CN201421435Y - Transmission line inspection robot video detection device - Google Patents
Transmission line inspection robot video detection device Download PDFInfo
- Publication number
- CN201421435Y CN201421435Y CN2009200208381U CN200920020838U CN201421435Y CN 201421435 Y CN201421435 Y CN 201421435Y CN 2009200208381 U CN2009200208381 U CN 2009200208381U CN 200920020838 U CN200920020838 U CN 200920020838U CN 201421435 Y CN201421435 Y CN 201421435Y
- Authority
- CN
- China
- Prior art keywords
- transmission line
- detection device
- inspection robot
- detecting device
- line inspection
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
本实用新型公开了一种输电线路巡检机器人视频检测装置。本实用新型输电线路巡检机器人视频检测装置，包括设于巡线机器人上的安装横梁，在所述安装横梁上底面安装有具有上下俯仰和绕其竖直轴转动两个自由度的云台，并在该云台上设有内装摄像机及其数据传输模块的屏蔽盒，其中摄像机的取景镜头穿出该屏蔽盒以用于获取视频信息；所述安装横梁前端设有一弯曲到待检测电缆下侧的连接杆，并在该连接杆的端部设有反射镜，其角度恰好使其所影像的待检测电缆下侧的信息映入所述取景镜头。本实用新型提供了一种结构紧凑的输电线路巡检机器人视频检测装置。
The utility model discloses a video detection device for a transmission line inspection robot. The utility model transmission line inspection robot video detection device includes a mounting beam arranged on the line inspection robot, and a pan platform with two degrees of freedom of pitching up and down and rotating around its vertical axis is installed on the bottom surface of the installation beam. And a shielding box with a built-in camera and its data transmission module is provided on the cloud platform, wherein the viewfinder lens of the camera passes through the shielding box for obtaining video information; the front end of the installation beam is provided with a A connecting rod, and a reflector is arranged at the end of the connecting rod, and its angle is just to make the imaged information on the underside of the cable to be detected reflected into the viewfinder lens. The utility model provides a video detection device for a transmission line inspection robot with a compact structure.
Description
(一)技术领域(1) Technical field
本实用新型涉及一种输电线路巡检机器人视频检测装置，尤其是适用于输电线路表面损伤、断股、腐蚀及悬挂异物等导致电力运行故障问题检验的检测装置。The utility model relates to a video detection device for a power transmission line patrol inspection robot, in particular to a detection device suitable for detecting power operation failure problems caused by power transmission line surface damage, broken strands, corrosion, and hanging foreign objects.
(二)背景技术(2) Background technology
为了防止输电线路由于表面损伤、断股、腐蚀及悬挂异物等问题导致电力运行故障，需要对高压输电线路进行定期巡检。采用输电线路巡检机器人实现自动巡检是目前较有效的巡检手段，而视频检测装置是线路巡检机器人不可缺少的一部分。中国知识产权局第200720149079X号实用新型专利公开了一种高压输电线路地线巡检机器人，其包含了一种视频检测装置，该视频检测装置包括沿地线方向左右两侧各一设置的摄像头，与左右摄像头信号输出端相连的两个图像发射机及相关通信器件。然而，这种视频检测装置不仅增加了检测装置的成本，而且增加了机械结构和控制电路的复杂程度，进而，必然增加机器人的驱动功率，与架空电线行走装置结构紧凑性的技术要求不相符。In order to prevent power operation failures of transmission lines due to surface damage, broken strands, corrosion, and hanging foreign objects, regular inspections of high-voltage transmission lines are required. The use of transmission line inspection robots to realize automatic inspection is currently a more effective inspection method, and video detection devices are an indispensable part of line inspection robots. Utility Model Patent No. 200720149079X of the China Intellectual Property Office discloses a high-voltage transmission line ground line inspection robot, which includes a video detection device, which includes a camera set on the left and right sides of the ground line direction, Two image transmitters and related communication devices connected to the signal output ends of the left and right cameras. However, this video detection device not only increases the cost of the detection device, but also increases the complexity of the mechanical structure and control circuit, and then inevitably increases the driving power of the robot, which does not meet the technical requirements for the compact structure of the overhead wire running device.
(三)发明内容(3) Contents of the invention
因此，本实用新型针对现有技术的上述缺陷，提供了一种结构紧凑的输电线路巡检机器人视频检测装置。Therefore, the utility model provides a compact power transmission line inspection robot video detection device for the above-mentioned defects of the prior art.
本实用新型采用的技术方案为：The technical scheme that the utility model adopts is:
本实用新型输电线路巡检机器人视频检测装置，包括设于巡线机器人上的安装横梁，在所述安装横梁上底面安装有具有上下俯仰和绕其竖直轴转动两个自由度的云台，并在该云台上设有内装摄像机及其数据传输模块的屏蔽盒，其中摄像机的取景镜头穿出该屏蔽盒以用于获取视频信息；所述安装横梁前端设有一弯曲到待检测电缆下侧的连接杆，并在该连接杆的端部设有反射镜，其角度恰好使其所影像的待检测电缆下侧的信息映入所述取景镜头。The utility model transmission line inspection robot video detection device includes a mounting beam arranged on the line inspection robot, and a pan platform with two degrees of freedom of pitching up and down and rotating around its vertical axis is installed on the bottom surface of the installation beam. And a shielding box with a built-in camera and its data transmission module is provided on the cloud platform, wherein the viewfinder lens of the camera passes through the shielding box for obtaining video information; A connecting rod, and a reflector is arranged at the end of the connecting rod, and its angle is just to make the imaged information on the underside of the cable to be detected reflected into the viewfinder lens.
本实用新型采用一台摄像机和反射镜配合的方式来获得待检测电缆的状况，与现有采用两台摄像机的检测装置相比，机械结构大大简化，同时电路系统也相对简化，结构比较紧凑，制造成本也大为降低。此外，原有检测装置把摄像机设置于侧面，不便于调整，且必须考虑其支撑构件的刚度，整体宽度也比较大。本方案仅增加一连接杆和固定在其端部的反射镜，因其不是电子产品，也不必考虑其抗电磁干扰的问题，结构比较简单，成本比较低。云台的存在则便于控制所述摄像头的俯仰和转动，便于调整摄像头的姿势以获得较好的检测视角。The utility model uses a camera and a reflector to cooperate to obtain the status of the cable to be detected. Compared with the existing detection device using two cameras, the mechanical structure is greatly simplified, and the circuit system is also relatively simplified, and the structure is relatively compact. Manufacturing costs are also greatly reduced. In addition, the original detection device set the camera on the side, which is not easy to adjust, and the rigidity of its supporting components must be considered, and the overall width is relatively large. This solution only adds a connecting rod and a reflector fixed at its end, because it is not an electronic product, and there is no need to consider its anti-electromagnetic interference problem, the structure is relatively simple, and the cost is relatively low. The presence of the pan/tilt makes it easy to control the pitch and rotation of the camera, and to adjust the posture of the camera to obtain a better detection angle of view.
上述输电线路巡检机器人视频检测装置，所述反射镜通过一角度调整部件安装于所述连接杆端部。In the video detection device of the power transmission line inspection robot, the reflector is installed on the end of the connecting rod through an angle adjustment component.
上述输电线路巡检机器人视频检测装置，其特征在于：所述角度调整部件为轴孔配合的摩擦副组件。所述角度调整部件还可以为一塑性材料的部件。The above-mentioned video detection device for a power transmission line inspection robot is characterized in that: the angle adjustment component is a friction pair assembly fitted with a shaft hole. The angle adjustment component can also be a plastic material component.
所述反射镜为平面镜。The reflector is a plane mirror.
上述输电线路巡检机器人视频检测装置，所述连接杆为一塑性材料的构件。In the video detection device of the power transmission line inspection robot, the connecting rod is a plastic material component.
(四)附图说明(4) Description of drawings
下面结合说明书附图对本实用新型的技术方案作进一步的阐述，使本领域的技术人员更好的理解本实用新型，其中：The technical scheme of the utility model is further elaborated below in conjunction with the accompanying drawings, so that those skilled in the art can better understand the utility model, wherein:
图1为本实用新型输电线路巡检机器人视频检测装置一种实用状态参考图。Fig. 1 is a reference diagram of a practical state of the video detection device of the transmission line inspection robot of the utility model.
图中：1、安装横梁，2、云台，3、传输模块，4、屏蔽盒，5、摄像机，6、连接杆，7、角度调整部件，8、反射镜，9、待检测电缆。In the figure: 1. Installation beam, 2. Cloud platform, 3. Transmission module, 4. Shielding box, 5. Camera, 6. Connecting rod, 7. Angle adjustment component, 8. Reflector, 9. Cable to be tested.
(五)具体实施方式(5) Specific implementation methods
下面对本实用新型的技术方案进行示例性说明，但不对本实用新型的保护范围作具体限定，其技术特征的明显变形方式和等同替代方式应当落入其保护范围之内。The technical solution of the utility model is illustrated below, but the scope of protection of the utility model is not specifically limited, and obvious deformation modes and equivalent replacement modes of its technical features shall fall within the scope of protection.
参照说明附图1，本实用新型的一个实施例为其包括设于巡线机器人上的安装横梁1，在所述安装横梁上底面安装有具有上下俯仰和绕其竖直轴转动两个自由度的云台2，并在该云台上设有内装摄像机5及其数据传输模块3的屏蔽盒4，其中摄像机的取景镜头穿出该屏蔽盒以用于获取视频信息；所述安装横梁前端设有一弯曲到待检测电缆9下侧的连接杆6，并在该连接杆的端部设有反射镜8，其角度恰好使其所影像的待检测电缆下侧的信息映入所述取景镜头。With reference to accompanying
为了便于调整反射镜的影像角度，所述反射镜通过一角度调整部件7安装于所述连接杆端部。In order to facilitate the adjustment of the image angle of the reflector, the reflector is mounted on the end of the connecting rod through an
对于所述角度调整部件本方案的一个实施例采用轴孔配合的摩擦副组件，便于精确控制。本方案的另一个实施例采用塑性材料的部件，结构简单。当然，所述角度调整部件有很多种选择，其最终目的在于方便的调整反射镜的影响角度，能够实现该功能的常规的替代方式应当落入本实用新型的保护范围之内。An embodiment of the solution for the angle adjustment component adopts a friction pair assembly with a shaft hole fit, which is convenient for precise control. Another embodiment of the solution adopts parts made of plastic materials and has a simple structure. Of course, there are many options for the angle adjustment component, the ultimate purpose of which is to conveniently adjust the influence angle of the reflector, and conventional alternatives capable of realizing this function should fall within the scope of protection of the present invention.
所述反射镜为平面镜，结构简单，且安装方便。自然，可能本领域的技术人员会选择柱面的凹面镜，但其映像角度不好控制。The reflecting mirror is a plane mirror with simple structure and convenient installation. Naturally, those skilled in the art may choose a cylindrical concave mirror, but its image angle is difficult to control.
所述连接杆为一塑性材料的构件，便于调整反射镜的位置和角度。The connecting rod is a component made of plastic material, which is convenient for adjusting the position and angle of the reflector.
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200208381U CN201421435Y (en) | 2009-04-14 | 2009-04-14 | Transmission line inspection robot video detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200208381U CN201421435Y (en) | 2009-04-14 | 2009-04-14 | Transmission line inspection robot video detection device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201421435Y true CN201421435Y (en) | 2010-03-10 |
Family
ID=41808095
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009200208381U Expired - Fee Related CN201421435Y (en) | 2009-04-14 | 2009-04-14 | Transmission line inspection robot video detection device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201421435Y (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102829734A (en) * | 2012-08-27 | 2012-12-19 | 武汉大学 | Device and method for contactless measurement of contour dimension of insulator |
| CN109115784A (en) * | 2018-08-02 | 2019-01-01 | 苏州铭冠软件科技有限公司 | A kind of rail friendship high-tension bus-bar damage detection device |
| CN109886947A (en) * | 2019-02-19 | 2019-06-14 | 浙江理工大学 | High-voltage wire defect detection method based on region convolutional neural network |
| CN111028379A (en) * | 2019-12-12 | 2020-04-17 | 深圳市优必选科技股份有限公司 | Image data acquisition robot |
| JP2020150626A (en) * | 2019-03-12 | 2020-09-17 | 北海道電力株式会社 | Overhead wire running mechanism, self-propelled overhead wire inspection device and overhead wire inspection system |
-
2009
- 2009-04-14 CN CN2009200208381U patent/CN201421435Y/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102829734A (en) * | 2012-08-27 | 2012-12-19 | 武汉大学 | Device and method for contactless measurement of contour dimension of insulator |
| CN109115784A (en) * | 2018-08-02 | 2019-01-01 | 苏州铭冠软件科技有限公司 | A kind of rail friendship high-tension bus-bar damage detection device |
| CN109886947A (en) * | 2019-02-19 | 2019-06-14 | 浙江理工大学 | High-voltage wire defect detection method based on region convolutional neural network |
| JP2020150626A (en) * | 2019-03-12 | 2020-09-17 | 北海道電力株式会社 | Overhead wire running mechanism, self-propelled overhead wire inspection device and overhead wire inspection system |
| CN111028379A (en) * | 2019-12-12 | 2020-04-17 | 深圳市优必选科技股份有限公司 | Image data acquisition robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201421435Y (en) | Transmission line inspection robot video detection device | |
| CN111257321B (en) | Cable testing equipment | |
| CN106393054B (en) | A kind of inspection robot and its method of conduct monitoring at all levels power circuit | |
| CN214446360U (en) | Intelligent robot for machine room inspection | |
| CN104176265B (en) | The reversible supporting frame system that a kind of unmanned plane panorama camera uses | |
| CN111279181A (en) | Apparatus and method for optical monitoring of moving components | |
| CN103235602A (en) | Automatic photography control device for power line inspection unmanned aerial vehicle, and control method thereof | |
| CN104822052A (en) | Substation electrical equipment inspection system and method | |
| CN204272255U (en) | Vertical panoramic camera system | |
| CN104539905B (en) | Electric power unmanned helicopter visible ray accurate detection system | |
| CN106742005A (en) | A kind of power-line patrolling photoelectric nacelle and depopulated helicopter | |
| CN202353668U (en) | Gap image acquisition processor of S700K electric switch machine | |
| CN104613922B (en) | The measuring system and method for a kind of contour of object | |
| CN105564333A (en) | Intelligent unmanned vehicle capable of being used for shooting | |
| CN103676455B (en) | Automatic debugging method and system for optical shockproof camera module | |
| CN203996916U (en) | The reversible supporting frame system that a kind of unmanned plane panorama camera uses | |
| CN207258000U (en) | A kind of inertial guidance data shares the multi-platform gondola of unmanned plane inspection | |
| CN114544671B (en) | A PCB board defect image acquisition device based on dual-band polarization imaging | |
| CN206373891U (en) | A kind of inspection robot of conduct monitoring at all levels power circuit | |
| CN205610819U (en) | Monitoring device | |
| CN202748322U (en) | Omnibearing scanning device of X-ray equipment | |
| CN204785358U (en) | Two dimension angle displacement adapter | |
| CN217778984U (en) | Bridge multidimension degree unmanned aerial vehicle image device for monitoring | |
| CN211333275U (en) | A robot vision processing device | |
| CN213769002U (en) | A camera pan-tilt for concrete crack detection |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: STATE ELECTRIC NET CROP. Free format text: FORMER OWNER: SHANDONG RESEARCH INST. OF ELECTRIC POWER Effective date: 20130513 Owner name: SHANDONG RESEARCH INST. OF ELECTRIC POWER Effective date: 20130513 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 250002 JINAN, SHANDONG PROVINCE TO: 100000 XICHENG, BEIJING |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20130513 Address after: 100000 Xicheng District West Chang'an Avenue, No. 86, Beijing Patentee after: State Grid Corporation of China Patentee after: Shandong Research Inst. of Electric Power Address before: 250002 Shandong Electric Power Research Institute, Middle East, 2nd Ring Road, sixteen Li Town, Ji'nan City, Shandong Patentee before: Shandong Research Inst. of Electric Power |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100310 Termination date: 20180414 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |