CN208296886U - A kind of high-voltage line intelligent inspection robot - Google Patents
A kind of high-voltage line intelligent inspection robot Download PDFInfo
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- CN208296886U CN208296886U CN201820764162.6U CN201820764162U CN208296886U CN 208296886 U CN208296886 U CN 208296886U CN 201820764162 U CN201820764162 U CN 201820764162U CN 208296886 U CN208296886 U CN 208296886U
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- voltage line
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- intelligent inspection
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Abstract
The utility model discloses a kind of high-voltage line intelligent inspection robots, the robot includes mobile module, cantilever, measurement module and control module, mobile module includes two wheel groups, it is separately positioned on the both ends of cantilever, high-voltage line passes through two wheel groups, the bottom of cantilever is arranged in measurement module, control module is suspended on the least significant end of cantilever inner arc, including robot controller, communication module and power supply, robot carries out data communication by communication module and ground based terminal platform, robot controller control wheel group compresses high-voltage line and moves along high-voltage line, power supply is each component power supply of robot.The utility model wheel group compresses high-voltage line and moves under motor drive along high-voltage line, in moving process, measurement module carries out various detections, it may be implemented to carry out autonomous round-trip inspection to high-voltage line incessantly, it realizes high definition detection, while can also have using flexible across obstacle in advance, it is high-efficient, while detecting accurate advantage.
Description
Technical field
The utility model relates to electric system to detect research field, in particular to a kind of high-voltage line intelligent inspection robot.
Background technique
Transmission line of electricity is chronically in severe natural environment, and the stranded failure of some such as conducting wires often occurs, this
A little defects can generate greatly interference to the normal operation of entire transmission line of electricity, need to find and repair in time.Traditional " patrols
Mainly manually line walking, this mode great work intensity, working efficiency are low for line " mode.
It proposes to carry out inspection to high-voltage line using unmanned plane in the prior art, but this scheme is only with visible images
Transmission line of electricity is maked an inspection tour with video, detection means is single, and rough inspection can only be done to transmission line of electricity, finds biggish lack
It falls into, and the image data that inspection obtains is to sample to take a little, carries out high-definition shooting to high-voltage line with being unable to all standing.
For this purpose, studying one kind for high voltage cable, high definition detection can be realized, the device with high line walking efficiency has
Important research significance and practical value.
Utility model content
The shortcomings that the purpose of the utility model is to overcome the prior arts and deficiency, provide a kind of high-voltage line Intelligent inspection machine
Device people, the robot may be implemented to carry out autonomous round-trip inspection to high-voltage line incessantly, realize high definition detection, while can also
Across obstacle in advance, there is using flexible, it is high-efficient, while detecting accurate advantage.
The purpose of this utility model is realized by the following technical solution: a kind of high-voltage line intelligent inspection robot, including
Mobile module, cantilever, measurement module and control module, mobile module include two wheel groups, are separately positioned on the both ends of cantilever, high
Crimping passes through two wheel groups；The bottom of cantilever is arranged in measurement module, and control module is suspended on the least significant end of cantilever inner arc, packet
Robot controller, communication module and power supply are included, robot carries out data communication, machine by communication module and ground based terminal platform
Device people's controller control wheel group compresses high-voltage line and moves along high-voltage line, and power supply is each component power supply of robot.The utility model
In, high-voltage line is stuck between two wheel groups, and the controllable ratch group of robot controller compresses high-voltage line and moves along high-voltage line, thus
It may be implemented to carry out autonomous round-trip inspection to high-voltage line incessantly.
Preferably, each wheel group includes opening and closing pawl, opening and closing pawl driving motor, three rubber guide wheels and rubber guide wheel driving
There are guide plate, upper end fixed company of the two of them rubber guide wheel in the top of high-voltage line, with opening and closing pawl in motor, rubber guide wheel two sides
It connects, a rubber guide wheel is fixedly connected in the lower section of high-voltage line with the lower end of opening and closing pawl, and three rubber guide wheels are in the row of falling isosceles triangle
Column, high-voltage line are passed through from product word intermediate lateral, and rubber guide wheel driving motor driving rubber guide wheel is moved along high-voltage line；Opening and closing pawl drives
The opening and closing of dynamic motor control opening and closing pawl and then wheel group is allowed to unclamp or high tension lead.Using the above structure, robot can be made firm
Solid be fixed on high-voltage line, to resist wind or other are dangerous, while the guide plate being arranged by rubber guide wheel two sides, lead rubber
Similar train wheel is taken turns, guarantees that rope will not be skidded off in robot motion.
Preferably, cantilever torsion motor is additionally provided between the wheel group and cantilever, cantilever torsion motor control wheel group is opposite
It makes rotating motion in cantilever.Cantilever can be made across the barrier on high-voltage line by cantilever torsion motor.
Preferably, the measurement module includes video camera, and video camera is fixed on a holder, and holder drives video camera to turn
It is dynamic.Video camera can be rotated flexibly when so as to realize robot inspection, be directed at tested high-voltage line.
Further, the video camera has focusing function.To which amplification picture can be passed through when finding suspected malfunctions point
Realize more accurately judgement in face.
Preferably, the measurement module further includes laser radar, and laser radar is arranged on cantilever, and laser radar is certain
Scanning high voltage line in angle.So as to measure high-voltage line and periphery trees distance.
Preferably, the measurement module further includes infrared thermal imager, which is arranged on cantilever.Pass through
Infrared thermal imager can measure high voltage cable, cable connector, grounding box, cable terminal and terminal porcelain vase, cable termination with
And the temperature anomaly at other positions and current caused hot failure, complete temperature diagnostic and early warning.
Preferably, the measurement module further includes gas sensor and Temperature Humidity Sensor.For acquiring current high pressure
The environmental parameter of line.
Preferably, warning device is equipped in robot and/or terminal platform.And other exceptions abnormal for environmental data
Real-time alert is reminded administrative staff to pay close attention to and dispose by situation, robot and terminal platform.
Preferably, robot upper part is closed using metal plate, and each metal plate junction is filled using rubber strip.To carry out
Sealing, realizes the function of waterproof.
Preferably, mobile module, measurement module, control module are all made of modular mode, with cantilever in a manner of dismounting into
Row fits together.So as to realize quickly assembling, disassembly, replacement and fold.
Preferably, the sensor for detecting inclination or off-line is equipped in robot.Once robot suddenly encounters crosswind
Or other reasons, when robot being caused to have inclination or off-line danger, which can alarm to controller, and controller will execute
Emergency action compresses ground wire by rubber guide wheel, guarantees that robot is non-off-line.
Preferably, hollow design is carried out in the wind surface of wheel group and cantilever.So that wind is passed through from hollow part, wind surface is reduced
Product reduces lateral pressure, and then hoisting machine people's wind resistance.
Preferably, the rubber guide wheel driving motor uses servo motor.The pulse sent by servo motor can be to event
Barrier point is accurately positioned.
Preferably, the power supply includes solar charging panel, and solar charging panel is arranged on cantilever.To make robot
It is more suitable in field work.
The utility model compared with prior art, is had the following advantages and beneficial effects:
1, the utility model high-voltage line intelligent inspection robot can carry out independently patrolling back and forth along high-voltage line incessantly
Inspection, the reinspection of abnormal point autonomous positioning have measurement high-voltage line and periphery trees distance, identify that high-voltage line is stranded etc. abnormal, high-precision
Degree carries out Orientation on map, accurate localization of fault, and data are sent to terminal platform, and intelligent multinomial across obstacle in advance etc.
Function.Actually detected art bottleneck is had a single function and is difficult to apply to solve crusing robot, in-depth robot technology exists
Application in electric inspection process work.The working strength of track walker can be substantially reduced simultaneously, improves line walking efficiency, had very big
Advantage.
2, for video camera setting on holder, holder has rotating function, while cooperating camera zoom in the utility model, can
It is effectively ensured and effective monitoring is carried out to intelligent inspection robot all directions scene details.
3, it is additionally provided with infrared thermal imager in the utility model, hot prison can be carried out to equipment such as cable, cable connector, distribution boxs
Control.It, can be to current high-voltage line equipped with for detecting inclination or sensor, gas sensor and Temperature Humidity Sensor of off-line etc.
State and environment measure, realize the stable operation of robot.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model embodiment.
Structural schematic diagram when Fig. 2 is the utility model embodiment wheel group closure.
Fig. 3 is structural schematic diagram when the utility model embodiment wheel group is opened.
Fig. 4 is the structural schematic diagram at the holder of the utility model embodiment cantilever bottom.
Fig. 5 is the overall structure top view of the utility model embodiment.
In figure: 1- rubber guide wheel, 2- opening and closing pawl, 3- cantilever torsion motor, 4- cantilever, 5- machine box, 6- laser radar, 7- take the photograph
Camera, 8- holder, 9- solar charging panel, 10- opening and closing pawl driving motor.
Specific embodiment
The purpose of this utility model is described in further detail below by specific embodiment, embodiment cannot be herein
It repeats one by one, but therefore the embodiments of the present invention is not limited to the following examples.
Embodiment 1
As shown in Figure 1,5, a kind of high-voltage line intelligent inspection robot of the present embodiment, including mobile module, cantilever 4, measurement
Module and control module, control module are arranged in machine box 5 shown in Fig. 1.All parts are specifically described below.
As Figure 2-3, mobile module includes two wheel groups, is separately positioned on the both ends of cantilever 4, and each wheel group includes
Pawl 2,10, three rubber guide wheels 1 of opening and closing pawl driving motor and rubber guide wheel driving motor, rubber guide wheel two sides are closed to lead
Plate, two of them rubber guide wheel 1 are fixedly connected in the top of high-voltage line with the upper end of opening and closing pawl 2, and a rubber guide wheel 1 is in height
The lower section of crimping is fixedly connected with the lower end of opening and closing pawl 2, and three rubber guide wheels 1 are in the arrangement of falling isosceles triangle, and high-voltage line is from product word
Between be horizontally through, rubber guide wheel driving motor driving rubber guide wheel 1 moved along high-voltage line；Opening and closing pawl driving motor 10 controls opening and closing
The opening and closing of pawl 2 and then wheel group is allowed to unclamp or high tension lead.Rubber guide wheel can be similar to train wheel, but the rubber of robot is led
There are guide plate in wheel two sides, to guarantee that rope will not be skidded off in robot motion.
Cantilever torsion motor 3 is additionally provided between wheel group and cantilever, 3 control wheel group of cantilever torsion motor is done relative to cantilever revolves
Transhipment is dynamic.Cantilever can be made across the barrier on high-voltage line by cantilever torsion motor.
The rubber guide wheel driving motor uses servo motor.Servo motor is positioned mainly by pulse, works as servo motor
1 pulse is received, the corresponding angle of 1 pulse will be rotated, to realize displacement.Because servo motor itself has sending
The function of pulse, the number of pulses that system is passed back by calculating servo motor, is accurately controlled the rotation of motor, to realize essence
True positioning.Using a certain tower top as initial starting point, the diameter of the angle and wheel that are turned over by servo motor can be accurate
Ground calculates the distance that inspection robot is passed by, so as to be accurately obtained the position of inspection robot.When inspection robot is sent out
When existing fault point, inspection robot will record the position of fault point, and the information of fault point is sent to controller,
In this way it is known that the specific generation position that fault point occurs.
In the present embodiment, the bottom of cantilever 4 is arranged in measurement module, it may include video camera 7, laser radar 6, infrared heat
Imager, gas sensor and Temperature Humidity Sensor etc..
Wherein, video camera 7 is fixed on a holder 8, is seen that Fig. 4, holder 8 are responsible for that video camera 7 is driven to move, is realized robot
Video camera can be rotated flexibly when inspection, be directed at tested high-voltage line.Meanwhile video camera 7 has focusing function, when the doubtful event of discovery
When barrier point, more accurately judgement can be realized by magnified picture.
Wherein, laser radar 6 is arranged on cantilever 4, the scanning high voltage line within a certain angle of laser radar 6.The present embodiment
Up to 30 meters of the measurement distance of middle laser radar 6,360 degree of scanning angle, resolution of ranging is less than 10cm, and angular resolution is less than
0.5 degree, which greatly enhances the detectabilities of inspection robot.
Wherein, infrared thermal imager is arranged on cantilever 4.Warning device is equipped in robot and/or terminal platform.It patrols
Robot is examined by the infrared thermal imager of carrying, the facilities and equipments such as cable, cable connector can be imaged, in conjunction with thermometric number
According to image analysis technology, the working condition of installations and facilities can be obtained from thermograph, once discovery have overheating problem, i.e.,
It can alarm.By the warning function of automation, staff need not uninterruptedly monitor field device facility for 24 hours, only need
Alarm problem is paid close attention to and handled when having alarm.
Wherein, multiple gases sensor and Temperature Humidity Sensor are arranged on cantilever 4, after intelligent inspection robot carries,
In a mobile manner, the intensive acquisition of long term frequent is carried out.Under crusing robot routine patrol task, it can set every 10
A rice environmental data of acquisition, and environmental data is transmitted to terminal platform in real time, for carrying out subsequent data storage, depth
It excavates and trend analysis early warning.Simultaneously for environmental data exception and trend anomaly situation, robot will be real-time with terminal platform
Alert reminds administrative staff to pay close attention to and dispose.
In the present embodiment, control module is suspended on the least significant end of 4 inner arc of cantilever, including robot controller, communication module
And power supply, robot carry out data communication by communication module and ground based terminal platform, power supply is each component power supply of robot.For
It is convenient for field work, solar charging panel 9 is equipped in the present embodiment, it is solar powered so as to realize.
In order to realize water-proof function, in the present embodiment, robot upper part is closed using metal plate, and each metal plate junction has
Rubber strip filling, the front cover metal plate and rubber strip sealing structure of similar automobile, to realize water-proof function.In the key of robot
It because having circuit or motion structure, therefore is put accordingly such as controller, motor, video camera 7, laser radar 6 etc. at position
Water design.
The present embodiment robot will carry out anti-storm design, can be divided into three aspects, first aspect is mechanically to solve
Certainly, setting is for detecting the sensor of inclination or off-line.Robot is caused to have when robot suddenly encounters crosswind or other reasons
When inclination or off-line danger, which can alarm to controller, and controller will execute emergency action, pass through rubber guide wheel 1
Ground wire is compressed, guarantees that robot is non-off-line.Certainly, other than compressing rubber guide wheel, Wheels group arrangement can separately plus a rubber presss from both sides, when
Wheel group is again directly clamped ground wire by rubber folder after clamping, and robot is avoided to tilt.The second aspect is walked by robot
Position is realized, can be with Manipulation of the machine people or starting robot wind sheltering when ground staff is learnt by weather forecast to have strong wind
Program, the position for allowing robot motion to connect to high-pressure tower with ground wire, to realize wind sheltering.It is hollow design in terms of third.
Robot wind surface is mainly wheel group and cantilever 4, and hollow out reduces wind-engaging so that wind is passed through from hollow part through reasonable settings
Area, to reduce lateral pressure, and then hoisting machine people's wind resistance.
The method that high-voltage line intelligent inspection robot described in the present embodiment carries out inspection, step is: wheel group compresses high-voltage line
And moved under motor drive along high-voltage line, in moving process, the video camera in measurement module shoots high-voltage line, and detection is current
Whether high-voltage line has stranded situation, and whether the front of the detection robot direction of motion has barrier；Laser thunder in measurement module
Up to by being reflected by object to objective emission beam of laser signal, then by the laser signal received and transmitting signal
It compares, after proper treatment, so that it may obtain the information such as distance and the direction of object.Communication module in control module will be upper
The information for stating acquisition is sent to terminal platform.
During inspection, if video camera, which detects in front of robot motion direction, barrier, need across barrier
Hinder object, method particularly includes:
The first step, the stalling of robot rubber guide wheel driving motor；
Second step, robot left side wheels group are opened, so that left side rubber guide wheel is detached from rope；
Third step, the cantalever motor rotation on right side, band mobile robot turn clockwise；
4th step stops operating when the wheel group of opening will encounter rope because rotating clockwise；
Right side wheels are rotated 180 degree by the 5th step, so that wheel group is towards rope；
6th step closes wheel group, so that rubber guide wheel clamps rope, to realize a wheel group of robot across barrier
Hinder；
7th step repeats above-mentioned six steps, can realize second wheel group of robot across obstacle, to realize whole
A robot is across obstacle.
Due to being also equipped with a variety of detection devices in the present embodiment robot, which can also be used in the condition of a disaster and goes out
Money, for example, the data such as the image of the scene of the accident, infrared measurement of temperature can be sent back command centre by robot when the condition of a disaster occurs in scene,
For the use of command centre's decision；When there is dangerous situation in scene, can with important accessory --- Intelligent fire-fighting robot is answered
Anxious linkage, remote control robot reach rapidly abnormal point, by diagnostic techniques such as infrared heat and visual processes, quickly position
Abnormal point；By the emergent broadcast carried by itself notice and sound-light alarm, first time alert, and with short message
Information is sent to relevant person in charge over there by mode.
The above embodiments of the present invention is merely examples for clearly illustrating the present invention, and is not
Limitations of the embodiments of the present invention.For the those of ordinary skill in the field, on above explained basis
On can also make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.
Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention etc., should be included in this reality
Within novel scope of protection of the claims.
Claims (10)
1. a kind of high-voltage line intelligent inspection robot, which is characterized in that including mobile module, cantilever, measurement module and control mould
Block, mobile module include two wheel groups, are separately positioned on the both ends of cantilever, and high-voltage line passes through two wheel groups；Measurement module setting
In the bottom of cantilever, control module is suspended on the least significant end of cantilever inner arc, including robot controller, communication module and electricity
Source, robot carry out data communication by communication module and ground based terminal platform, and robot controller control wheel group compresses high pressure
Line is simultaneously moved along high-voltage line, and power supply is each component power supply of robot.
2. high-voltage line intelligent inspection robot according to claim 1, which is characterized in that each wheel group include opening and closing pawl,
There are guide plate, two of them in opening and closing pawl driving motor, three rubber guide wheels and rubber guide wheel driving motor, rubber guide wheel two sides
Rubber guide wheel is fixedly connected in the top of high-voltage line with the upper end of opening and closing pawl, a rubber guide wheel in the lower section of high-voltage line, with
The lower end for closing pawl is fixedly connected, and three rubber guide wheels are in the arrangement of falling isosceles triangle, and high-voltage line is passed through from product word intermediate lateral, and rubber is led
Wheel drive motor driven rubber guide wheel is moved along high-voltage line；The opening and closing of opening and closing pawl driving motor control opening and closing pawl allows wheel group loose in turn
It opens or high tension lead.
3. high-voltage line intelligent inspection robot according to claim 1, which is characterized in that between the wheel group and cantilever also
Equipped with cantilever torsion motor, cantilever torsion motor control wheel group makes rotating motion relative to cantilever.
4. high-voltage line intelligent inspection robot according to claim 1, which is characterized in that the measurement module includes camera shooting
Machine, video camera are fixed on a holder, and holder drives video camera rotation；
The video camera has focusing function.
5. high-voltage line intelligent inspection robot according to claim 1, which is characterized in that the measurement module further includes swashing
Optical radar, laser radar are arranged on cantilever, laser radar scanning high voltage line within a certain angle.
6. high-voltage line intelligent inspection robot according to claim 1, which is characterized in that the measurement module further includes red
Outer thermal imaging system, the infrared thermal imager are arranged on cantilever；
The measurement module further includes gas sensor and Temperature Humidity Sensor, and gas sensor and Temperature Humidity Sensor are arranged
On cantilever.
7. high-voltage line intelligent inspection robot according to claim 1, which is characterized in that flat in robot and/or terminal
Platform is equipped with warning device.
8. high-voltage line intelligent inspection robot according to claim 1, which is characterized in that be equipped in robot for detecting
The sensor of inclination or off-line；
Hollow design is carried out in the wind surface of wheel group and cantilever.
9. high-voltage line intelligent inspection robot according to claim 1, which is characterized in that the power supply includes solar charging
Battery plate, solar charging panel are arranged on cantilever.
10. high-voltage line intelligent inspection robot according to claim 1, which is characterized in that mobile module, measurement module,
Control module is all made of modular mode, is fitted together in a manner of dismounting with cantilever.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820764162.6U CN208296886U (en) | 2018-05-22 | 2018-05-22 | A kind of high-voltage line intelligent inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820764162.6U CN208296886U (en) | 2018-05-22 | 2018-05-22 | A kind of high-voltage line intelligent inspection robot |
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| CN208296886U true CN208296886U (en) | 2018-12-28 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108801340A (en) * | 2018-05-22 | 2018-11-13 | 华南理工大学 | A kind of high-voltage line intelligent inspection robot and its method for inspecting |
| CN110514251A (en) * | 2019-09-27 | 2019-11-29 | 国网内蒙古东部电力有限公司建设分公司 | A kind of interrupt device and its detection method |
| CN112207796A (en) * | 2020-08-19 | 2021-01-12 | 江苏澳联科技开发有限公司 | High-altitude cable inspection intelligent robot |
| ES2955438A1 (en) * | 2023-03-31 | 2023-12-01 | Lopez Alonso Jesus | ROBOT FOR MOVING ON MEDIUM AND HIGH VOLTAGE OVERHEAD ELECTRICAL LINES (Machine-translation by Google Translate, not legally binding) |
-
2018
- 2018-05-22 CN CN201820764162.6U patent/CN208296886U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108801340A (en) * | 2018-05-22 | 2018-11-13 | 华南理工大学 | A kind of high-voltage line intelligent inspection robot and its method for inspecting |
| CN110514251A (en) * | 2019-09-27 | 2019-11-29 | 国网内蒙古东部电力有限公司建设分公司 | A kind of interrupt device and its detection method |
| CN112207796A (en) * | 2020-08-19 | 2021-01-12 | 江苏澳联科技开发有限公司 | High-altitude cable inspection intelligent robot |
| CN112207796B (en) * | 2020-08-19 | 2023-11-03 | 江苏澳联科技开发有限公司 | Intelligent robot is patrolled and examined to high altitude cable |
| ES2955438A1 (en) * | 2023-03-31 | 2023-12-01 | Lopez Alonso Jesus | ROBOT FOR MOVING ON MEDIUM AND HIGH VOLTAGE OVERHEAD ELECTRICAL LINES (Machine-translation by Google Translate, not legally binding) |
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