CN207601627U - A kind of crusing robot control system based on unmanned plane - Google Patents
A kind of crusing robot control system based on unmanned plane Download PDFInfo
- Publication number
- CN207601627U CN207601627U CN201721420046.4U CN201721420046U CN207601627U CN 207601627 U CN207601627 U CN 207601627U CN 201721420046 U CN201721420046 U CN 201721420046U CN 207601627 U CN207601627 U CN 207601627U
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- crusing robot
- transmission line
- power transmission
- module
- 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
Abstract
The utility model discloses a kind of crusing robot control systems based on unmanned plane, it is characterised in that：Including upper wire module, more walking module, barrier module and downline module；The upper wire module, for controlling unmanned plane that crusing robot is mentioned power transmission line；The walking module is walked for drawing crusing robot on power transmission line；The more barrier module, for robot to be controlled to cross the obstacle on power transmission line；The downline module, for controlling unmanned plane that robot is dropped to ground.The utility model is solved the problems, such as offline on crusing robot by unmanned plane, while is provided power for crusing robot on power transmission line, is reduced the weight of crusing robot, using simple and quick obstacle detouring mode, obstacle detouring cost and time are saved, and by control system, realizes automatic detecting.
Description
Technical field
The utility model is related to power transmission line inspection field, especially a kind of crusing robot control system based on unmanned plane
System.
Background technology
Ultra-high-tension power transmission line failure and he causes power failure, to people's lives, industrial enterprise and country cause huge economy
Loss.The hidden danger and defect of discovery transmission line of electricity in time are needed, and is repaired, is prevented trouble before it happens, it is necessary to which power transmission line is carried out
Regularly inspection.The defects of transmission line of electricity mainly have stranded, loose stock, get rusty, defect, missing, displacement, lightning stroke, filth, abrasion,
Corrosion etc., especially on transmission line of electricity the defects of the oxidation corrosion of gold utensil, joint looseness and the Ageing of Insulators, cracking and breakdown
And the safe operation of failure serious threat transmission system.
HV Transmission Line Routing Inspection is the operation conditions in order to grasp circuit, timely discovering device defect and along the line situation,
Data is provided for line maintenance.At present, HV Transmission Line Routing Inspection has manual inspection and helicopter routing inspection two ways.Manually patrol
Inspection uses visual method along circuit by tower inspection by electrical power line inspector, and ground is maked an inspection tour and is combined with stepping on tower inspection.This mode labor
Fatigue resistance is big, costly and dangerous larger.Helicopter routing inspection is also known as aerophotographic method, refers to helicopter and carries thermal infrared imager and visible
The equipment such as light video camera carry out inspection.Its advantage is that line walking is efficient, for High aititude, extremely frigid zones and unfrequented section
Inspection can be carried out, shortcoming is line walking somewhat expensive, and inspection quality is influenced by factors such as weathers.
Crusing robot is a kind of closely inspection circuit and the tool for repairing defect.Crusing robot is with high voltage power transmission
The ground wire of circuit is working path, and external environmental information is obtained by using various sensors and its detection, and realization is positioned oneself,
Judge oneself state, trajectory planning movement is carried out according to target, completes patrol task.Robot when performing patrol task, by
Staff is monitored by radio communication at ground handling station.
Existing crusing robot there are it is following the defects of：1st, it needs to carry out complicated operation in obstacle detouring, it can not be quick
Pass through, routing inspection efficiency is low；2nd, crusing robot can not automatically up and down power transmission line；3rd, helicopter routing inspection is of high cost, while detects dress
Put it is remote with the distance of power transmission line, easily it is protected from environmental.
Utility model content
The purpose of utility model of the utility model is：In view of the above problems, it provides a kind of based on unmanned plane
Crusing robot control system by multiple sensors, detects and controls the work of unmanned plane and crusing robot, controls nobody
Power transmission line above and below crusing robot is avoided the cumbersome obstacle detouring mode of existing crusing robot by machine, based on unmanned plane quickly and
It is convenient to surmount obstacles and steel tower, the effective inspection effect for improving crusing robot.
The technical solution adopted in the utility model is as follows：
A kind of crusing robot control system based on unmanned plane of the utility model, it is characterised in that：Including upper wire module,
Walking module, more barrier module and downline module；The upper wire module, for controlling unmanned plane that crusing robot is mentioned power transmission line
On；The walking module is walked for drawing crusing robot on power transmission line；The more barrier module, for controlling robot
Cross the obstacle on power transmission line；The downline module, for controlling unmanned plane that robot is dropped to ground.
Further, the upper wire module includes positioning unit, the first sensing unit and the first control unit；Positioning unit packet
Visual sensor is included, target image is obtained by visual sensor, calculates the position of target；The sensing unit, for sensing
The traveling wheel of crusing robot whether contact power transmission line；First control unit for unmanned plane to be controlled to rise, adjusts unmanned plane
Posture and flight.
Further, the walking module includes traction angle detection unit, the second sensing unit and the second control unit；Institute
It states traction angle detection unit and includes obliquity sensor, obliquity sensor draws for detecting between unmanned plane and crusing robot
Line, the angle between draught line and horizontal line；Second sensing unit, for detect the traveling wheel of crusing robot whether leave it is defeated
Electric wire；Second control unit is the tractive force and the speed and appearance for corresponding to unmanned plane that robot provides for calculating unmanned plane
State is sent to flight control system.
Further, the more barrier module includes detection of obstacles unit and third control unit；The detection of obstacles list
Member includes imaging sensor and ultrasonic sensor；Described image sensor, for cognitive disorders object；The supersonic sensing
Device, for detecting the volume of barrier；The third control unit for the volume of disturbance in judgement object, selects the longer side of execution
Formula, control unmanned plane carry out obstacle detouring.
Further, the downline module includes the 4th control unit and execution unit；4th control unit, for controlling
Crusing robot is dropped to ground by unmanned plane processed；The execution unit, for by leading between unmanned plane and crusing robot
Lead unclamps.
In conclusion by adopting the above-described technical solution, the beneficial effects of the utility model are：
1st, it realizes that the power transmission line inspection device based on unmanned plane is automatic upper and lower on power transmission line, does not need to set other auxiliary
Device is helped, and easy for going up and down and quick.
2nd, it does not quickly need to stop carrying out obstacle detouring in inspection, can quickly lead to by the barrier on power transmission line
Barrier is crossed, different barriers can be crossed.
3rd, the closely detection of power transmission line, detection device and power transmission line contact are realized, both can guarantee the stabilization of detection device
Property, it is not easy effect protected from environmental, while improving detection.
4th, it can be used in the inspection of local power transmission line, when needing to detect part transmission of electricity line segment, unmanned plane can not be by ring
Detection device is placed on power transmission line and is detected by the limitation in border, so as to fulfill accurately inspection, for not needing to detection
Line segment, can skip inspection, and flexible inspection improves routing inspection efficiency.
5th, automatically controlling for crusing robot is realized, by multiple sensors, acquisition unmanned plane is carried by crusing robot
The running data on to power transmission line and on power transmission line, are accurately controlled the flight of unmanned plane, so as to automatically control unmanned plane
Robot is drawn, realizes inspection.
Description of the drawings
The utility model will illustrate by example and with reference to the appended drawing, wherein：
Fig. 1 is a kind of structure diagram of the crusing robot based on unmanned plane.
Fig. 2 is the right view of the crusing robot based on unmanned plane.
Fig. 3 is a kind of structure diagram of the crusing robot control system based on unmanned plane of the utility model.
Specific embodiment
All features or disclosed all methods disclosed in this specification or in the process the step of, in addition to mutually exclusive
Feature and/or step other than, can combine in any way.
This specification（Including any accessory claim, abstract）Disclosed in any feature, unless specifically stated,
It is replaced by other equivalent or with similar purpose alternative features.That is, unless specifically stated, each feature is a series of
An example in equivalent or similar characteristics.
Such as Fig. 1, a kind of crusing robot based on unmanned plane, including unmanned plane 8 and crusing robot, the unmanned plane 8
It is flexibly connected between crusing robot；The unmanned plane 8 provides upward lift and inspection power for crusing robot；Institute
Crusing robot is stated, for carrying out the inspection of power transmission line；The crusing robot includes body 1, and the body 1 passes through preceding walking
The support of mechanism 5 and rear walking mechanism 6 and be arranged on power transmission line；The pre-walking mechanism 5 and rear walking mechanism 6 respectively include
Support arm 4 and traveling wheel 2,4 upper end of support arm are connect with body 1, and lower end is provided with traveling wheel 2, and the traveling wheel 2 is set
Body 1 is driven to be moved along power transmission line on power transmission line.
Such as Fig. 2, the traveling wheel 2 is arranged on 4 lower end of support arm by drive shaft, and drive shaft is connected with driving motor,
Driving motor drives traveling wheel 2 to rotate；The front and rear opening of the body 1 is wrapped on power transmission line, and power transmission line is made to run through from front to back
Body 1；1 top of body, top and/or both sides can open；It places obstacles in the body 1 detection sensor 7, the biography
Sensor is connected with the controller being arranged in body 1；The obstacle detecting sensor 7 is arranged on 1 top of body, it includes front end
Obstacle detecting sensor and rear end obstacle detecting sensor；Before the front end obstacle detecting sensor is arranged on pre-walking mechanism 5
Side, the rear end obstacle detecting sensor are arranged between pre-walking mechanism 5 and rear walking mechanism 6；It is provided in the body 1
Control cabinet, the control cabinet are located at 1 bottom of body, controller, the controller and obstacle detection are provided in the control cabinet
Sensor is connected with driving motor；The controller, obstacle detecting sensor and driving motor are by being arranged in control cabinet
Power supply is powered.
Such as Fig. 3, a kind of crusing robot control system based on unmanned plane of the utility model, it is characterised in that：Including upper
Wire module, more walking module, barrier module and downline module；The upper wire module, for unmanned plane to be controlled to carry crusing robot
Onto power transmission line；The walking module is walked for drawing crusing robot on power transmission line；The more barrier module, for controlling
The obstacle on power transmission line is crossed by robot processed；The downline module, for controlling unmanned plane that robot is dropped to ground.
The upper wire module includes positioning unit, the first sensing unit and the first control unit；Positioning unit includes vision
Sensor obtains target image by visual sensor, calculates the position of target；The sensing unit, for sensing survey monitor
The traveling wheel of device people whether contact power transmission line；First control unit, for unmanned plane to be controlled to rise, adjust unmanned plane posture and
Flight.
The walking module includes traction angle detection unit, the second sensing unit and the second control unit；The traction
Angle detection unit includes obliquity sensor, and obliquity sensor leads for detecting draught line between unmanned plane and crusing robot
Angle between lead and horizontal line；Second sensing unit, for detecting whether the traveling wheel of crusing robot leaves power transmission line；
Second control unit is the tractive force and the speed and posture for corresponding to unmanned plane that robot provides for calculating unmanned plane, sends out
It is sent to flight control system.
The more barrier module includes detection of obstacles unit and third control unit；The detection of obstacles unit includes figure
As sensor and ultrasonic sensor；Described image sensor, for cognitive disorders object；The ultrasonic sensor, for examining
Survey the volume of barrier；The third control unit for the volume of disturbance in judgement object, selects longer executive mode, controls nothing
Man-machine carry out obstacle detouring.
The downline module includes the 4th control unit and execution unit；4th control unit, for controlling nobody
Crusing robot is dropped to ground by machine；The execution unit, for the draught line between unmanned plane and crusing robot is loose
It opens.
Operation principle：When receiving inspection sign on, unmanned plane is connected with crusing robot by draught line, nobody
Machine rises, and unmanned plane finds the position of target power transmission line by positioning unit, reaches above power transmission line, adjusts the appearance of unmanned plane
The traveling wheel of crusing robot and power transmission line are corresponded to contact by state, and crusing robot is parked on power transmission line；By unmanned plane during flying
In the front of crusing robot, the angle between the draught line of unmanned plane and horizontal line, calculated tractive effort are adjusted, while drawing
In, according to the inclination angle of power transmission line, tractive force is adjusted, traction robot walks on power transmission line；When more to the obstacle on power transmission line
During object, detect the volume of barrier, when barrier volume be less than preset value, directly by tractive force, surmount obstacles, work as obstacle
When the volume of object is more than preset value, directly robot is lifted up, is cleared the jumps；When more arriving steel tower, directly by machine
People is lifted up, and around steel tower, robot is placed on power transmission line, continues inspection；After inspection, robot is lifted,
Power transmission line, while positioning landing point are left, control unmanned plane lands, while the flexible connection between unmanned plane and robot is loose
It opens.
The utility model is not limited to aforementioned specific embodiment.The utility model expands to any in this specification
The step of new feature of middle disclosure or any new combination and any new method or process disclosed or any new group
It closes.
Claims (5)
1. a kind of crusing robot control system based on unmanned plane, it is characterised in that：Including upper wire module, walking module, get over
Barrier module and downline module；The upper wire module, for controlling unmanned plane that crusing robot is mentioned power transmission line；The walking
Module is walked for drawing crusing robot on power transmission line；The more barrier module, for robot to be controlled to cross power transmission line
Obstacle；The downline module, for controlling unmanned plane that robot is dropped to ground.
2. the crusing robot control system according to claim 1 based on unmanned plane, it is characterised in that：The mould of reaching the standard grade
Block includes positioning unit, the first sensing unit and the first control unit；Positioning unit includes visual sensor, passes through visual sensing
Device obtains target image, calculates the position of target；The sensing unit, for sensing whether the traveling wheel of crusing robot contacts
Power transmission line；First control unit for unmanned plane to be controlled to rise, adjusts posture and the flight of unmanned plane.
3. the crusing robot control system according to claim 1 based on unmanned plane, it is characterised in that：The walking mould
Block includes traction angle detection unit, the second sensing unit and the second control unit；The traction angle detection unit includes inclining
Angle transducer, obliquity sensor is for detecting draught line between unmanned plane and crusing robot, between draught line and horizontal line
Angle；Second sensing unit, for detecting whether the traveling wheel of crusing robot leaves power transmission line；Second control unit, is used for
It is the tractive force and the speed and posture for corresponding to unmanned plane that robot provides to calculate unmanned plane, is sent to flight control system.
4. the crusing robot control system according to claim 1 based on unmanned plane, it is characterised in that：The obstacle detouring mould
Block includes detection of obstacles unit and third control unit；The detection of obstacles unit includes imaging sensor and ultrasonic wave passes
Sensor；Described image sensor, for cognitive disorders object；The ultrasonic sensor, for detecting the volume of barrier；It is described
Third control unit for the volume of disturbance in judgement object, selects longer executive mode, and control unmanned plane carries out obstacle detouring.
5. the crusing robot control system according to claim 1 based on unmanned plane, it is characterised in that：The offline mould
Block includes the 4th control unit and execution unit；4th control unit, for controlling unmanned plane, crusing robot is landed
To ground；The execution unit, for the draught line between unmanned plane and crusing robot to be unclamped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721420046.4U CN207601627U (en) | 2017-10-31 | 2017-10-31 | A kind of crusing robot control system based on unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721420046.4U CN207601627U (en) | 2017-10-31 | 2017-10-31 | A kind of crusing robot control system based on unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207601627U true CN207601627U (en) | 2018-07-10 |
Family
ID=62757572
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721420046.4U Expired - Fee Related CN207601627U (en) | 2017-10-31 | 2017-10-31 | A kind of crusing robot control system based on unmanned plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207601627U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109616979A (en) * | 2019-01-09 | 2019-04-12 | 国网河南省电力公司三门峡市陕州供电公司 | A kind of power supply high voltage road deicing device |
-
2017
- 2017-10-31 CN CN201721420046.4U patent/CN207601627U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109616979A (en) * | 2019-01-09 | 2019-04-12 | 国网河南省电力公司三门峡市陕州供电公司 | A kind of power supply high voltage road deicing device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107703959A (en) | A kind of crusing robot control system and method based on unmanned plane | |
| CN106609894B (en) | A kind of boiler of power plant pipeline detection machine device people | |
| CN103825338B (en) | High-voltage line inspection robot independently locates control device and the method for docking charging | |
| CN102751669B (en) | Travelling mechanism of inspection robot for realizing obstacle crossing | |
| CN108365561B (en) | Corridor branch pruning robot for high-voltage transmission line walking along ground wire and control method | |
| CN107458420B (en) | Servicing robot, operation device and system for locomotive roof | |
| CN106655006A (en) | Transmission line inspection robot obstacle-crossing device | |
| CN109591906B (en) | Control system and control method for transmission tower climbing robot | |
| CN208015233U (en) | A kind of overhead line inspection obstacle removing robot | |
| CN110239686B (en) | A many unmanned aerial vehicle descending device for unmanned ship platform based on supplementary and parallel four-bar linkage of arm | |
| CN105846348B (en) | Walking mechanism, inspection robot mechanical structure and its obstacle-detouring method | |
| CN109849017A (en) | A kind of transformer substation robot hangs dismounting ground wire control system and control method | |
| CN204021041U (en) | A kind of traveling gear for overhead power transmission line crusing robot | |
| CN207601627U (en) | A kind of crusing robot control system based on unmanned plane | |
| JP2016056622A (en) | Cable inspection device | |
| CN107689599A (en) | Snakelike wound form inspection robot mechanical structure and its obstacle-detouring method | |
| CN205753183U (en) | Walking mechanism, inspection robot frame for movement | |
| CN107769070A (en) | A kind of power transmission line inspection device and method based on unmanned plane | |
| CN107834427A (en) | A kind of power transmission line crusing robot control system and its method based on unmanned plane | |
| CN107706819A (en) | A kind of power transmission line crusing robot based on unmanned plane | |
| CN105826862B (en) | Engagement driving walking wheel construction, inspection robot mechanical structure and its obstacle-detouring method | |
| AU2014305691B2 (en) | Truck and installation method for wires | |
| CN107732840A (en) | A kind of power transmission line inspection deicing unmanned plane | |
| CN210061146U (en) | Transformer substation robot hanging and dismounting ground wire control system | |
| CN207559431U (en) | A kind of power transmission line crusing robot control system based on unmanned plane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180710 Termination date: 20181031 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |