CN203932833U - A kind of aerial high-voltage power transmission line robot inspection system - Google Patents

A kind of aerial high-voltage power transmission line robot inspection system Download PDF

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Publication number
CN203932833U
CN203932833U CN201420351560.7U CN201420351560U CN203932833U CN 203932833 U CN203932833 U CN 203932833U CN 201420351560 U CN201420351560 U CN 201420351560U CN 203932833 U CN203932833 U CN 203932833U
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CN
China
Prior art keywords
robot
supply unit
inspection
base station
ground base
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
Application number
CN201420351560.7U
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Chinese (zh)
Inventor
边强
周友山
刘力源
罗天意
郭成坤
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Sea Wuhu Gus's Intelligence Science And Technology Ltd
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Sea Wuhu Gus's Intelligence Science And Technology Ltd
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Publication date
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Priority to CN201420351560.7U priority Critical patent/CN203932833U/en
Application granted granted Critical
Publication of CN203932833U publication Critical patent/CN203932833U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model relates to a kind of aerial high-voltage power transmission line robot inspection system, and this system comprises robot body, ground base station and back-stage management device, and ground base station connects robot body and back-stage management device.Described robot body comprises 2 The Cloud Terrace visible light cameras of mobile robot and lift-launch thereof, 1 imager and 1 rangefinder, and for the supply unit of robot electrical energy supply in line.Described imager is non-refrigeration focal surface infrared thermography, and this infrared thermography comprises wire, splicing sleeve, strain clamp and insulator.Described supply unit comprises induction power taking supply unit and lithium battery, induction power taking supply unit and lithium battery are robot body power supply jointly, native system can alleviate the labour intensity of patrolling and examining operation, reduce testing cost, improve and detect quality and efficiency, improve the fail safe that detects operation, thereby improve the management quality of circuit and reduce maintenance cost.

Description

A kind of aerial high-voltage power transmission line robot inspection system
Technical field
The utility model relates to electric power supervisory control field, specially refers to a kind of robot inspection system.
Background technology
The power industry of China occupies an important position in national economy, its basic function is for the prodution and development of national economy provides safety, economic and electric energy reliably, the detection of aerial high-voltage power transmission line design and safe operation with safeguard be electric energy system development and utilize in an important step.Aerial high-voltage power transmission line is the long visual plant apart from transmitting electric power of crossing over rivers, passing through high mountain and jungle mostly.
Circuit patrol and examine that tour, insulator cleaning, circuit are removed obstacles and the charged or power failure operation such as circuit deicing, be the important routine work content that ensures the normal operation of line security.The method that current electric power network system completes this class routine work remains manual work, not only means are backward, labour intensity is large for manual work, potential safety hazard is large, and often become the irrealizable operation of artificial institute and make an inspection tour blind area for crossing over the such part of path of rivers mountain forest, so the intellectuality of aerial high-voltage power transmission line is patrolled and examined and is safeguarded it is that China realizes the important step that intelligent grid is built.
Summary of the invention
Still need the deficiency of manual work in order to overcome the circuit reparation of aerial high-voltage power transmission line in prior art, the shortage that intellectuality is patrolled and examined, the utility model provides a kind of robot inspection system.
The technical solution of the utility model is: a kind of robot inspection system, and this system comprises robot body, ground base station and back-stage management device, ground base station connects robot body and back-stage management device.Described robot body comprises 2 The Cloud Terrace visible light cameras of mobile robot and lift-launch thereof, 1 imager and 1 rangefinder, and for the supply unit of robot electrical energy supply in line.Described imager is non-refrigeration focal surface infrared thermography, and this infrared thermography comprises wire, splicing sleeve, strain clamp and insulator.Described supply unit comprises induction power taking supply unit and lithium battery, and induction power taking supply unit and lithium battery are robot body power supply jointly.Described robot body comprises automatic identification and locates the automatic identification locating module of barrier and the automatic monitoring modular of supervisory-controlled robot dump energy.Described robot body comprises wireless communication module.Described ground base station comprises wireless communication module and remote communication module.
The utility model has following good effect: robot inspection system can replace testing staff to carry out patrol task to circuit, can alleviate the labour intensity of patrolling and examining operation, reduce testing cost, improve and detect quality and efficiency, improve the fail safe that detects operation, thereby improve the management quality of circuit and reduce maintenance cost.In addition the robot inspection system in the utility model also has the functions such as communication function, energy consumption monitoring, prediction and dump energy work planning control function, man-machine interactive operation function.
Brief description of the drawings
Fig. 1 is fundamental diagram of the present utility model;
Fig. 2 is the fundamental diagram of robot body in the utility model.
Embodiment
Contrast accompanying drawing below, by the description to embodiment, embodiment of the present utility model is as the effect of the mutual alignment between the shape of related each member, structure, each several part and annexation, each several part and operation principle, manufacturing process and operation using method etc., be described in further detail, to help those skilled in the art to have more complete, accurate and deep understanding to inventive concept of the present utility model, technical scheme.
Main thought of the present utility model is: robot inspection system, mainly formed by robot body, ground base station and back-stage management device three parts, robot body is the main part for line data-logging in the utility model system, it comprises 2 global The Cloud Terrace visible light cameras of mobile robot and lift-launch thereof, 1 imager and 1 rangefinder, and for the induction power taking supply unit of robot electrical energy supply in line, automatically identify and locate the automatic identification locating module of barrier and automatic monitoring modular and the wireless communication module of supervisory-controlled robot dump energy; Ground base station comprises wireless communication module and remote communication module, is the signal transmission intermediary between robot body and back-stage management device, and back-stage management device is the man-machine interactive platform of whole system, and robot manipulating task is carried out to Long-distance Control, data preparation etc.Imager adopts non-refrigeration focal surface infrared thermography, and this infrared thermography comprises wire, splicing sleeve, strain clamp and insulator, and rangefinder adopts laser range finder, and laser ranging is more accurate.
Dump energy automatic monitoring modular automatic monitoring machine people's dump energy, and can and patrol and examine line parameter circuit value according to dump energy, robot is rested on to shaft tower place automatically, and should avoid robot to shut down other position of shelves section at non-shaft tower place because electric weight is not enough.Wherein, the automatic monitoring of driving path relies on two full HD visible ray monopod video cameras that robot body carries to implement comprehensive automatic detecting to circuit, comprise each phase conductor, ground wire, insulator (string), various gold utensils, shaft tower and ground thereof, circuit corridor etc., patrol and examine image or picture is clear, total pixel is not less than 3,000,000, total zoom (optical zoom and electronic zoom) is not less than 240X, angle of oscillation is not less than 350 °, the angle of pitch is not less than 200 °, deadweight is not more than 1.8kg, patrolling and examining picture both can be stored in robot body, and memory capacity is not less than 100G, can real-time radio transmission download to ground base station again.
The automatic monitoring of driving path relates to automatic detection identification and the location of driving path environment, automatically identifies stockbridge damper, suspension clamp, strain clamp, splicing sleeve and conductor spacer; Along 220kV~500kV mono-/multiple fission conductor through running, maximum travelling speed is not less than 4 kilometers/hour, and speed can step-less adjustment, speed monitoring error :≤0.5%; The rolling climbing gradient of travelling is not less than 40 degree, and the alternate manner climbing gradient is not less than 70 degree; Cross over the barriers such as stockbridge damper, list/duplex suspension clamp, conductor spacer, splicing sleeve, strain clamp, climb and pass through strain insulator wire jumper.
Power supply part is powered jointly by responding to power taking supply unit and lithium battery, induction power taking power supply is in real time for robot battery provides electric energy supply, effective supply electric energy power in the time that conductor loading electric current is 250A is not less than 100W, and can effectively adapt to the wide variation of conductor loading electric current, electricity getting device itself can adapt to robot travelling and obstacle detouring on wire automatically, and the weight of a complete set of power taking supply unit itself is no more than 3kg; Adopt lithium battery as robot power supply and induction power taking accumulation power supply, under the independent condition of power supply of lithium battery, robot is not less than 8 hours cruising time; Under lithium battery and the common condition of power supply of induction power taking power supply, robot has the flying power of continuous firing; Lithium battery is after cycle charge-discharge 600 times, and discharge capacity is still greater than 60% of rated capacity.
By reference to the accompanying drawings the utility model is exemplarily described above; obviously the utility model specific implementation is not subject to the restrictions described above; as long as adopted the improvement of the various unsubstantialities that method of the present utility model design and technical scheme carry out; or without improving, design of the present utility model and technical scheme are directly applied to other occasion, all within protection range of the present utility model.

Claims (7)

1. an aerial high-voltage power transmission line robot inspection system, is characterized in that, this system comprises robot body, ground base station and back-stage management device, and ground base station connects robot body and back-stage management device.
2. robot inspection system according to claim 1, is characterized in that, described robot body comprises The Cloud Terrace visible light camera, imager and the rangefinder of mobile robot and lift-launch thereof, and for the supply unit of robot electrical energy supply in line.
3. robot inspection system according to claim 2, is characterized in that, described imager is non-refrigeration focal surface infrared thermography, and this infrared thermography comprises wire, splicing sleeve, strain clamp and insulator.
4. robot inspection system according to claim 2, is characterized in that, described supply unit comprises induction power taking supply unit and lithium battery, and induction power taking supply unit and lithium battery are robot body power supply jointly.
5. robot inspection system according to claim 1, is characterized in that, described robot body comprises automatic identification and locates the automatic identification locating module of barrier and the automatic monitoring modular of supervisory-controlled robot dump energy.
6. robot inspection system according to claim 1, is characterized in that, described robot body comprises wireless communication module.
7. robot inspection system according to claim 1, is characterized in that, described ground base station comprises wireless communication module and remote communication module.
CN201420351560.7U 2014-06-27 2014-06-27 A kind of aerial high-voltage power transmission line robot inspection system Expired - Fee Related CN203932833U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201420351560.7U CN203932833U (en) 2014-06-27 2014-06-27 A kind of aerial high-voltage power transmission line robot inspection system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201420351560.7U CN203932833U (en) 2014-06-27 2014-06-27 A kind of aerial high-voltage power transmission line robot inspection system

Publications (1)

Publication Number Publication Date
CN203932833U true CN203932833U (en) 2014-11-05

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104022463A (en) * 2014-06-27 2014-09-03 芜湖海格斯智能科技有限公司 Robot inspection system for overhead high-voltage power transmission line
CN105375384A (en) * 2015-10-30 2016-03-02 徐州德坤电气科技有限公司 Power transmission and transformation intelligent monitoring maintenance system maintenance unit and usage method thereof
CN108334070A (en) * 2017-12-11 2018-07-27 浙江捷尚人工智能研究发展有限公司 Robot travel control method, apparatus and system based on full-view camera

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104022463A (en) * 2014-06-27 2014-09-03 芜湖海格斯智能科技有限公司 Robot inspection system for overhead high-voltage power transmission line
CN105375384A (en) * 2015-10-30 2016-03-02 徐州德坤电气科技有限公司 Power transmission and transformation intelligent monitoring maintenance system maintenance unit and usage method thereof
CN105375384B (en) * 2015-10-30 2018-05-18 徐州德坤电气科技有限公司 The maintaining unit and application method of a kind of power transmission and transformation intelligent monitoring maintenance system
CN108334070A (en) * 2017-12-11 2018-07-27 浙江捷尚人工智能研究发展有限公司 Robot travel control method, apparatus and system based on full-view camera

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C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20141105

Termination date: 20200627