CN113746024A - Sail leaf type power transmission line inspection robot - Google Patents

Sail leaf type power transmission line inspection robot Download PDF

Info

Publication number
CN113746024A
CN113746024A CN202111047818.5A CN202111047818A CN113746024A CN 113746024 A CN113746024 A CN 113746024A CN 202111047818 A CN202111047818 A CN 202111047818A CN 113746024 A CN113746024 A CN 113746024A
Authority
CN
China
Prior art keywords
sail
control box
robot
adjusting device
driving
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202111047818.5A
Other languages
Chinese (zh)
Other versions
CN113746024B (en
Inventor
马天磊
库雅楠
杨振
王佳奇
任向阳
陈泓霖
王林
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhengzhou University
Original Assignee
Zhengzhou University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zhengzhou University filed Critical Zhengzhou University
Priority to CN202111047818.5A priority Critical patent/CN113746024B/en
Publication of CN113746024A publication Critical patent/CN113746024A/en
Application granted granted Critical
Publication of CN113746024B publication Critical patent/CN113746024B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/08—Locating faults in cables, transmission lines, or networks
    • G01R31/081—Locating faults in cables, transmission lines, or networks according to type of conductors
    • G01R31/085—Locating faults in cables, transmission lines, or networks according to type of conductors in power transmission or distribution lines, e.g. overhead
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/76—Power conversion electric or electronic aspects
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
    • Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
    • Y04S10/00—Systems supporting electrical power generation, transmission or distribution
    • Y04S10/50—Systems or methods supporting the power network operation or management, involving a certain degree of interaction with the load-side end user applications
    • Y04S10/52—Outage or fault management, e.g. fault detection or location

Abstract

The application provides a sail type power transmission line inspection robot which comprises a control box, a control box and a control box, wherein the control box comprises two rows of sail leaves which are arranged on the left side and the right side respectively, the sail leaves are connected with a driving adjusting device in the control box through an adjusting mechanism, the driving adjusting device adaptively adjusts the posture of the sail leaves on the basis of the current wind power value, and the robot is controlled to perform line inspection according to the preset inspection speed; the sensor is connected with the driving adjusting device and arranged on the adjusting mechanism; the detection device is arranged on the control box and used for detecting the current line and sending a fault line image to the fault detection control end; the solar charging device is connected with the driving adjusting device and arranged outside the control box; with two arms of control box fixed connection, the other end and the walking wheel fixed connection of arm, the walking wheel is connected with drive adjusting device through the transmission line that passes the arm, has guaranteed that the circuit patrols and examines robot more steady operation, raises the efficiency and detects precision, utilizes wind energy and solar energy reduce cost simultaneously.

Description

Sail leaf type power transmission line inspection robot
Technical Field
The application relates to the field of computers, in particular to a sailing type power transmission line inspection robot.
Background
In the prior art, a power transmission line plays an important role in a power system, the power utilization problem of thousands of households is directly related, and immeasurable loss is brought to national economy due to large-scale power failure. Therefore, the safety of the transmission line is one of the issues of high concern to the power sector. Along with the development of the robot technology, the electric power special robot becomes a research hotspot in the field of special robots, the inspection robot can replace manual inspection, the efficiency and the detection precision are improved, the cost is reduced, the operation safety is greatly improved, and further the comprehensive automation of inspection of a high-voltage line can be realized.
Therefore, how to make the circuit inspection robot operate more stably, and improve the efficiency and the detection precision and reduce the cost is a direction that needs to be researched by the person in the field.
Disclosure of Invention
The application aims to provide a method and equipment for a sail type power transmission line inspection robot, so that the problems that how to ensure the more stable operation of the circuit inspection robot in the prior art, the efficiency and the detection precision are improved, and the cost is reduced are solved.
According to an aspect of the present application, there is provided a sail type inspection robot for a power transmission line, the robot including:
the control box comprises two rows of sail leaves which are arranged on the left side and the right side respectively, the sail leaves are connected with a driving adjusting device in the control box through an adjusting mechanism, the driving adjusting device adaptively adjusts the postures of the sail leaves on the basis of the current wind power value, and the robot is controlled to carry out line inspection according to the preset inspection speed;
the sensor is connected with the driving adjusting device and arranged on the adjusting mechanism and used for acquiring the current wind force value;
the detection device is arranged on the control box and used for detecting the current line and sending a fault line image to the fault detection control end;
the solar charging device is connected with the driving adjusting device and arranged outside the control box;
the other end of the mechanical arm is fixedly connected with a walking wheel, and the walking wheel is connected with a driving adjusting device in the control box through a power transmission line penetrating through the mechanical arm.
Further, in the above robot, the driving adjustment device is configured to adaptively adjust a sail leaf posture based on a current wind power value, and control the robot to perform line inspection according to a preset inspection speed, and includes:
presetting a maximum wind power threshold value and a minimum wind power threshold value;
if the current wind power value is larger than the maximum wind power threshold value, the driving adjusting device carries out self-adaptive adjustment on the sail leaf posture, and motor braking is carried out on the travelling wheels;
if the current wind power value is greater than or equal to the minimum wind power threshold value and less than or equal to the maximum wind power threshold value, the driving adjusting device carries out self-adaptive adjustment on the sailing blade posture;
and if the current wind power value is smaller than the minimum wind power threshold value, the driving adjusting device carries out self-adaptive adjustment on the sail leaf posture and carries out power supplement on the travelling wheels.
Further, in the robot, the control box further comprises a sail posture control motor connected with the driving adjustment device;
the adjusting mechanism comprises a driving mechanism and a motor output assembly, the driving mechanism and the motor output assembly form a parallel four-bar structure, and the motor output assembly comprises:
the sail leaf control shaft sleeve is hinged with the sail leaf posture control motor and is used for driving the sail leaf transmission shaft to move;
the two sail blade transmission shafts are respectively hinged with the sail blade control shaft sleeves;
the drive mechanism includes:
a sail blade mounting shaft connected with the sail blade transmission shaft;
a bearing coupling connected with the sail leaf mounting shaft;
the coupler is connected with the bearing coupler and is connected with the sail blades;
when the driving adjusting device carries out self-adaptive adjustment on the sail leaf posture, the driving adjusting device sends a sail leaf adjusting signal, and the sail leaf posture control motor receives the sail leaf adjusting signal and controls the adjusting mechanism to move.
Further, in the above robot, the driving adjustment device is configured to control the adjustment mechanism to adaptively adjust the sail posture, and includes:
the sensor acquires a previous air force value;
if the current wind force value is smaller than the previous wind force value, controlling the sail leaf mounting shaft to drive the bearing coupler and the coupler to move, and increasing the angle of the sail leaf by a preset degree;
and if the current wind force value is larger than the previous wind force value, controlling the sail leaf mounting shaft to drive the bearing coupler and the coupler to move, and reducing the angle of the sail leaf by the preset degree.
Further, in the robot, the sails are collected on the left side and the right side of the control box through the adjusting mechanism before the robot starts to work.
Further, in the robot, before the robot starts to work, the driving adjustment device is further used for presetting a starting inspection threshold value, and if the current wind power value is larger than or equal to the starting inspection threshold value, the motor brake of the robot is cancelled.
Further, in the robot, the detection device includes:
the first camera is arranged at the upper end of the outside of the control box and is used for detecting a current upper end circuit;
the second camera is arranged in a main control nacelle connected with the lower end of the control box and used for detecting a current lower end circuit, and the main control nacelle further comprises a driving device used for moving the second camera.
Further, in the robot, the sensor is a tension and pressure sensor, and the sensor is disposed on the sail blade transmission shaft of the adjusting mechanism.
Further, in the above robot, the sensor is configured to acquire the current wind force value, and includes:
acquiring the current inspection speed of the robot;
adjusting the time interval according to the current inspection speed and the preset inspection speed;
and the sensor acquires the current wind force value according to the time interval.
Compared with the prior art, the sail leaf type power transmission line inspection robot comprises a control box, two rows of sail leaves which are arranged on the left side and the right side respectively, the sail leaves are connected with a driving adjusting device in the control box through an adjusting mechanism, the driving adjusting device adaptively adjusts the postures of the sail leaves on the basis of the current wind power value, and the robot is controlled to perform line inspection according to the preset inspection speed; the sensor is connected with the driving adjusting device and arranged on the adjusting mechanism and used for acquiring the current wind force value; the detection device is arranged on the control box and used for detecting the current line and sending a fault line image to the fault detection control end; the solar charging device is connected with the driving adjusting device and arranged outside the control box; with two arms of control box fixed connection, the other end and the walking wheel fixed connection of arm, the walking wheel is through passing the transmission line of arm with drive adjusting device in the control box is connected, has guaranteed that the circuit patrols and examines robot more steady operation, raises the efficiency and detects the precision, utilizes wind energy and solar energy reduce cost simultaneously.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
fig. 1 shows a schematic structural view of a sail type power transmission line inspection robot according to the application;
fig. 2 shows a schematic structural diagram of a sail type power transmission line inspection robot according to the application;
fig. 3 shows a schematic structural diagram of a sail blade and adjusting mechanism of a sail blade type power transmission line inspection robot according to the application in a recovery state;
fig. 4 shows a schematic structural diagram of a sail and adjustment mechanism of a sail type power transmission line inspection robot according to the application in an unfolded state;
fig. 5 shows a schematic structural diagram of a single sail of a sail type power transmission line inspection robot and a driving mechanism thereof according to the application.
Reference numerals:
the system comprises a front travelling wheel 1, a rear travelling wheel 2, a front mechanical arm 3, a rear mechanical arm 4, a control box 5, a solar charging device 6, a second camera 7, a first camera 8, a right sail leaf 9, a left sail leaf 10, a sail leaf attitude control motor 11, a sail leaf control shaft sleeve 12, a sail leaf transmission shaft 13-1 below, a sail leaf transmission shaft 13-2 above, a sail leaf installation shaft 14, a bearing coupling 15, a coupling 16 and a tension-compression bidirectional sensor 17;
the same or similar reference numbers in the drawings identify the same or similar elements.
Detailed Description
The present application is described in further detail below with reference to the attached figures.
As shown in fig. 1, 2 and 3, a sail type power transmission line inspection robot according to an embodiment of the present application includes: the control box 5, the control box 5 includes two rows of sail blades, a right sail blade 9 and a left sail blade 10, respectively, arranged left and right, respectively, where the sail blade shape may be, but is not limited to, an ellipse. The sailing blades are connected with a driving adjusting device in the control box through an adjusting mechanism, the adjusting mechanism is shown in figure 3, the driving adjusting device is used for adaptively adjusting the postures of the sailing blades based on the current wind power value and controlling the robot to carry out line inspection according to the preset inspection speed;
the sensor 17 is connected with the driving adjusting device and arranged on the adjusting mechanism and is used for acquiring the current wind force value;
the detection device is arranged on the control box 5 and is used for detecting the current line and sending a fault line image to the fault detection control end;
the solar charging device 6 is connected with the driving adjusting device and arranged outside the control box to supply power to a lithium battery in the inspection robot;
the two mechanical arms are respectively a front mechanical arm 3 and a rear mechanical arm 4, the other end of each mechanical arm is fixedly connected with a walking wheel, namely a front walking wheel 1 is connected with the front mechanical arm 3, a rear walking wheel 2 is connected with the rear mechanical arm 4, and the walking wheel is connected with a driving adjusting device in the control box 5 through a power transmission line penetrating through the mechanical arms.
When the inspection robot starts to work, the sail blades are blown by wind power to provide power for the inspection robot, the front traveling wheels 1 and the rear traveling wheels 2 move forwards along the power transmission cable, the sail blades are adjusted by driving the adjusting device, and the normal operation of the inspection robot is guaranteed. The circuit inspection robot is ensured to run more stably, the efficiency and the detection precision are improved, and the cost is reduced by utilizing wind energy and solar energy.
Specifically, the driving adjustment device is used for adaptively adjusting the sail leaf posture based on the current wind power value, and controlling the robot to perform line inspection according to a preset inspection speed, and comprises:
presetting a maximum wind threshold value P1 and a minimum wind threshold value P2;
if the current wind force value K is larger than the maximum wind force threshold value P1, namely K is larger than P1, the driving adjusting device carries out self-adaptive adjustment on the sail leaf posture (till the stressed area is minimum), and carries out motor braking on the front traveling wheels 1 and the rear traveling wheels 2, namely when the wind force is too large, the inspection robot is ensured to operate stably;
if the current wind force value K is larger than or equal to the minimum wind force threshold P2 and smaller than or equal to the maximum wind force threshold P1, namely that K is not less than P2 and not more than P1, the driving adjusting device carries out self-adaptive adjustment on the sailleaf posture;
if the current wind force value K is smaller than the minimum wind force threshold value P2, namely K is smaller than P2, the driving adjusting device carries out self-adaptive adjustment on the sail leaf posture (till the stressed area is maximum), and power supplement is carried out on the travelling wheels. Namely, when wind power is not enough to drive the robot to preset the inspection speed, the lithium battery driving motor with the solar charging panel function is used for supplementing kinetic energy so as to stably operate.
Specifically, the control box further comprises a sail leaf posture control motor 11 connected with the driving and adjusting device;
the adjusting mechanism comprises a driving mechanism and a motor output assembly, the driving mechanism and the motor output assembly form a parallel four-bar structure, and the motor output assembly comprises:
a sail leaf control shaft sleeve 12 hinged with the sail leaf attitude control motor 11 and used for driving the sail leaf transmission shaft to move;
two sail blade transmission shafts hinged with the sail blade control shaft sleeve 12 respectively; here, the two sail blade transmission shafts are a lower sail blade transmission shaft 13-1 and an upper sail blade transmission shaft 13-2, respectively, as shown in fig. 3;
as shown in fig. 5, the driving mechanism includes:
a sail mounting shaft 14 connected with the sail transmission shaft 13;
a bearing coupling 15 connected with the sail mounting shaft 14;
a coupling 16 connected to the bearing coupling 15, the coupling 16 being connected to the sail panel;
when the driving adjusting device carries out self-adaptive adjustment on the sail leaf posture, the driving adjusting device sends a sail leaf adjusting signal, and the sail leaf posture control motor receives the sail leaf adjusting signal and controls the adjusting mechanism to rotate.
The sail leaf posture control motor 11 is fixedly arranged on the robot control box 5, is connected with a control board of the driving adjusting device and drives the adjusting device to control, is driven by an internal lithium battery, can drive the sail leaf transmission shaft to move by rotating the sail leaf control shaft sleeve, the sail leaf control shaft sleeve 12 drives the upper sail leaf transmission shaft 13-2 to move in parallel, the upper sail leaf transmission shaft 13-2 drives the sail leaf mounting shaft 14 to move, and the upper sail leaf transmission shaft 13-2 drives the sail leaf mounting shaft 14 to adjust the sail leaf angle because the lower sail leaf transmission shaft 13-1 is fixed. The sail mounting shaft 14 is connected with the right sail leaf 9 through a bearing coupling 15 and a coupling 16 as shown in FIG. 3.
When the wind power value changes, under the control of the driving adjusting device, the sail leaf posture control motor 11 rotates the sail leaf control shaft sleeve 12 to drive the upper sail leaf transmission shaft 13-2 to move in parallel, and the sail leaf control shaft sleeve 12 can be unfolded and folded between 0 degree and 90 degrees under the driving of the four-bar structure according to the wind power value, so that the sail leaf mounting shaft 14 is driven to adjust the sail leaf angle.
Specifically, the driving adjustment device is configured to control the adjustment mechanism to perform adaptive adjustment on the sail leaf posture, and includes:
the sensor 17 obtains a previous air force value K';
if the current wind force value K is smaller than the previous wind force value K', controlling the sail leaf mounting shaft 14 to drive the bearing coupler 15 and the coupler 16 to move, and increasing the angle of the sail leaf by a preset degree C;
if the current wind force value K is greater than the previous wind force value K', the sail mounting shaft 14 is controlled to drive the bearing coupler 15 and the coupler 16 to move, and the angle of the sail is reduced by the preset degree C, where the preset degree may be, but is not limited to, 1 degree.
For example, a previous wind force value K 'of the sailing blades on the force applied to the vehicle body in the advancing direction is obtained, the initial value of the angle of the sailing blades is zero, the angle of the sailing blades is increased by 1 degree (preset degrees), after unit time, a current wind force value K of the sailing blades on the force applied to the robot case in the advancing direction is obtained and compared with the previous wind force value K', the current wind force value K is smaller than the previous wind force value K ', the angle of the sailing blades is increased by 1 degree, the current wind force value K is larger than the previous wind force value K', the angle of the sailing blades is reduced by 1 degree, and the process is repeated, so that the robot sailing blades are in the self-adaptive adjustment process of the wind direction, and the best wind receiving position is guaranteed.
Specifically, the sails are collected on the left and right sides of the control box by the adjusting mechanism before the robot starts to work, as shown in fig. 4.
Specifically, before the robot starts working, the driving adjustment device is further used for presetting a starting inspection threshold value M, and if the current wind force value K is larger than or equal to the starting inspection threshold value M, the motor brake of the robot is cancelled. And the driving adjusting device feeds back the acquired wind power and wind direction conditions of the inspection area to the ground control end.
Specifically, the detection device includes:
the first camera 8 is arranged at the upper end of the outer part of the control box and is used for detecting a current upper end circuit;
and the second camera 7 is arranged in a main control nacelle connected with the lower end of the control box and is used for detecting the current lower end circuit, and the main control nacelle also comprises a driving device which is used for moving the second camera. Here, the first video camera 8 may be, but is not limited to, a small pan-tilt camera, and the second video camera may be, but is not limited to, a large pan-tilt camera. The driving device is used for controlling the movement of the camera, so that the detection visual field of the robot can be increased, the visual field dead angle can be avoided, and the robot can be used for preventing shaking.
The electric wire that the walking wheel is located is for walking the line, and the ground wire of whole transmission line top, and the robot is gone on this circuit, and first camera 8 is responsible for this circuit of line detection and detects for walking the line detection camera. Other power lines are located below the robot, and the second camera 7 can detect the lines below the robot for the power line detection camera. The image shot by the camera is transmitted back to the ground base station for the examining and repairing personnel to check.
Specifically, the sensor is a tension and pressure sensor, the sensor is arranged on the sail blade transmission shaft of the adjusting mechanism, and the sail blade transmission shaft is positioned outside the control box 5 after the sail blades are unfolded, so that the detection of wind power is facilitated.
Specifically, the sensor is configured to obtain the current wind force value K, and includes:
acquiring the current inspection speed V of the robot;
adjusting the time interval T according to the current inspection speed V and the preset inspection speed N;
and the sensor acquires the current wind force value according to the time interval T. Here, before the robot starts, can be with less that time interval set up according to the speed V of patrolling and examining at present, if 0.5 second, can adjust the start fast, after the robot starts, the interval is adjustable little, finely tunes, if 10 seconds, can reduce energy consumption.
In summary, the sail type inspection robot for the power transmission line comprises a control box, wherein the control box comprises two rows of sail leaves which are arranged on the left side and the right side respectively, the sail leaves are connected with a driving adjusting device in the control box through an adjusting mechanism, the driving adjusting device adaptively adjusts the postures of the sail leaves on the basis of the current wind power value, and the robot is controlled to perform line inspection according to the preset inspection speed; the sensor is connected with the driving adjusting device and arranged on the adjusting mechanism and used for acquiring the current wind force value; the detection device is arranged on the control box and used for detecting the current line and sending a fault line image to the fault detection control end; the solar charging device is connected with the driving adjusting device and arranged outside the control box; with two arms of control box fixed connection, the other end and the walking wheel fixed connection of arm, the walking wheel is through passing the transmission line of arm with drive adjusting device in the control box is connected, has guaranteed that the circuit patrols and examines robot more steady operation, raises the efficiency and detects the precision, utilizes wind energy and solar energy reduce cost simultaneously.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means recited in the apparatus claims may also be implemented by one unit or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.

Claims (9)

1. The utility model provides a sail leaf formula transmission line patrols and examines robot which characterized in that, the robot includes:
the control box comprises two rows of sail leaves which are arranged on the left side and the right side respectively, the sail leaves are connected with a driving adjusting device in the control box through an adjusting mechanism, and the driving adjusting device is used for adaptively adjusting the postures of the sail leaves on the basis of the current wind power value and controlling the robot to carry out line inspection according to the preset inspection speed;
the sensor is connected with the driving adjusting device and arranged on the adjusting mechanism and used for acquiring the current wind force value;
the detection device is arranged on the control box and used for detecting the current line and sending a fault line image to the fault detection control end;
the solar charging device is connected with the driving adjusting device and arranged outside the control box;
the other end of the mechanical arm is fixedly connected with a walking wheel, and the walking wheel is connected with a driving adjusting device in the control box through a power transmission line penetrating through the mechanical arm.
2. The line inspection robot according to claim 1, wherein the drive adjusting device is used for adaptively adjusting the sail leaf posture based on the current wind power value and controlling the robot to perform line inspection according to a preset inspection speed, and the line inspection robot comprises:
presetting a maximum wind power threshold value and a minimum wind power threshold value;
if the current wind power value is larger than the maximum wind power threshold value, the driving adjusting device carries out self-adaptive adjustment on the sail leaf posture, and motor braking is carried out on the travelling wheels;
if the current wind power value is greater than or equal to the minimum wind power threshold value and less than or equal to the maximum wind power threshold value, the driving adjusting device carries out self-adaptive adjustment on the sailing blade posture;
and if the current wind power value is smaller than the minimum wind power threshold value, the driving adjusting device carries out self-adaptive adjustment on the sail leaf posture and carries out power supplement on the travelling wheels.
3. The electrical line inspection robot according to claim 2, wherein the control box further includes a sail attitude control motor connected to the drive adjustment mechanism;
the adjusting mechanism comprises a driving mechanism and a motor output assembly, the driving mechanism and the motor output assembly form a parallel four-bar structure, and the motor output assembly comprises:
the sail leaf control shaft sleeve is hinged with the sail leaf posture control motor and is used for driving the sail leaf transmission shaft to move;
the two sail blade transmission shafts are respectively hinged with the sail blade control shaft sleeves;
the drive mechanism includes:
a sail blade mounting shaft connected with the sail blade transmission shaft;
a bearing coupling connected with the sail leaf mounting shaft;
the coupler is connected with the bearing coupler, and the coupler is connected with the sail blades;
when the driving adjusting device carries out self-adaptive adjustment on the sail leaf posture, the driving adjusting device sends a sail leaf adjusting signal, and the sail leaf posture control motor receives the sail leaf adjusting signal and controls the adjusting mechanism to move.
4. The electric line inspection robot according to claim 3, wherein the drive adjustment device is configured to control the adjustment mechanism to adaptively adjust the sail cloth attitude, and comprises:
the sensor acquires a previous air force value;
if the current wind force value is smaller than the previous wind force value, controlling the sail leaf mounting shaft to drive the bearing coupler and the coupler to move, and increasing the angle of the sail leaf by a preset degree;
and if the current wind force value is larger than the previous wind force value, the bearing coupler and the coupler are driven to move by controlling the sail leaf mounting shaft, and the angle of the sail leaf is reduced by the preset degree.
5. The electrical line inspection robot according to claim 4, wherein the sails are retrieved to the left and right of the control box by the adjustment mechanism before the robot begins operation.
6. The electric line inspection robot according to claim 5, wherein the drive adjustment device is further configured to preset a start inspection threshold before the robot starts to operate, and to cancel motor braking of the robot if the current wind power value is greater than or equal to the start inspection threshold.
7. The electrical line inspection robot according to claim 6, wherein the detection device includes:
the first camera is arranged at the upper end of the outside of the control box and is used for detecting a current upper end circuit;
the second camera is arranged in a main control nacelle connected with the lower end of the control box and used for detecting a current lower end circuit, and the main control nacelle further comprises a driving device used for moving the second camera.
8. The electrical line inspection robot according to claim 7, wherein the sensor is a tension and pressure sensor and the sensor is disposed on the sail cloth drive shaft of the adjustment mechanism.
9. The electrical line inspection robot according to any of claims 1-7, wherein the sensor is configured to acquire the current wind force value and includes:
acquiring the current inspection speed of the robot;
adjusting the time interval according to the current inspection speed and the preset inspection speed;
and the sensor acquires the current wind force value according to the time interval.
CN202111047818.5A 2021-09-08 2021-09-08 Sail leaf type power transmission line inspection robot Active CN113746024B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111047818.5A CN113746024B (en) 2021-09-08 2021-09-08 Sail leaf type power transmission line inspection robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111047818.5A CN113746024B (en) 2021-09-08 2021-09-08 Sail leaf type power transmission line inspection robot

Publications (2)

Publication Number Publication Date
CN113746024A true CN113746024A (en) 2021-12-03
CN113746024B CN113746024B (en) 2023-01-03

Family

ID=78736878

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111047818.5A Active CN113746024B (en) 2021-09-08 2021-09-08 Sail leaf type power transmission line inspection robot

Country Status (1)

Country Link
CN (1) CN113746024B (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114705948A (en) * 2022-03-25 2022-07-05 北京三月雨文化传播有限责任公司 Power distribution network fault processing method and system
CN116203348A (en) * 2023-01-09 2023-06-02 林垚 Line monitoring device and monitoring method for smart power grid

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006119398A (en) * 2004-10-22 2006-05-11 Furukawa Electric Co Ltd:The Aerial inspection car
JP2011188659A (en) * 2010-03-10 2011-09-22 Chugoku Electric Power Co Inc:The Fixture for overhead wire ladder
CN104977426A (en) * 2015-06-24 2015-10-14 云南电网有限责任公司电力科学研究院 Power line inspection robot control method in windy environment
CN205265095U (en) * 2016-01-04 2016-05-25 富阳鸿祥技术服务有限公司 Automatic cooling system of switch board
CN106052070A (en) * 2016-07-11 2016-10-26 青岛海尔空调器有限总公司 Air conditioning swing mechanism and air conditioner
CN106711851A (en) * 2017-01-17 2017-05-24 广州供电局有限公司 Inspection robot
CN206528636U (en) * 2017-03-02 2017-09-29 浙江工业职业技术学院 A kind of crank connecting rod sliding block spring bionic flapping-wing device
CN109066473A (en) * 2018-09-30 2018-12-21 武汉武大英康集成媒体有限公司 A kind of transmission line high-altitude line walking intelligent inspection robot and method for inspecting
CN109374955A (en) * 2018-09-28 2019-02-22 南安市谷隆工业设计有限公司 A kind of high voltage testing device of the plateau power distribution network based on Action of Wind pressure
CN112660347A (en) * 2020-11-02 2021-04-16 杭州电子科技大学 Energy-saving underwater glider
CN112977819A (en) * 2021-03-10 2021-06-18 鲁东大学 Power transmission line inspection flying robot comprising double machines

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006119398A (en) * 2004-10-22 2006-05-11 Furukawa Electric Co Ltd:The Aerial inspection car
JP2011188659A (en) * 2010-03-10 2011-09-22 Chugoku Electric Power Co Inc:The Fixture for overhead wire ladder
CN104977426A (en) * 2015-06-24 2015-10-14 云南电网有限责任公司电力科学研究院 Power line inspection robot control method in windy environment
CN205265095U (en) * 2016-01-04 2016-05-25 富阳鸿祥技术服务有限公司 Automatic cooling system of switch board
CN106052070A (en) * 2016-07-11 2016-10-26 青岛海尔空调器有限总公司 Air conditioning swing mechanism and air conditioner
CN106711851A (en) * 2017-01-17 2017-05-24 广州供电局有限公司 Inspection robot
CN206528636U (en) * 2017-03-02 2017-09-29 浙江工业职业技术学院 A kind of crank connecting rod sliding block spring bionic flapping-wing device
CN109374955A (en) * 2018-09-28 2019-02-22 南安市谷隆工业设计有限公司 A kind of high voltage testing device of the plateau power distribution network based on Action of Wind pressure
CN109066473A (en) * 2018-09-30 2018-12-21 武汉武大英康集成媒体有限公司 A kind of transmission line high-altitude line walking intelligent inspection robot and method for inspecting
CN112660347A (en) * 2020-11-02 2021-04-16 杭州电子科技大学 Energy-saving underwater glider
CN112977819A (en) * 2021-03-10 2021-06-18 鲁东大学 Power transmission line inspection flying robot comprising double machines

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114705948A (en) * 2022-03-25 2022-07-05 北京三月雨文化传播有限责任公司 Power distribution network fault processing method and system
CN114705948B (en) * 2022-03-25 2022-12-13 广州微禹信息科技有限公司 Power distribution network fault processing method and system
CN116203348A (en) * 2023-01-09 2023-06-02 林垚 Line monitoring device and monitoring method for smart power grid
CN116203348B (en) * 2023-01-09 2024-02-23 保定恒屹电气科技有限公司 Line monitoring device and monitoring method for smart power grid

Also Published As

Publication number Publication date
CN113746024B (en) 2023-01-03

Similar Documents

Publication Publication Date Title
CN113746024B (en) Sail leaf type power transmission line inspection robot
CN102340113B (en) Multi-rotor-wing automatic positioning detector used for transmission line
CN107414783A (en) A kind of modularization wheeled pipe robot
CN206643936U (en) A kind of rotary overhead line operation robot architecture of fuselage and robot
CN209682199U (en) A kind of mine monitoring rail polling robot
CN110112674A (en) A kind of autonomous crusing robot of transmission line of electricity based on flight obstacle detouring and obstacle-detouring method
CN112350214A (en) High-altitude line inspection robot
CN112591087B (en) Unmanned aerial vehicle for detecting power cable faults
CN106527504B (en) Photovoltaic output power self-regulating device
CN208651052U (en) Wind turbines In-service testing device
CN210793639U (en) A unmanned aerial vehicle for electric power patrols line
CN210971530U (en) Unmanned inspection machine for highway
CN105882952A (en) Unmanned aerial vehicle for automatically clearing garbage on overhead lines
CN110376228A (en) A kind of detection system applied to aerial high-voltage power transmission line
CN204895854U (en) Aircraft is patrolled and examined to high pressure overhead wire intelligence
CN209028481U (en) A kind of rail mounted crusing robot
CN210954744U (en) Intelligent inspection vehicle for large photovoltaic power station
CN209870774U (en) Tension adjusting device and winch device for mooring unmanned aerial vehicle
CN209455827U (en) Smart grid inspection device carrying platform
CN110253598A (en) A kind of expanding transmission line polling robot
CN109973307A (en) A kind of wind power generation plant that can automatically adjust direction
CN216050036U (en) Environmental monitor based on Internet of things
CN208750324U (en) Ultra-high-tension power transmission line security monitor
CN115663665A (en) Binocular vision-based protection screen cabinet air-open state checking device and method
CN112152306B (en) Online endurance guarantee method for flying snake-shaped high-voltage transmission line maintenance robot

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
CB03 Change of inventor or designer information

Inventor after: Ma Tianlei

Inventor after: Ku Yanan

Inventor after: Yang Zhen

Inventor after: Wang Jiaqi

Inventor after: Ren Xiangyang

Inventor after: Chen Honglin

Inventor after: Wang Lin

Inventor before: Ma Tianlei

Inventor before: Ku Yanan

Inventor before: Yang Zhen

Inventor before: Wang Jiaqi

Inventor before: Ren Xiangyang

Inventor before: Chen Honglin

Inventor before: Wang Lin

CB03 Change of inventor or designer information
GR01 Patent grant
GR01 Patent grant