JPH02151219A - Moving device on overhead wire - Google Patents

Abstract

PURPOSE:To enable stable measurement of distance upto an obstacle by directing a distance sensor secured to an arm continuously to a specific position in the moving direction of a wire and transmitting a distance measurement signal therefrom thereby discriminating between the obstacle and the background of the wire. CONSTITUTION:Arms 5a, 5b having one ends mounted rotatably on the rotary shafts 4a, 4b of travel wheels 3a, 3b are provided. Copy wheels 6a, 6b rollable on a wire 2 are arranged rotatably at the other ends of the arm 5a, 5b while distance sensors 8a, 8b for transmitting distance measurement signals of an obstacle 7 arranged on the wire 2 are secured to the arms 5a, 5b and a distance measuring device 9 for identifying a distance measurement reflection signal reflected from the obstacle 7 and measuring the distance upto the obstacle 7 is mounted. By this arrangement, detection and distance measurement of the obstacle 7 can be carried out stably at all times even when the wire 2 runs through complex curving path.

Description

[Detailed description of the invention] [Object of the invention] (Industrial application field) The present invention relates to an overhead line moving device that moves on overhead lines such as high-voltage power transmission lines and is used for maintenance and inspection of power transmission equipment. In particular, the present invention relates to an overhead wire moving device that can reliably measure the distance to an obstacle placed on an overhead wire and that can be operated safely and easily.

(Prior art) Conventionally, when performing maintenance and inspection work on overhead lines such as high pressure transmission N1,
Separate steel cables are stretched along the overhead wires, like in a ropeway or ski lift, and a moving device such as a gondola is fixed to the steel cables via a support bracket, and the steel cables are dragged so as to face the area to be inspected. A method was adopted in which the mobile device was moved using the machine and the work was carried out.

However, overhead wires are generally installed in mountainous areas with steep terrain and at high places, and are often installed in places with harsh natural environments.
When workers are on board to carry out maintenance inspections, crashes and crashes occur.
There is a high risk of encountering accidents such as electric shock and lightning strikes.

In order to avoid this danger, there is an increasing demand for unmanned and automated overhead line moving equipment, and it is desired to develop and put into practical use a overhead line moving equipment that can be operated safely and easily by remote control from the ground. There is.

In order to solve the above problems, we developed a self-propelled system that moves along the overhead wire by suspending the main body of the mobile device from the overhead wire via running wheels suspended from the overhead wire, and driving the traveling wheels with the mounted drive device. An overhead line moving device is also being used on a trial basis.

A model equipped with an obstacle detection sensor for detecting an obstacle such as an overhead wire hanging fitting disposed on the overhead wire in the running direction has also been put into practical use as this overhead wire moving device.

This obstacle detection sensor makes it possible to remotely operate the drive device from the ground while confirming the presence or absence of obstacles, thereby making it possible to safely drive the mobile device in a predetermined direction.

(Problems to be Solved by the Invention) However, the conventional overhead wire moving device has a problem in that the obstacle detection sensor cannot quickly follow changes in the direction in which the overhead wire is installed. In other words, overhead lines are often constructed on slopes such as mountainous areas with ups and downs, and because the overhead lines are bent by the weight of the moving equipment suspended from the overhead lines, obstacles that are stuck to the main body of the moving equipment that is being moved around the bends of the overhead wires. In many cases, the direction of signal transmission from the object detection sensor deviates significantly from the initially set target position on the overhead wire, making it difficult to continuously detect obstacles in a stable state.

In addition, an overhead wire moving device has been developed that is equipped with a television camera that identifies the obstacle and the overhead wire itself that is the background of the obstacle, and then measures the distance to the obstacle and an image processing device that analyzes the image signal. .

However, television cameras and image processing devices require large-scale equipment and are excessively heavy, making it difficult to load them onto mobile devices. Additionally, a model equipped with a mechanism to adjust the television camera to point in the direction in which the overhead wires are laid has been developed, but it is difficult to adjust by remote control, and there are problems in that rapid maintenance and inspection work cannot be carried out. .

The present invention has been made to solve the above problems, and even if there is a change in the tensioning angle of the overhead wire or bending or bending of the overhead wire due to the weight of the equipment, the direction of the overhead wire is automatically adjusted in response to the change. The purpose of the present invention is to provide an overhead wire moving device that is equipped with a simple mechanism that directs a measurement signal to the object, is capable of distinguishing between a background such as an overhead wire and an obstacle, and can stably measure the distance to the obstacle. do.

[Structure of the Invention] (Means for Solving the Problems) The present invention provides a moving device for a rack 1i! that is supported by a number of running wheels suspended on an overhead wire and that travels in the direction in which the overhead wire is stretched. An arm is provided with one end rotatably attached to the rotating shaft of the traveling wheel, and a copying wheel that rolls on the overhead wire is rotatably provided on the other end of the arm, while an obstacle placed on the overhead wire is provided. A distance sensor that transmits a distance measurement signal to the object is fixed to the arm, and a distance measurement device that identifies the distance measurement reflected signal from the obstacle and measures the distance to the obstacle is installed at 6. shall be.

(Function) The overhead wire moving device according to the above configuration runs on an overhead wire that is inclined due to a slope caused by a difference in height between the steel towers that support the overhead wire at predetermined intervals, or due to deflection caused by the weight of the overhead wire and the moving device. The relative inclination angle between the main body of the moving device and the overhead wire in the traveling direction changes in the horizontal and vertical directions as the moving device moves.

At this time, the arm and copying wheel rotatably attached to the rotating shaft of the traveling wheel in the traveling direction rotate about the rotating shaft along the tensioning direction of the overhead wire. Even when the arm rotates, the angle between the arm and the tensioning direction of the overhead wire is maintained at a constant value. Therefore, the distance sensor fixed to the arm always points at a predetermined position on the overhead wire in the direction of movement and transmits a distance measurement signal. The distance measurement signal collides with overhead wires and obstacles and is reflected, becoming a distance measurement reflected signal. The distance measurement reflected signal is input to a distance measurement device, and the distance measurement device distinguishes between the distance measurement reflection signal from an overhead wire, etc. and the distance measurement reflection signal from an obstacle placed on the overhead wire, and calculates the distance to the obstacle. Measure.

According to the overhead wire moving device according to the present invention, even when the overhead wire travels through a place where the overhead wire is complicatedly curved, the distance sensor always points to a predetermined position of the overhead wire in front of the traveling direction by rotation of the arm. Object detection and distance measurement to obstacles can always be carried out stably and reliably, and the efficiency and reliability of overhead line maintenance and inspection work can be greatly improved.

(Example) Next, an example of the present invention will be described with reference to the accompanying drawings. FIG. 1 is a perspective view showing an embodiment of an overhead wire moving device according to the present invention.

The overhead wire moving device 1 according to the present embodiment is supported by two running wheels 3a and 3b suspended on the overhead wire 2, and runs and moves in the direction in which the overhead wire Pi 12 is stretched. , 3b's rotating shaft 4a.

Arms 5a and 5b, one end of which is rotatably attached to 4b, are installed, and the rack I! Copying vehicle 6a rolling over 12
, 6b of the arms 5a and 5b. ! A distance sensor 8a is rotatably disposed at the end and transmits an ultrasonic wave as a distance measurement signal to an obstacle 7 disposed on the overhead wire 2.
, 8b are attached to the brackets 10a, 10.
At the same time, the distance measurement reflected signal from the obstacle 7 is identified, and the distance measurement reflected signal from the obstacle 7
It is configured to include a distance meter sub-device 9 that measures the distance to.

Further, auxiliary wheels 118.
11b is disposed, and the overhead wire 2 is held between the auxiliary wheels 11a, llb and the running wheels 3a, 3b, and the structure is such that the running wheels 3a, 3b are prevented from coming off.

Furthermore, as shown in FIGS. 1 to 3, arms 5a and 5b
One end of the links 12a, 12b is rotatably attached to the end of the moving device main body side, and the links 12a, 12
Presser wheels 13a and 13b are rotatably mounted on the other ends of b, respectively.

Further, as shown in FIG. 3, a tension coil spring 14 is stretched between the arm 5a and the link 12a, and this tension coil spring 14 causes the arm 5a and the link 12 to
The tip part of a is configured to be biased in the direction of the rack $92. This tension coil spring 14 is connected to the arm 5b on the opposite side.
and the link 12b.

Further, the distance sensors 3a and 8b are adjusted in advance to an installation angle such that the signal transmission direction is directed to a predetermined position of the overhead wire 2 approximately in front when the overhead wire is in a horizontal state, and the brackets 10a and 1
0b to each arm 5a.

5b.

Furthermore, the distance sensors 8a and 8b are connected to the rangefinder built into the main body of the moving device by means of a signal/7-pull (not shown). ll
It is connected to the I unit 9.

Further, as shown in FIG. 4, the distance measuring device 9 includes an ultrasonic oscillation circuit 15 that controls the transmission output of the ultrasonic sensor as the distance sensor 8, and a A filter circuit 16 that removes noise contained in reflected waves, a transmission/reception time difference measurement circuit 17 that measures the time difference between the transmitted ultrasound and the received ultrasound, and a measurement signal from the transmission/reception time difference measurement circuit 17 to obstacles, etc. an opposing distance measuring circuit 18 that calculates the opposing distance of the two; a thermometer 19 that measures the temperature at the time of measurement; and a temperature correction circuit 20 that corrects the measurement data of the transmission/reception time difference measurement circuit 17 based on the support value of the thermometer 19. a received wave strength standard device 21 that outputs a received wave strength reference value of an intensity level equivalent to the received wave from an obstacle;
A received wave strength comparison circuit 22 that compares the magnitude of the received wave and a received wave strength reference value, and an output gate 23 that outputs a measurement signal of the opposing distance measurement circuit 18 when the received wave is larger than the received wave strength reference value. It consists of

As shown in FIG. 5, the overhead line moving device 1 of the present embodiment includes power transmission towers 24a installed at long intervals.

24b... It is suspended on the overhead wire 2 stretched between them, and moves and runs on the frame 1i2 which is curved and forms a slope.

Even when the overhead wire moving device 1 passes through an inflection point of the overhead wire 2, each arm 5a, 5b and link 12a, 12
b is pressed in two directions of the overhead wire by the elastic force of the tension coil spring 14 stretched between the two. Therefore, each arm 5a
, 5bL15 and the links 12a, 12b are always in contact with the overhead wire 2. Therefore, the relative positions of the arms 5a, 5b and the overhead wire 2 are maintained constant regardless of the inclination angle of the overhead wire 2 in the traveling direction. Therefore, 12 LI on arms 5a and 5b!
The relative position of the ultrasonic sensor 8 with respect to the overhead wire 2 is also held constant, and the ultrasonic beam as a distance measurement signal transmitted from the ultrasonic sensor 8 is directed to a predetermined position of the overhead wire ahead in the traveling direction.

The transmitted ultrasonic beam 25 collides with the overhead wire 2 and the obstacle 7 in front of the moving device, as shown in FIGS. 6 and 7. At this time, the ultrasonic beam element a that collides with the overhead wire 2 placed at a position almost parallel to the ultrasonic beam 25 is reflected by the same principle as specular reflection of light, and most of it is reflected in the opposite direction to the ultrasonic sensor 8. While the beam is reflected and scattered in 82 directions, a slightly tilted beam is reflected in the a1 direction and is received by the ultrasonic sensor 8 as a distance measurement reflection signal.

On the other hand, most of the ultrasonic beam elements that collide with the obstacle 7, which receives the ultrasonic beam 25 from a substantially perpendicular direction, are reflected on the surface of the obstacle 7, and reflected to the ultrasonic sensor 8 located in the b1 direction for distance measurement. received as a signal.

Distance measurement reflected signals from the overhead wire 2 and the obstacle 7 have noise removed in a filter circuit 16 and are input to a transmission/reception time difference measurement circuit 17 and a received wave intensity comparison circuit 22 . The transmission/reception time difference measuring circuit 17 measures the time difference between the transmitted ultrasonic wave and the received ultrasonic wave, and inputs the measured value to the opposing distance measuring circuit 18 .

Here, since the overhead wire moving device 1 is generally used outdoors where temperature changes are large, the propagation speed of the ultrasonic beam is affected by the temperature. Thermometer 19 to prevent that effect.
The temperature correction circuit 20 corrects the difference in transmission and reception time at the operating temperature measured by. This correction makes it possible to always measure the correct facing distance regardless of temperature changes.

The opposing distance measuring circuit 18 measures the opposing distance between the overhead wire moving device 1 and the obstacle 7 based on the measured value of the time difference, and calculates the measured distance l.
The l value is input to the output gate 23.

On the other hand, the distance measurement reflected signal inputted to the received wave strength comparison circuit 22 indicates that the received wave strength is 11! It is compared with the received wave strength reference value output from the reference device 21, and depending on the magnitude, the frame I! It is determined whether the reflected signal is from the background of the second grade or the reflected signal from the obstacle 7.

That is, when a reflected signal larger than the received wave intensity reference value set in advance by the received wave intensity standard 21 is detected, the presence of the obstacle 7 is detected, whereas when the reflected signal is smaller than the reference 1', the reflected signal is detected. The background frame I! It is ignored as a reflected signal from j2, and both are identified and detected. When a reflected signal from the obstacle 7 is detected, the received wave strength comparison circuit 22 outputs a signal that turns on the output gate 23. By turning on 23 in game 1,
Opposing distance measurement circuit 181. : 1l15 and the measured oncoming distance data is output, and the operation Iti111II for causing the overhead wire moving device 1 to avoid the obstacle is executed based on the output value.

Further, as shown in FIGS. 6 and 7, the relative position of the ultrasonic sensor 8 with respect to the rack 1!2, that is, the ultrasonic sensor 8
Vertical distance s1 and horizontal distance S from the overhead wire 2
2. The vertical angle θ and the horizontal angle θ2 formed by the central axis of the ultrasonic beam 25 emitted from the ultrasonic sensor 8 and the overhead wire 2 remain constant as originally set, despite the rotation of the arms 5a and 5b. held in value. That is, even if the installation direction of the chestnut t/s2 changes or the inclination angle changes due to bending, the copying wheels 6a, 6b rolling along the overhead wire 2 rotate the 7-mu 5a, 5b, and the ultrasonic sensor 8a .

8b can be held so as to point at a fixed position on the overhead wire in front of the moving device. Therefore, the ultrasonic sensor 8a,
The pointing direction of the wire 8b does not deviate from the direction of the overhead wire, and it is possible to reliably detect the obstacle 7 disposed on the overhead wire 2.

In this way, the overhead wire moving device 1 according to the present embodiment is able to move obstacles 7 placed on the overhead wire 2 at a high degree of slope when continuously moving over the overhead wire 2 installed at an arbitrary inclination angle. It is possible to detect this and at the same time measure the facing distance from the main body of the moving device with high reliability.

Although this embodiment uses an ultrasonic sensor as the distance sensor, similar effects can be obtained by using an optical sensor.

Further, according to the optical sensor, it is possible to omit components such as the temperature correction circuit 20, and the device configuration can be further simplified.

〔Effect of the invention〕

As explained above, according to the overhead wire moving device according to the present invention,
Even when traveling through a place where the overhead wire has complicated bends, the distance sensor always points to a predetermined position on the overhead wire in front of the traveling direction by rotating the arm, making it possible to detect obstacles and measure the distance to the obstacle. It becomes possible to perform the maintenance and inspection work stably and reliably at all times, and the efficiency and reliability of maintenance and inspection work for overhead wires can be greatly improved.

[Brief explanation of the drawing]

The first factor is a perspective view showing an embodiment of the overhead wire moving device according to the present invention, FIG. 2 is a plan view of this embodiment, FIG. FIG. 5 is a block diagram showing the configuration of the distance measuring device, FIG. 5 is a perspective view showing the overhead wire moving device of this embodiment suspended on the overhead wire, and FIGS. 6 and 7 are for detecting obstacles on the overhead wire, respectively. A side view showing the condition,
FIG. 1... Catenary line moving device, 2... Catenary line, 3.3a, 3b
... Traveling wheels, 4.4a, 4b... Rotating shafts, 5.5
a, 5b・7-m, 6.6a, 6b-・copy car, 7・
... Obstacle, 8.8a, 8b... Distance sensor (ultrasonic sensor), 9... Distance measuring device, 10.10a, 1o
b...Bracket, 11.11a, 11b...Auxiliary wheel, 12.12a, 12b-...Link, 13,13
a, 13b...presser wheel, 14...tension coil spring,
15... Ultrasonic oscillation circuit, 16... Filter circuit,
17... Transmission/reception time difference measurement circuit, 18... Opposing distance measurement circuit, 19... Thermometer, 20... Temperature correction circuit, 21... Received wave intensity reference device, 22... Received wave intensity Comparison circuit, 23... Output gate, 24a, 24b...
・Power transmission tower, 25...Ultrasonic beam. Figure 1 Figure 2 Figure 2

Claims (1)

[Claims] In an overhead line moving device that is supported by a plurality of running wheels suspended on an overhead wire and travels in the direction in which the overhead wire is stretched, an arm is provided with one end rotatably attached to the rotating shaft of the running wheel, and A rolling copying wheel is rotatably disposed at the other end of the arm, while a distance sensor that transmits a distance measurement signal to an obstacle placed on the overhead wire is fixed to the arm, and a An overhead wire moving device characterized by being equipped with a distance measuring device that identifies the distance measuring reflected signal of the object and measures the distance to an obstacle.