adopts manual inspection or uses unmanned equipment for inspection. With the development of the robot technology, the high-voltage transmission line robot plays an important role in the inspection operation.
At present, inspection equipment of a high-voltage transmission line is moving forward in a direction of replacing manual inspection, however, the endurance mileage of the inspection equipment also restricts the development of the technical field of inspection devices of the high-voltage transmission line, and as long as 2020, the total length of the transmission line in China reaches more than 159 thousands of meters, so the huge inspection mileage is needed, so that a small amount of time and manpower are needed for supplementing energy for the inspection equipment, and in order to solve the endurance problem of the inspection equipment, a small number of the inspection equipment is used for supplementing energy for external energy, and partial equipment also uses the characteristic of self flying to carry out autonomous offline battery replacement, but most inspection equipment has a single energy obtaining mode, is slow in energy supplementing speed, cannot adapt to two inspection environments of a ground wire and a phase wire simultaneously, and needs offline energy supplement even though the endurance mileage is increased.
In order to solve the technical problems, the invention provides an online endurance guarantee method of a flying snakelike high-voltage transmission line maintenance robot, which guarantees the endurance of the robot by acquiring four energies of solar energy, wind energy, mechanical energy and electromagnetic energy, has various energy acquisition modes, can reasonably call an energy acquisition mode under different working conditions, and has high energy supplementing speed; the flying mode of the robot is utilized to switch from the ground wire to the phase wire, so that the robot can acquire electromagnetic energy, the influence of charging caused by the fact that the electromagnetic energy on the ground wire is weak and the electromagnetic energy cannot be effectively acquired is avoided, and the problems that most inspection equipment with electromagnetic induction power acquisition has various hardware fittings on the phase wire and is complex in obstacle crossing are solved; in addition, the utilization of wind energy is not common on the inspection robot of the high-voltage transmission line, and the method uses the duct fan which does not work as a wind energy generator when the robot walks on the line, so that the energy supply source is increased, and the method is particularly obvious in a wind area; the online endurance guarantee method for the flying snakelike high-voltage transmission line maintenance robot can guarantee the working continuity of the flying snakelike high-voltage transmission line maintenance robot, and the defect that high-voltage transmission line inspection equipment generally has insufficient endurance due to the fact that energy is not required to be supplemented after line feeding.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the high-voltage transmission line inspection robot aims at energy supplement and achieves cruising of a flying snake-shaped high-voltage transmission line maintenance robot.
In order to achieve the purpose, the invention provides the following technical scheme: an on-line endurance guarantee method for a flying snakelike high-voltage transmission line maintenance robot, which collects energy in work and provides endurance guarantee for the flying snakelike high-voltage transmission line maintenance robot, comprises the following steps:
step 1.1: inspecting on a ground wire and simultaneously collecting mechanical energy, wind energy and solar energy to be converted into electric energy;
step 2.1: monitoring the battery electric quantity and the supplement and consumption of the electric quantity based on the control board;
step 3.1: judging whether the electric quantity of the battery is sufficient or not and whether the acquired energy is more than the consumption or not, if the electric quantity is insufficient and the acquired energy is less than the consumption, switching from the ground wire to the phase wire suspension through a flight mode, and collecting electromagnetic energy, wind energy and solar energy to convert the electromagnetic energy, the wind energy and the solar energy into electric energy;
step 3.2: and judging whether the electric quantity of the battery is sufficiently supplemented, and if the electric quantity of the battery is sufficiently supplemented, switching from the phase line to the ground line through the flight mode to continue to perform routing inspection work.
Optionally, the flying walking snake-shaped high-voltage transmission line maintenance robot comprises a flying module (2) and a walking module (3), wherein the flying module (2) and the walking module (3) are arranged and combined, a steering wheel connector (231) of the previous module is connected with a machine body (235) of the next module, an end cover supporting plate (234) is connected with the machine body (235) and can rotate, a stepping motor (233) and a steering engine (232) are both fixed on the end cover supporting plate (234), the steering wheel connector (231) is connected with the steering engine (232) and can deflect, a ducted fan (21) of the flying module (2) is installed inside the machine body (235), a cover plate (33) of the walking module (3) is fixed on the machine body (235), a walking wheel (31) of the walking module (3) and a walking motor (32) are in gear transmission and are fixed between the cover plates (33), the robot is characterized in that a solar panel (237) is attached to the surface of the flying module (2) and the surface of the machine body (235) of the walking module (3), the electromagnetic induction power taking device (1) is arranged at the front end or/and the rear end flying module (2) of the robot, and the robot is provided with an attitude sensor. The walking wheels (31) are concave wheels, wherein annular concave platforms (311) are arranged at two peripheral ends of the walking wheels (31).
Optionally, the method further comprises step 1.2: and judging whether the robot is in a downhill road section, namely in a high-front low-rear low posture based on the posture sensor, if so, stopping outputting by the walking motor (32), converting the walking motor into a generator function, immediately converting gravitational potential energy in mechanical energy into electric energy, and reserving one walking motor (32) for outputting to control the speed of the robot.
Optionally, the method further comprises step 1.3: judging whether the robot has large continuous left-right angle inclination or not based on the attitude sensor, if so, rotating the machine body (235) of the most front flying module (2) by 360 degrees, recording the angle of the machine body (235) and the size of wind energy acquired by the corresponding ducted fan (21) by the control panel, then adjusting the angle of the machine body (235) of the flying module (2) to the position where the ducted fan (21) acquires the maximum value of the wind energy, and repeating the step 1.3 when the attitude is largely changed relative to the left-right inclination of the high-voltage transmission line inspection robot again.
Optionally, the solar panel (237) can cover the body (235), and can also be installed outside the body (235) as a peripheral.
Optionally, electromagnetic induction gets electric installation (1) and includes dead lever (15), spring (14), rivet (13), coil (12), iron core (11), dead lever (15) are connected with rivet (13) for iron core (11), compress with spring (14), coil (12) winding is on iron core (11), iron core (11) are the silicon steel sheet lamination.
Optionally, the method further comprises step 3.3: the flying module (2) provided with the electromagnetic induction electricity taking device (1) rotates the machine body (235), so that the electromagnetic induction electricity taking device (1) is extruded with the cable (4), the iron core (11) is opened, the spring (14) is compressed, then the cable (4) is extruded into the electromagnetic induction electricity taking device (1), and the iron core (11) is closed.
According to the invention, the four kinds of energy are reasonably collected for supplying and charging, so that the online self-cruising of the flying snakelike high-voltage transmission line maintenance robot is realized, and the online energy supplement is not needed after online, thereby solving the bottleneck problem of insufficient cruising ability of the high-voltage transmission line inspection robot.
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 specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic diagram of the whole structure of a flying snake-shaped high-voltage transmission line maintenance robot.
Fig. 2 is a schematic view of a flying module of a flying snake-shaped high-voltage transmission line maintenance robot.
Fig. 3 is a schematic view of a walking module of a flying snake-shaped high-voltage transmission line maintenance robot.
Fig. 4 is a schematic view of a walking wheel of a flying snake-shaped high-voltage transmission line maintenance robot.
Fig. 5 is a schematic diagram of an electromagnetic induction electricity-taking device of an online endurance guarantee device of a flying snake-shaped high-voltage transmission line maintenance robot.
Fig. 6 is a hardware relation diagram of an online endurance guarantee device of a flying snake-shaped high-voltage transmission line maintenance robot.
Fig. 7 is a flow chart of an online endurance guarantee method for a flying snake-shaped high-voltage transmission line maintenance robot.
Shown in the figure: 1. a front camera; 2. a flight module; 3. a walking module; 4. a cable; 5. a rear camera and maintenance equipment carrying platform; 21. a ducted fan; 31. a traveling wheel; 32. a traveling motor; 33. a cover plate; 231. a rudder disk connector; 232. a steering engine; 233. a stepping motor; 234. the end cover is used for supporting the disc; 235. a body; 1. an electromagnetic induction electricity taking device; 237. a solar panel; 11. an iron core; 12. a coil; 13. riveting; 14. a spring; 15. fixing the rod; 311. an annular recessed land; 312. a concave surface.
Detailed Description
The technical solutions in 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, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment provides an online endurance guarantee method for a flying snake-shaped high-voltage transmission line maintenance robot, as shown in a flow chart of the method in fig. 7, energy acquired during work provides endurance guarantee for the flying snake-shaped high-voltage transmission line maintenance robot, and the method comprises the following steps:
step 1.1: inspecting on a ground wire and simultaneously collecting mechanical energy, wind energy and solar energy to be converted into electric energy;
step 2.1: monitoring the battery electric quantity and the supplement and consumption of the electric quantity based on the control board;
step 3.1: judging whether the electric quantity of the battery is sufficient and whether the acquired energy is more than the consumption, if the electric quantity is judged to be less than 16 percent and the acquired energy is less than the consumption, flying the snake-shaped high-voltage transmission line maintenance robot to change the line from the ground line to the phase line for suspension, and collecting electromagnetic energy, wind energy and solar energy to convert the electromagnetic energy, the wind energy and the solar energy into electric energy;
step 3.2: and judging whether the electric quantity of the battery is sufficiently supplemented, if so, continuously routing inspection from the phase line flying line changing to the ground line.
Through the steps, when the robot patrols and examines on the ground wire, the working time of the robot is prolonged by acquiring machinery, wind energy and solar energy, when the electric quantity is insufficient, the robot is timely flown and changed to a phase line, and the robot is charged by converting more electromagnetic energy of electric energy and collecting the wind energy and the solar energy, so that the on-line cruising of the robot is ensured.
Wherein, the specific step 1.2 of converting the mechanical energy into the electric energy is as follows: and judging whether the robot is in a downhill road section with a low front part and a high rear part based on the attitude sensor, if so, stopping the output of the walking motor (32), converting the output into the action of a generator, immediately converting the gravitational potential energy in the mechanical energy into electric energy, and reserving one walking motor (32) for outputting to control the speed of the robot.
The high-voltage transmission line is usually in a parabola shape of hundreds of meters or even thousands of meters, the barriers such as the vibration dampers are generally positioned at the position of a tower frame about 1-3 meters, the middle part is a long barrier-free road section, the robot can be divided into an upslope section and a downslope section in the walking process on the high-voltage transmission line, the upslope section indirectly obtains the horizontal inclination angle of a cable (4) where the robot is positioned according to the attitude sensor, and then the power of the walking motors (32) and the number of the running walking motors (32) are adjusted; the robot can naturally slide down due to the action of gravity in the downhill section, the first five walking motors (32) are used as generators according to the principle that the motors are reversible, the gravitational potential energy of the robot is converted into electric energy, and the last walking motor (32) controls the descending speed of the robot.
Wherein, the specific step 1.3 of converting wind energy into electric energy is as follows: judging whether the robot has large continuous left-right angle inclination or not based on the attitude sensor, if so, rotating the machine body (235) of the most front-end flight module (2) by 360 degrees, recording the angle of the machine body (235) and the size of wind energy acquired by the corresponding ducted fan (21) by the control panel, then adjusting the angle of the machine body (235) of the flight module (2) to the position where the ducted fan (21) acquires the maximum value of the wind energy, and repeating the step 1.3 when the attitude is largely changed relative to the left-right inclination of the high-voltage transmission line inspection robot.
It should be noted that: the machine body (235) rotates for 360 degrees, and the interference position between the electromagnetic induction electricity taking device (1) and the cable (4) is used as a starting point and a finishing point.
Wherein, the specific step 3.3 of converting electromagnetic energy into electric energy is as follows: the flying module (2) provided with the electromagnetic induction electricity taking device (1) rotates the machine body (235), so that the electromagnetic induction electricity taking device (1) is extruded with the cable (4), the iron core (11) is opened, the spring (14) is compressed, then the cable (4) is extruded into the electromagnetic induction electricity taking device (1), and the iron core (11) is closed.
As shown in fig. 5, electromagnetic induction gets electric installation (1) and includes dead lever (15), spring (14), rivet (13), coil (12), iron core (11), dead lever (15) are connected with rivet (13) for iron core (11), compress with spring (14), coil (12) winding is on iron core (11), iron core (11) are silicon steel sheet lamination.
The basic working principle of the induction electricity-taking power supply technology is that when a power transmission wire passes through alternating large current, an alternating magnetic field is generated around the power transmission wire, after passing through an iron core and a coil, induced electromotive force is generated at two ends of an induction coil, and the alternating current is finally converted into direct current through a rectifying circuit, a voltage-stabilizing filter circuit, a charging circuit and power supply management to charge a storage battery.
As shown in fig. 2-3, the solar panel (237) may cover the body (235) or may be installed outside the body (235) as a peripheral device.
As shown in figure 1, the flying snake-shaped high-voltage transmission line maintenance robot comprises flying modules (2) and walking modules (3), wherein the flying modules (2) and the walking modules (3) are arranged and combined, a steering wheel connector (231) of the former module is connected with a machine body (235) of the latter module, an end cover supporting plate (234) is connected with the machine body (235) and can rotate, a stepping motor (233) and a steering engine (232) are both fixed on the end cover supporting plate (234), the steering wheel connector (231) is connected with the steering engine (232) and can deflect, a ducted fan (21) of the flying module (2) is installed inside the machine body (235), a cover plate (33) of the walking module (3) is fixed on the machine body (235), a walking wheel (31) of the walking module (3) is in gear transmission with a walking motor (32) and is fixed between the cover plates (33), the robot is characterized in that a solar panel (237) is attached to the surface of the flying module (2) and the surface of the machine body (235) of the walking module (3), the electromagnetic induction power taking device (1) is arranged at the front end or/and the rear end flying module (2) of the robot, and the robot is provided with an attitude sensor.
As shown in fig. 4, the walking wheel (31) is a concave wheel, wherein, two ends of the periphery of the walking wheel (31) are annular concave platforms (311). When the robot is suspended on the phase line, the steering engine (232) rotates to enable the traveling wheel (31) to be in contact with the cable in the annular concave table (311), and the concave surface (312) is separated from the cable (4).
As shown in fig. 6, the devices for taking electricity from mechanical energy, wind energy and electromagnetic energy all need to be processed by a rectifying circuit, then are combined with the solar panel into a voltage stabilizing filter circuit, and finally output stable direct current to be charged into the storage battery through a charging circuit and power management.
The present invention has been described above in connection with preferred embodiments, but these embodiments are merely exemplary and merely illustrative. On the basis of the above, the invention can be subjected to various substitutions and modifications, and the substitutions and the modifications are all within the protection scope of the invention.
Claims (6)
1. An on-line endurance guarantee method for a flying snake-shaped high-voltage transmission line maintenance robot is characterized by comprising the following steps: the flying snake-shaped high-voltage transmission line overhauling robot comprises a flying module (2) and a walking module (3), wherein the flying module (2) and the walking module (3) respectively comprise a steering wheel connector (231), a steering engine (232), an end cover supporting disc (234) and a machine body (235) which are sequentially connected, the flying module (2) and the walking module (3) also comprise a stepping motor (233) fixed on the end cover supporting disc (234), the steering wheel connector (231) and the steering engine (232) can deflect after being connected, the end cover supporting disc (234) and the machine body (235) can rotate after being connected, a solar panel (237) is attached to the surface of the machine body (235), the flying module (2) also comprises a ducted fan (21) installed inside the machine body (235), the walking module (3) also comprises a walking wheel (31), a walking motor (32) and a cover plate (33), the cover plate (33) of the walking module (3) is fixed on the machine body (235), the walking wheels (31) and the walking motor (32) are fixed on the cover plate (33), the walking wheels (31) and the walking motor (32) of the walking module (3) are in gear transmission, the front end and the rear end of the robot adopt the flying modules (2), the middle part adopts the flying modules (2) and the walking modules (3) to be freely arranged and combined, a steering wheel connector (231) of the latter module is connected with a machine body (235) of the former module, the electromagnetic induction electricity taking device (1) is arranged at the front end or/and the rear end flying module (2) of the robot, and the robot is provided with an attitude sensor;
the energy is gathered for flying away snakelike high tension transmission line maintenance robot provides the continuation of journey guarantee in the work, includes following step:
step 1.1: collecting mechanical energy, wind energy and solar energy to be converted into electric energy while polling on a ground wire;
step 2.1: monitoring the battery electric quantity and the supplement and consumption of the electric quantity based on the control board;
step 3.1: judging whether the electric quantity of the battery is sufficient and whether the acquired energy is more than the consumption, if the electric quantity is insufficient and the acquired energy is less than the consumption, switching from the ground wire to the phase wire suspension through a flight mode, and collecting electromagnetic energy, wind energy and solar energy to convert the electromagnetic energy, the wind energy and the solar energy into electric energy;
step 3.2: and judging whether the electric quantity of the battery is sufficiently supplemented, and if the electric quantity of the battery is sufficiently supplemented, switching from the phase line to the ground line through a flight mode to continue the inspection work.
2. The on-line endurance guarantee method of the flying snake-shaped high-voltage transmission line maintenance robot according to claim 1, characterized in that: step 1.2 is also included after step 1.1: and judging whether the robot is in a downhill road section, namely a low-front high-rear high posture, based on the posture sensor, if so, stopping outputting by the walking motor (32), converting the walking motor into a generator function, immediately converting gravitational potential energy in mechanical energy into electric energy, and reserving one walking motor (32) for outputting to control the speed of the robot.
3. The on-line endurance guarantee method of the flying snake-shaped high-voltage transmission line maintenance robot according to claim 2, characterized in that: step 1.3 is also included after step 1.2: judging whether the robot has large continuous left-right angle inclination or not based on the attitude sensor, if so, rotating the machine body (235) of the front-end flight module (2) by 360 degrees, recording the angle of the machine body (235) and the size of wind energy acquired by the corresponding ducted fan (21) by the control panel, then adjusting the angle of the machine body (235) of the flight module (2) to the position where the ducted fan (21) acquires the maximum value of the wind energy, and repeating the step 1.3 when judging that the robot has large continuous left-right angle inclination again based on the attitude sensor.
4. The on-line endurance guarantee method of the flying snake-shaped high-voltage transmission line maintenance robot according to claim 1, characterized in that: the solar panel (237) can cover the machine body (235) and can also be installed outside the machine body (235) as a peripheral.
5. The on-line endurance guarantee method of the flying snake-shaped high-voltage transmission line maintenance robot according to claim 1, characterized in that: electromagnetic induction gets electric installation (1) and includes dead lever (15), spring (14), rivet (13), coil (12), iron core (11), dead lever (15) are connected with rivet (13) for iron core (11), compress with spring (14), coil (12) winding is on iron core (11), iron core (11) are the silicon steel sheet lamination.
6. The on-line endurance guarantee method of the flying snake-shaped high-voltage transmission line maintenance robot according to claim 5, characterized in that: step 3.3 is also included after step 3.2: the flying module (2) provided with the electromagnetic induction electricity taking device (1) rotates the machine body (235), so that the electromagnetic induction electricity taking device (1) is extruded with the cable (4), the iron core (11) is opened, the spring (14) is compressed, then the cable (4) is extruded into the electromagnetic induction electricity taking device (1), and the iron core (11) is closed.
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| CN202010997194.2A CN112152306B (en) | 2020-09-21 | 2020-09-21 | Online endurance guarantee method for flying snake-shaped high-voltage transmission line maintenance robot |
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| CN202010997194.2A CN112152306B (en) | 2020-09-21 | 2020-09-21 | Online endurance guarantee method for flying snake-shaped high-voltage transmission line maintenance robot |
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| CN102570349B (en) * | 2011-12-30 | 2015-03-25 | 武汉大学 | Snake-shaped robot capable of climbing for overhead transmission cables |
| KR101806040B1 (en) * | 2016-09-23 | 2017-12-07 | 한국전력공사 | System for fransformable flying robot for maintenance of power lines and operation method thereof |
| CN108923475A (en) * | 2018-08-15 | 2018-11-30 | 广东科凯达智能机器人有限公司 | A kind of communication for transmission line polling robot and online energy supply base station |
| CN110293543A (en) * | 2019-07-15 | 2019-10-01 | 北京工业大学 | A kind of multistep state snake-shaped robot merging crawler type walking mechanism and snake neck joint |
| CN111313322A (en) * | 2020-03-25 | 2020-06-19 | 电子科技大学 | Transmission line inspection robot with aerial crossing capability |
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