JP2760949B2 - Traveling equipment for airborne inspection equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling device in an airborne inspection device.

[0002]

2. Description of the Related Art In recent years, in order to respond to social demands for a stable supply of electric power, power distribution facilities such as high and low voltage insulators and equipment bushings have been checked on site to prevent a supply failure accident, or to prevent equipment failure due to lightning strikes. On-site inspection and inspection work, such as checking the situation at the site when an abnormality such as damage occurs, and appropriately treating it, is regarded as important. Such on-site patrol inspection work requires judgment by human vision or hearing, and thus has been conventionally performed manually using an aerial work vehicle or ascending poles.

[0003] However, the amount of power distribution facilities provided, including demand points such as narrow alleys and mountainous areas, is enormous, and in addition to the fact that uninterruptible work is being carried out along with the development of an advanced information society, However, in the above-described manual inspection work on a pole, a great deal of labor is required to find the cause of the occurrence of an abnormality. In addition, since fatigue is large and involves danger, workability is low and there is a problem in safety.

[0004] For this reason, the applicant has made the in-flight inspection device suspended on an overhead ground wire run by radio remote control from the ground, and operated a sensor such as a video camera to sense the power distribution equipment and to detect the power distribution equipment. The inspection equipment of the distribution equipment which inspects the distribution equipment by displaying the result on the ground inspection equipment has been proposed first.

First, the inspection device S will be described with reference to FIG. 4. The inspection device S is an overhead ground wire installed between the upper ends of the distribution poles H, H in order to prevent damage to the distribution equipment due to lightning. is suspended E _W, and the air on the inspection device 1 equipped with a sensor to inspect the distribution equipment, the perched on inspection device 1 as well as wireless remote control, displays the sensing result of the sensor perched on inspection apparatus 1 in real time It comprises a ground inspection device 2.

As shown in FIGS. 5 and 6, the on-air inspection device 1 includes a frame 3 formed in a gate shape when viewed from the front.
It comprises a traveling device 4 mounted on the frame 3, an imaging device 5 having a video camera 52 as a sensor, and a control device 6 for controlling the traveling device 4 and the imaging device 5.

The traveling device 4 includes a pair of driving wheels 41 rotatably supported by the frame 3, a servomotor 42 for driving the driving wheels 41 to rotate, and a servomotor 4.
Although not shown in detail, a worm gear fixed to the rotation shaft of the drive wheel 41 and a worm fixed to the output shaft of the servomotor 42 are meshed with each other. When the servo motor 42 is rotationally driven via the servo amplifier 43, the drive wheel 41 can be rotated forward / reverse via these worm gears and the worm, and the rotational speed can be increased / decreased.

The image pickup device 5 is supported by the frame 3 so as to be pivotable about a vertical axis, and is supported by the frame 3 so as to be able to be raised and lowered around a horizontal axis. The video camera 52 and the video camera 5
A lens controller 54 including a drive motor for zooming the second lens 53; and a camera platform controller 55 including a drive motor for selectively rotating the head 51 and raising and lowering the head. When the lens controller 54 is operated, The lens 53 can be zoomed, and when the pan head controller 55 is operated, the pan head 51,
That is, the video camera 52 is moved about 350 mm around the vertical axis.
Can be swiveled over a range of degrees,
It can be lowered about a horizontal axis over a range of about 90 degrees downward from a horizontal position.

Further, the control device 6 includes a video camera 52
After capturing the image signal by digitalization and compressing it,
While converting the data into image data and further modulating the data into radio data and transmitting the data, it receives radio data from a ground inspection device 2 described later and demodulates the data into control data. The power is output to the device 5, and power is supplied from a battery 7 mounted on the frame 3 to drive the device.

The on-air inspection device 1 has a drive wheel 41.
The time that has suspended ground wire E _W, though as is supported by the ground wire E _W as balancing toy, are evenly arranged in consideration of the weight balance on the left and right various devices frame 3 described above ing.

On the other hand, as shown in FIG. 6, the ground inspection device 2 includes a controller 8 such as a keyboard, a display 9 such as a CRT, and a ground side that operates the controller 8 and the display 9 as input / output devices. The ground inspection device 2 includes a control device 10 and is mounted on an inspection vehicle (not shown).

The ground-side control device 10 converts the command signal from the controller 8 into control data, modulates the data into wireless data, and transmits the data. The wireless data is received, demodulated into image data, decompressed, converted into an image signal, and output to the display 9, and is driven by a power supply 11.

[0013] W is a distribution line installed between the distribution poles H, H, and T is a transformer attached to the distribution pole H.

The overhead ground wire E _W on which the above-mentioned overhead inspection device 1 travels is supported by a power distribution pole H as shown in FIGS. 7 and 8. That is, the support structure of the overhead ground wire E _W linearly erected on the distribution pole H will be described with reference to FIG. 7. The support pole 12 is fixed to the upper end of the distribution pole H. A low-pressure insulator G is attached to the upper end of 12 via a bolt 13. And
Low pressure in the equalizer G, overhead ground wire E _W is connected. On the other hand, the upper end of the low pressure equalizing G, and the supporting plate 14 is fixed, through a wire 15 having the same diameter as ground wire E _W is sandwiched in the upper end of the support plate 14. Then, through wire 15, after which extends in the longitudinal direction with a descending slope that is set, is connected to the ground wire E _W both ends through a C-type connector 16. For this reason, the through wire 15 is extended so as to form a bridge over the low pressure insulator G.

[0015] In the power column H, will be described with the support structure when the direction of the ground wire E _W changes with reference to FIG. 8, a plurality of sheath tube support pillars 12 fixed to the power distribution pole H 1
7 is fixed, and the sheath tube 17 has a bolt 1
A support arm 18 bent in a substantially S-shape to which the low-pressure insulator G is fixed is inserted and fixed through the support arm 3. Also, bolt 1
A support plate 14 is fixed to 3, and a through wire 15 curved to a set radius of curvature is sandwiched between upper ends of a pair of adjacent support plates 14. Both ends of the through wire 15 is connected near the distal end of the ground wire E _W via a C-type connector 16. Incidentally, the tip of ground wire E _W low-pressure via the anchoring grip 20 is coupled to the equalizer G. Therefore, the imaginary ground wire E _W
Are extended so as to form a curved overpass that straddles the low-pressure insulator G. Furthermore, in order to prevent the through wire 15 from hanging down when the above-mentioned airborne inspection device 1 travels, the support column 12 is located at the middle of the through wire 15 erected between the pair of support arms 18, The intermediate support member 19 provided with the support plate 14 is fixed.

[0016] Thus, as will be described later, traveling perched on inspection apparatus 1 is a ground wire E _W, distribution column H vicinity, and reaches the connecting portion between the through wire 15, the drive wheels 41
Travels to transfer to the through wire 15 from the ground wire E _W, low pressure provided in the distribution column H is able to overcome without interfering with the equalizer G, it can also be converted to direction while overcoming.

Next, the operation of the inspection device S will be described. First, at the work start position in the inspection section of the day, the aerial inspection device 1 is mounted on the aerial inspection device 1 using an aerial work vehicle (not shown). to the suspension so as to be positioned on the line E _W.
Thereafter, when the forward operation unit of the controller 8 in the ground inspection device 2 is operated, the forward command signal output from the controller 8 is converted into forward control data by the control device 10 and then modulated into forward wireless data to be transmitted to the air. It is transmitted to the upper inspection device 1. The forward radio data received by the airborne transmission device 1 is demodulated into forward control data by the control device 6 and then converted into a forward command signal to be transmitted to the servo amplifier 43.
And further amplified by a servo amplifier 43 and supplied to a servo motor 42. Therefore, the driving wheels 41
There results forward set speed, it is possible to forward running the ground wire E _W at a speed perched on inspection apparatus 1 has been set.

At this time, assuming that the lens 53 of the video camera 52 mounted on the in-flight inspection device 1 is oriented in a direction parallel to the overhead ground line E _W , the imaging signal from the video camera 52 is transmitted to the control device. 6 and digitized,
After being compressed, it is converted into image data, further modulated into image wireless data, and transmitted to the ground inspection device 2. The image wireless data received by the ground inspection device 2 is demodulated into image data by the control device 10, expanded, converted into an image signal, supplied to the display 9, and the image is displayed. .

On the other hand, the airborne inspection device 1 moves forward and the distribution pole H
Is reached, the camera platform operating section of the controller 8 is operated, and the camera platform 51 is turned or raised so that the lens 53 of the video camera 52 is directed to the power distribution equipment of the power distribution pole H. That is, when the user operates the pan head operation unit of the controller 8 while checking the image displayed on the display unit 9, the pan head command signal is converted into pan head control data by the control device 10, and then the pan head wireless data And transmitted to the airborne inspection device 1. Then, the pan head wireless data received by the airborne inspection device 1 is demodulated into pan head control data by the control device 6, then converted into a pan head command signal and supplied to the pan head controller 55, and its drive motor Head 51 via
Swivel or raise. During this time, the video camera 52
Are displayed on the display 9 of the ground inspection device 2 as described above.

By operating the camera platform 51 in this way, if the video camera 52 points to the power distribution equipment, the power distribution equipment can be inspected based on the image displayed on the display 9. At this time, the imaging of the power distribution equipment displayed on the display 9 can be zoomed as necessary. That is, when the lens operation unit of the controller 8 is operated, the lens command signal is converted into lens control data by the control device 10, modulated into lens wireless data, and transmitted to the airborne inspection device 1. Then, the lens wireless data received by the aerial inspection device 1 is demodulated into lens control data by the control device 6, then converted into a lens command signal, supplied to the lens controller 54, and transmitted to the lens controller 54 via the drive motor. Zoom 53.

When the inspection of the power distribution equipment as viewed from the traveling direction of the airborne inspection device 1 is completed in this way, the forward operation unit of the controller 8 is operated again to advance the airborne inspection device 1. At this time, as described above, by the through wire 15 is laid low pressure fixed to the power distribution pole H is across the equalizer G, perched on inspection apparatus 1 Noriutsuri to the through wire 15 from the ground wire E _W, low pressure passes through the distribution column H without interfering with the equalizer G, then, can travel again possessed the ground wire E _W. Then, when the airborne inspection device 1 is separated from the power distribution pole H by a predetermined distance, the head operation unit of the controller 8 of the ground inspection device 2 is operated again,
The camera platform 51 is turned approximately 180 degrees so that the lens 53 of the video camera 52 is directed to the power distribution equipment, and an image of the power distribution equipment viewed from the rear with respect to the traveling direction of the airborne inspection device 1 is displayed on the display 9. At this time, the camera platform 51 is raised or lowered via the controller 8 as needed, or the lens 53 is zoomed. As described above, the image of the power distribution equipment viewed from the rear with respect to the traveling direction of the aerial inspection device 1 is displayed on the display 9 for inspection.

In this manner, when the inspection of the power distribution pole H from before and after the power distribution equipment is completed, the controller 8
By operating the pan head operating unit and the forward operating unit, the video camera 52 is pointed in the forward direction of the airborne inspection device 1, and the airborne inspection device 1 is moved to a position near the next power distribution pole H where power distribution equipment can be inspected. Let it run. During this time, when there is no particular inspection point, the traveling speed of the airborne inspection device 1 may be increased to quickly reach the next inspection position.

[0023] On the other hand, for the case to check the power distribution equipment distribution pillars H in which the direction changes of the ground wire E _W shown in FIG. 8 also,
Chu the inspection device 1 is advanced a ground wire E _W, overcome without low-pressure distribution column H through the through wire 15 from interfering with the equalizer G, it is possible to convert the direction. In this case as well, it is sufficient to operate the pan head operation unit and the lens operation unit of the controller 8 to display and inspect the power distribution equipment from before and after the power distribution equipment.

While repeating such an operation, the image of the power distribution equipment is displayed on the display 9 of the ground inspection device 2 in real time, and the inspection point of the power distribution equipment is inspected.

[0025]

The object of the invention is to be Solved by the way, when perched on the inspection apparatus 1 runs the erection has been overhead ground wire E _W to the power distribution pillar H, linear wire line, such as overhead ground wire E _W and through wire 15 When the vehicle is running on a wire line curved to a constant radius of curvature as shown in FIG. In order to run smoothly, it is necessary to set the radius of curvature to be large.

However, if the radius of curvature of the overhead ground wire E _W is increased to a certain value or more, it is necessary to enlarge the projecting portion of the support arm 18, and the structure becomes large as a whole, which is not economical. Not preferred. Actually, there is a case where a wire line having a considerably small radius of curvature must be employed, and the smaller the radius of curvature that can be traveled, the better.

Therefore, it is conceivable that the drive wheels 41 are configured to be steerable, that is, a drive motor is provided on the drive wheel 41 side to directly connect the drive wheels. , the structure is not only becomes complicated, the weight load on the overhead ground wire E _W is increased to increase, traveling there was a problem that it is difficult.

The present invention has been made in view of such a problem, and by adopting a simple steering mechanism, even when a wire line such as an overhead ground wire is curved with a small radius of curvature. It is intended to provide a traveling device in an airborne inspection device capable of traveling smoothly.

[0029]

SUMMARY OF THE INVENTION The present invention relates to an aerial inspection device which runs on a wire line and is equipped with a sensor such as a video camera to inspect various facilities. A bracket rotatably supported on the bracket so as to be rotatable about a horizontal axis, and a rotating shaft connected to a drive motor provided on a frame. While forming a boss having a plurality of key grooves, a spherical portion having a transmission pin is provided on the rotating shaft, and the transmitting pin and the spherical portion of the rotating shaft are fitted into the key groove and the boss of the drive wheel, respectively. It is characterized by the following.

[0030]

A transmission pin and a spherical portion of a rotary shaft connected to a drive motor are fitted to bosses with key grooves of drive wheels suspended on wire lines such as overhead ground wires.
Further, a bracket for rotatably supporting the drive wheels is rotatably supported around a vertical axis with respect to the frame.

Therefore, when the aerial inspection device travels on a curved wire line, the bracket that supports the drive wheels pivots with respect to the frame to be able to steer. At this time, the rotation of the rotating shaft by the drive motor is performed. The force is reliably transmitted to the drive wheel by the transmission pin provided on the spherical part being fitted into the keyway of the drive wheel, so that even if the wire line is curved, the airborne inspection device can be smoothly operated. You can run.

[0032]

Embodiments of the present invention will be described below with reference to the drawings.

For convenience of explanation, the same members as those of the aerial inspection device 1 shown in FIGS. 4 to 6 are denoted by the same reference numerals, and detailed description thereof will be omitted because they are duplicated.

As shown in FIG. 1, a bracket 31 is pivotally supported on a frame 3 of the aerial inspection device 1 via a shaft 32 so as to be pivotable about a vertical axis.
A drive wheel 41 is rotatably supported via a bearing 33. As shown in detail in FIG. 2, the drive wheel 41 includes a flange member 44, a tire 45 connected to the flange member 44, and a flange 46 fixed to both surfaces of the tire 45 so as to clamp the tire 45. The flange member 44 is formed with a boss 44b provided with two keyways 44a opposed to each other by 180 degrees. And
Tire 45, the width semicircular groove 45 which substantially matches the outer diameter of the wire lines, such as ground wire E _W and through the wire 15
a and a guide slit 45b located at the bottom of the groove 45a and having a width smaller than the outer diameter of the wire line, and is formed of a material having a high frictional resistance such as rubber. The flanges 46 fixed to both surfaces of the tire 45 have an outer diameter larger than the outer diameter of the tire 45, and are formed of a material having a smaller frictional resistance than the tire 45.

On the other hand, at one end of a rotating shaft 47 which is rotatably supported via a bearing 34 provided on the frame 3, there is provided a spherical portion 47b which protrudes two transmission pins 47a so as to face 180 degrees. The transmission pin 47a and the spherical portion 47b
Can be fitted into the key groove 44a and the boss 44b formed in the flange member 44 of the driving wheel 41 described above (see FIG. 3). When the rotation shaft 47 is fitted to the drive wheel 41, the axis of the transmission pin 47a, the axis of the rotation shaft 47, and the axis of the shaft 32 cross each other. A worm gear 48 is fixed to the other end of the rotating shaft 47 and meshes with a worm 49 fixed to the output shaft of the servomotor 42.

[0036] It should be noted that, in frame 3, so that will not be described in detail, perched on the inspection apparatus 1, which is suspended from the overhead ground wire E _W does not fall to the ground be removed from the overhead ground wire E _W, falling A prevention device 35 is provided.

[0037] Therefore, the servo motor 42 driving wheel 41 of the air on the inspection apparatus 1 to ground wire E _W via a servo amplifier 43 in a state of being suspended is driven to rotate, the worm 4
9 and the worm gear 48 mesh with each other to rotate the rotary shaft 47.
Rotates. The rotational force of the rotating shaft 47 is obtained by fitting the spherical portion 47b into the boss 44b of the flange member 44 of the drive wheel 41 and further fitting the transmission pin 47a into the key groove 44a of the flange member 44. Is transmitted to the drive wheel 41 as it is. As a result, the air on the inspection apparatus 1 may be the drive wheel 41 travels on a ground wire E _W rotates. In this case, the tire 45 in the drive wheel 41 which runs is suspended ground wire E _W, the grooves 45a
And a guide slit 45b located at the bottom of the groove 45a.
Since having a can while securing the frictional resistance between the ground wire E _W, improving the straightness performance of the drive wheel 41.

On the other hand, the position where the direction is converted perched on inspection apparatus 1 is ground wire E _W, i.e., when it reaches the curved through wires 15, the bracket 31 of the drive wheel 41 the shaft 32
The spherical portion 47b of the rotary shaft 47 is fitted to a boss 44b formed on the flange member 44 of the drive wheel 41, so that the bracket 3
1, that is, the drive wheel 41 can be steered in a direction tangential to the radius of curvature of the through wire 15. At this time, the rotation axis of the drive wheel 41 intersects with the rotation axis of the rotation shaft 47 supported by the frame 3. In this state, the transmission pin 47 a of the rotation shaft 47 is still connected to the drive wheel 4.
1 is fitted in the key groove 44a of the flange member 44, the rotational force of the rotary shaft 47 is transmitted to the drive wheel 41 as it is and can be rotated. As a result,
The aerial inspection device 1 can smoothly run the curved through wire 15 and reduce its radius of curvature as much as possible within a range where the driving wheel 41 does not interfere with the rotating shaft 47 due to steering. can do. By the way, when traveling through such a curved through wire 15, the tire 45 in the drive wheel 41 may be lost for some reason.
Groove 45a may be disengaged from the through wire 15 and the through wire 15 may be relatively displaced toward the outer peripheral edge along the inclination direction of the tire 45. In this case, the through wire 15 comes into contact with the inner surface of the flange 46 having a small frictional resistance, and slides down the flange 46 to be held again by the tire 45. It is suppressed as much as possible.

[0039] In the present embodiment, is suspended traveling in the ground wire E _W which is supported on the distribution column H, it has been illustrated perched on inspection apparatus 1 for inspecting the power distribution equipment, standing around the factory It can also be used when a wire is formed by laying a wire on an installed support, and an airborne inspection device is suspended and run on the wire line for inspection and monitoring. In this case, various sensors such as an infrared sensor can be mounted in place of the video camera 52 or together with the video camera 52 according to the purpose.

Further, in the above-described embodiment, two transmission pins 47a are projected 180 degrees opposite to each other to transmit the rotational force of the rotating shaft 47 to the driving wheels 41. Is smaller, one transmission pin 47
a may be transmitted.

[0041]

As described above, according to the present invention, in a mid-air inspection device which travels while being suspended on a wire line and is equipped with a sensor such as a video camera to inspect various facilities, the frame is arranged around a vertical axis. A bracket rotatably supported, a drive wheel rotatably supported on the bracket so as to be rotatable about a horizontal axis, and a rotation shaft connected to a drive motor provided on a frame, wherein the drive wheel includes A boss having at least one keyway is formed, and a spherical portion having a transmission pin is provided on the rotary shaft, and the transmission pin and the spherical portion of the rotary shaft are fitted into the keyway and the boss of the drive wheel, respectively. This allows the rotational force of the drive motor to be reliably transmitted to the drive wheels via the rotating shaft while the drive wheels are steered even when the aerial inspection device travels on a curved wire line Now, it is possible to smoothly running.

[Brief description of the drawings]

FIG. 1 is a partially cutaway front view showing an airborne inspection device of the present invention.

FIG. 2 is an enlarged sectional view showing a driving wheel of FIG. 1;

FIG. 3 is a perspective view showing a relationship between a driving wheel and a rotating shaft in the airborne inspection device of FIG. 1;

FIG. 4 is an explanatory view schematically showing an inspection device.

FIG. 5 is a perspective view showing a partly omitted airborne inspection device constituting the inspection device.

FIG. 6 is a block diagram of a control system constituting the inspection device.

FIG. 7 is a perspective view showing a state in which an overhead ground wire is installed on a distribution pole.

FIG. 8 is a perspective view showing another state in which an overhead ground wire is installed on a distribution pole.

[Description of References] 1 Airborne inspection device 3 Frame 31 Bracket 32 Shaft 4 Drive device 41 Drive wheel 44 Flange member 44a Key groove 44b Boss 45 Tire 45a Groove 45b Guide slit 46 Flange 47 Rotation shaft 47a Transmission pin 47b Spherical portion E _W overhead ground wire (wire track)

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Hiroshi Okuda 3-2-2, Nakanoshima, Kita-ku, Osaka-shi Kansai Electric Power Co., Inc. (72) Inventor Osamu Nakamura 3-2-2, Nakanoshima, Kita-ku, Osaka-Kansai Electric Power (72) Inventor Masao Fujii 3-3-22 Nakanoshima, Kita-ku, Osaka-shi Kansai Electric Power Co., Inc. (72) Inventor Makoto Ohashi 2-3-41 Honjo Higashi, Kita-ku, Osaka Kindenchi ( 72) Inventor Hidefumi Tanaka 18-21, Chayamachi, Kita-ku, Osaka-shi Toyosaki Building Japan Arm Co., Ltd. (72) Inventor Naoyoshi Tominaga 18-21, Chaya-machi, Kita-ku, Osaka City Toyosaki Building Co., Ltd. ) Inventor Takeo Eshita 3-1-1, Fukusaki, Minato-ku, Osaka-shi Inside Osaka Shipyard Co., Ltd. (56) References JP-A-7-298437 (JP, A) JP-A-5-56530 (JP, A JP-A-2-155409 (JP, A) JP-A-3-26659 (JP, U) Sponsored by the Institute of Electrical Engineers of Japan, “1993 Power Technology Research Group (NO. PE-93-62)” (Heisei 5 (November 10-November 12)

Claims (2)

(57) [Claims] 1. A suspended vehicle that is suspended on a wire line and travels, and is equipped with a sensor such as a video camera to inspect various facilities, a bracket pivotally supported on a frame so as to be rotatable around a vertical axis, The bracket includes a driving wheel rotatably supported around a horizontal axis, and a rotating shaft connected to a driving motor provided on a frame. The driving wheel includes a boss having at least one keyway. On the other hand, the rotating shaft is provided with a spherical portion having a transmission pin,
A traveling device in an aerial inspection device, wherein a transmission pin and a spherical portion of a rotary shaft are fitted into a keyway and a boss of a drive wheel, respectively. 2. The tire according to claim 1, wherein the drive wheel includes a groove having a width substantially corresponding to the outer diameter of the wire line, a tire having a guide slit formed at the bottom of the groove with a width smaller than the outer diameter of the wire line, The traveling device in the airborne inspection device according to claim 1, further comprising a flange having an outer diameter larger than the diameter and fixed to both surfaces of the tire and formed of a material having a small frictional resistance.