JPH099438A - Self-advancing machine - Google Patents

Abstract

PURPOSE: To allow a machine to keep a stability and move on an over-head cable by installing a TV camera in front of each wheel of the machine which moves on the cable using the principle of a balancing toy, and controlling the direction of the wheels by means of video signals from the TV cameras. CONSTITUTION: A control section 4 is installed in a frame 2 that connects a front wheel 1 and a rear wheel 1. Movable arms 7, 8 which are radially installed on the control section 4 are provided with weights for controlling a balance 5 and storing devices 6 for storing batteries, etc., respectively. At that time, the devices are so installed that they may be symmetrical with respect to the center of the entire body of the machine and the center of the gravity of the entire body of the machine may be positioned lower than the cable A. The machine runs on the aerial cable A using the principle a balancing toy. A TV camera 11 is installed in front of each wheel and the directions of the wheels are controlled by means of video signals from the TV cameras 11. By this method, the machine can keep its stability and go on the cable 1.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled machine used for checking overhead cables such as overhead cables.

[0002]

2. Description of the Related Art Overhead electric wires, especially overground wires, are liable to be damaged or broken due to lightning strikes, vibration fatigue, etc., and therefore need frequent inspection. For the purpose of such automatic inspection of overhead power lines, the development of self-propelled vehicles that run unmanned on overhead power lines is in progress.

FIG. 2 is a perspective view of an example of a conventional self-propelled machine for such automatic inspection. Self-propelled machine has traveling wheel 1
1. A main body 10 including a flaw detector 12, a control unit (balancer) 13 and an auxiliary track 14, and a traveling wheel 11 traveling on an overhead electric wire by a control device and a power source installed. To do. Then, at a position where there is an auxiliary equipment such as a line-sway suppressing damper attached to the overhead wire, the clamp 11 of each running wheel 11 is held so that one of the running wheels 11 grips the overhead wire.
Alternately remove a and go over the auxiliary equipment.

The self-propelled machine uses the bow-shaped auxiliary track 14 that is carried by the self-propelled machine to pass through the steel tower and pass through. When the self-propelled machine reaches the steel tower, the hook fittings 14a of the auxiliary track 14 are hung on the overhead wires on both sides of the steel tower to clamp the traveling wheel 11.
And the traveling wheels 11 are raised upward, and the self-propelled machine travels on the auxiliary track 14. When the self-propelled machine reaches the opposite side of the steel tower, the auxiliary track 14 is folded and the traveling wheels 11
Return to the original state and drive toward the next tower. At this time, in the control unit (balancer) 13, the self-propelled machine uses the auxiliary track 14
When the vehicle is expanded or folded, the self-propelled machine is prevented from being unbalanced by the weight of the auxiliary track 14.

[0005]

In the above-mentioned conventional self-propelled machine, when overcoming ancillary equipment such as dampers,
Since the clamps of the traveling wheels are alternately removed, and one of the traveling wheels grips and moves the overhead wire, it takes time to remove and restore the clamps, and it takes time to move there.

Further, since the structure is such that the auxiliary track is held and moves on the auxiliary track in order to avoid the steel tower, (1) the structure of the steel tower becomes large as the voltage class increases, and the length of the auxiliary track becomes longer. Grow long. When such a long auxiliary track is used in a line system with a relatively low voltage, the separation distance becomes a problem, so it is necessary to prepare an auxiliary track according to the voltage class. (2) Since it is necessary to expand the auxiliary track, fold it, and hang it on an overhead wire, it takes time to avoid the tower. (3) If the number of overhead ground lines changes midway, the avoidance operation may not be possible. That is, in the self-propelled machine of this structure, if there are two overhead ground wires, the number of overhead ground wires that can be used for the auxiliary track is determined as one of them, but in the line where the number of overhead ground wires changes midway. However, there are cases where the conditions may change, and there is a problem that there may be a deadlock on the way.

[0006]

SUMMARY OF THE INVENTION The present invention solves the above-mentioned problems, and particularly in the case of passing a steel tower, it is not necessary to dodge the steel tower by using other equipment such as auxiliary tracks, and the steel tower can be easily passed. A self-propelled machine to be obtained, which is characterized in that a control device unit is installed on a frame connecting front and rear traveling wheels, and a plurality of movable radially extending arms attached to the control device unit, The balance control weight part and the storage device such as the battery are installed symmetrically, and the center of gravity of the entire device is located below the overhead wire, and it runs on the overhead wire using Yajirobei's principle. In the self-propelled machine, an ITV camera is installed in front of each traveling wheel and the direction of the traveling wheel is controlled by a video signal from the ITV camera.

[0007]

1 is a perspective view of a specific example of the self-propelled machine of the present invention. A control device unit 4 is installed on a frame 2 that connects two front and rear traveling wheels 1. The traveling wheel 1 is provided with an annular groove that engages with the overhead wire A, and an elastic body such as rubber may be attached to the groove in order to efficiently transmit the propulsive force when traveling forward.

The control unit 4 is provided with a weight unit 5 for balance control and a heavy unit such as a storage unit 6 such as a battery, which are separately mounted. The balance control weight part 5 and the battery storage device 6 are vertically movable arms 7 and 8 extending from the control device part 4 in the radial direction.
It is installed at the tip of. By distributing the weight parts for the balance control weight part 5 and the storage device 6 such as a battery to the left and right and providing them at the tip parts of the arms 7 and 8, the center of gravity of the entire device is lower than the overhead wire A during normal traveling. As a result, the device can be balanced according to the principle of Yajirobei, and it is possible to travel on the overhead wire A while maintaining a stable state.

When the self-propelled machine passes the steel tower B, the arms 7 and 8 to which the weight part 5 for balance control and the storage device 6 such as a battery are attached are lifted upward by the vertical mechanism in the control device part 4. As a result, these heavy objects avoid contact with the steel tower B, and the self-propelled machine passes over the steel tower B.

The control unit 4 is provided with auxiliary wheels 9 via a direction control chain 3 connecting two front and rear traveling wheels 1, an inclination detection sensor 12 and an arm 10.
The auxiliary wheel 9 reliably transmits the propulsive force when traveling on a steep slope to the overhead wire A and prevents slipping.
It also has a function to prevent the device from falling even if it falls due to strong wind.

An ITV camera 11 mounted on a frame 2 is installed in front of the two traveling wheels 1. These ITV cameras 11 are overhead wires A in front of the traveling wheels 1.
Is monitored and the video signal thereof is transmitted to the control device section 4. The control unit 4 compares the direction of the overhead wire A with the reference position on the basis of the video signal sent, and sets the overhead wire A at the center.
The direction control chain 3 is moved so as to come to control the traveling direction. The drive system for controlling the direction is not limited to the chain, and may be a gear or a combination thereof.

[0012]

In the above-described self-propelled machine of the present invention, the heavy objects are distributed to the left and right, and the heavy objects are further separated into the weight part for balance control and the accommodating device such as the battery, which are movable radially extending from the control device part. By installing it on the tip of a simple arm, the center of gravity of the entire device can be located below the overhead wire, and the self-propelled machine can be balanced according to Yajirobei's principle, and the overhead wire is in a stable state. You can drive while maintaining.

Further, when passing through the steel tower, the arm is lifted upward by the vertical mechanism in the control unit to avoid contact of the weight unit for balance control, the storage device such as the battery and the like with the steel tower, and to facilitate the operation. Pass over the tower. At this time, it is not necessary to raise all of the heavy objects at the same time, but depending on the size of the device and the positional relationship of the steel tower, by sequentially raising the items that are likely to hit, a stable state can be maintained.

Further, as weight parts for balance control, a plurality of weights containing fluid in the cavity are provided in the same number on the left and right,
By providing a means for moving fluid between these weights,
While running the normal part, half the fluid is put in each, and the stability of the entire device is improved by moving the contents of the weight that is lifted upward when the tower is bypassed to the weight that is still under Can be kept. Further, in response to a command from the control unit, the fluid in the weight is moved through the inside of the pipes that communicate with each other, so that the balance due to the inclination can be corrected.

An ITV camera mounted in front of the traveling wheel monitors the overhead wire immediately before the traveling wheel, transmits the video signal to the control device, and compares the direction of the overhead wire with the reference position based on the video signal. , So that the overhead wire comes in the center,
The traveling direction of the self-propelled machine is controlled by a direction control chain or the like.

[0016]

As described above, according to the self-propelled machine of the present invention, it is possible to achieve a balance according to the principle of Yajirobei, and it is possible to travel on an overhead wire while maintaining a stable state. Further, when passing through the steel tower, it is possible to easily avoid the heavy objects coming into contact with the steel tower and easily pass over the steel tower.
Further, by using the video signal of the ITV camera installed in front of each traveling wheel, it is possible to easily control the traveling direction. In this way, by inspecting the equipment status of overhead power lines and steel towers while self-propelled, it is possible to carry out inspections of overhead power lines on behalf of people, and by improving the efficiency of inspections and increasing the frequency of inspections, It can be expected to improve the reliability of the tracks.

[Brief description of drawings]

FIG. 1 is a perspective view of a specific example of a self-propelled machine of the present invention.

FIG. 2 is a perspective view of an example of a conventional self-propelled machine.

[Explanation of symbols]

 A overhead wire B steel tower 1 traveling wheel 2 frame 3 directional control chain 4 control unit 5 balance control weight 6 battery storage device 7, 8 arms 9 auxiliary wheels 10 arm 11 ITV camera 12 tilt detection sensor

Claims (2)

[Claims] 1. A control device section is installed on a frame connecting front and rear traveling wheels, and a plurality of movable radially extending arms attached to the control device section are provided on a balance control weight part and a battery, respectively. The storage device is symmetrical,
In addition, the device is installed so that the center of gravity of the entire device is located below the overhead cable, and it travels on the overhead cable using Yajirobei's principle, and an ITV camera is installed in front of each traveling wheel. A self-propelled machine characterized in that the direction of traveling wheels is controlled by the image signal of. 2. A balance control weight part is hollow,
The self-propelled machine according to claim 1, wherein a fluid is introduced into the cavity to adjust the balance with respect to the inclination.