JPH10248130A - Stringing traveling unit and control method therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To decrease the number of times for replacing a battery by mounting an image recognition means for inspecting a stringing and the periphery thereof on a stringing traveling unit and providing a remote controller with an automatic remote operation means generating an operational command for the stringing traveling unit, thereby mounting no image processor on the stringing traveling unit. SOLUTION: A stringing traveling unit traveling on a stringing 11 at the time of inspection/maintenance work of the stringing 11 and the periphery thereof comprises an image recognition means, e.g. a radio camera 30, for inspection the stringing 11 and the periphery thereof mounted on a part of the stringing traveling unit 10, and a unit for transmitting an operational command to the stringing traveling unit 10, e.g. a remote controller 31 being carried by a worker. The remote controller 31 comprises means 32 for processing the image information from the radio camera 30, and an automatic remote operation means 33 for generating an operational command automatically based on the results from the image processing means 32. Furthermore, the stringing traveling unit 10 is provided with an attitude control balancer 16 or an obstacle bypassing means 15.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an overhead wire traveling apparatus which travels while being suspended from an overhead line such as a transmission line or a distribution line, and performs maintenance / inspection of the overhead line or ancillary objects, and a control method therefor.

[0002]

2. Description of the Related Art Overhead lines such as transmission lines, distribution lines and communication lines are
Generally, it is hung over a steel tower according to the topography of the construction site and to avoid buildings. For this reason, the overhead wire may be erected up and down and left and right with the steel tower as a break point.

[0003] In an overhead wire traveling device used for maintenance and inspection of such overhead wires (for example, an overhead wire moving device described in Japanese Patent Application Laid-Open No. 1-248918), for example, the bogie is bent up and down and right and left to take a posture. A large number of operating axes are provided for changing, and when passing through a steel tower, a plurality of operating axes are bent so that the vehicle can change over in response to a bent overhead wire and can continuously check and run the overhead wire.

[0004] On the other hand, in the case of a distribution line or a power supply line installed along a railway, there is no sharp bend, and it is at most about 5 degrees. There is also.

[0005] Therefore, in such a case, there is a demand for an overhead traveling device that is small, lightweight, and easy to hang on an overhead wire, even if there is no operating shaft corresponding to the bending of the electric wire. In order to respond to such a request, the inventor has previously described Japanese Patent Laid-Open No.
No. 334913 filed an application for an overhead wire traveling device as described below. As shown in FIG. 4 (a) [a front view of the overhead traveling device] and FIG. 4 (b) [a right side view of FIG. 4 (a)], the overhead traveling device is provided with a front wheel side drive provided on the device main body 100. Wheel 122A, center drive wheel 122B, rear wheel drive wheel 12
The vehicle travels with the overhead line 120 alternately interposed at 2C and suspended. Balancer 14 for attitude control of device book 100
3 is provided to change the posture of the driver and to travel on the overhead wire 120 through an obstacle.

An axle 132A extends through the front of the body 123A, an axle 132B extends through the rear of the body 123A and a front of the body 123B, and an axle 132C extends through the rear end of the body 123B. I have.

The axle 132A has a body 123A.
The front wheel 122A is on the left side of the vehicle, and the intermediate wheel 12 is on the axle 132B.
2B, a rear wheel 122C is mounted on the axle 132C.

A sprocket 136A is mounted on the axle 132A on the right side of the vehicle body 123A, a double sprocket 136B is mounted on the axle 132B, and a sprocket 136C is mounted on the axle 132C. 137A, a chain 137B is wound between the sprockets 136B and 136C.

Further, an arm 124 projects from the front end of the vehicle body 123B.
A tension spring 134 is attached in a tensioned state to an intermediate portion of the body, a stopper 125 is fixed to the vehicle body 123A, and a tension spring 134
Abuts on the upper surface of the arm 124 with the resetting force.

A proximity switch 127A is attached to the upper part of the front end of the vehicle body 123A with the probe pointing forward and downward. Similarly, the proximity switches 127B and 127C are respectively mounted on the vehicle body 123A.
It is attached to the rear end of 23A and the rear end of the vehicle body 123B. A flaw detection sensor 12 is provided below the front end of the vehicle body 123A.
8 is attached, and a camera 129 is attached to the middle part of the vehicle body 123B with the lens facing downward.

As shown in FIG. 4B, a drive frame 130 is fixed to the rear right side of the vehicle body 123A, and a DC servo motor 131 is fixed to the drive frame 130. Is connected to the axle 132B, and the right end of the drive frame 130 is provided with an axle 138 on the axis of the axle 132B.
Are fixed parallel to the vehicle bodies 123A, 123B, and the shaft 13
8, a cylindrical case 139 is fixed, and a drive motor 140 and the drive motor 14
A gear mechanism for transmitting a rotation output of 0 to the shaft 138 is housed.

A tube 142 is fixed to the other end of the case 139, and a balancer 143 is attached to a tip of the tube 142. Inside the balancer 143, internal devices 141 such as a control device, a battery, and a communication device are housed. ing.

[0013] In the overhead line traveling device thus constructed, the vehicle bodies 123A, 123B are lifted by an elevator (not shown).
B, through holes 123Ah and 123A, respectively.
4B, is gripped via Bh, is bent sideways as shown in FIG. 4B, is raised to the height of the overhead line 120, and is then bent as shown in FIG. And front wheel 122A, middle wheel 122
The overhead line 120 is sandwiched between B and the rear wheel 123C.

Next, after driving the drive motor 140 provided in the case 139 to take the posture as shown in FIG.
The servo motor 131 is driven to travel on the overhead line 120.

Next, a traveling procedure when the overhead line traveling apparatus passes through the insulator 119 as an obstacle will be described with reference to FIG. In step 1 (attached state), the posture of each part when attaching to the overhead line 120 is shown. After the balancer 143 is lifted slightly inclined to the right with respect to the traveling direction of the overhead line traveling device, the tension spring 13
4 clamps the overhead line 120.

In step 2 (rotation state), the drive motor 140 is driven, the balancer 143 is driven counterclockwise, and the vehicle bodies 123A and 123B are turned clockwise from below the overhead line 120 to rotate the intermediate wheel 122B. The front wheel 122A and the rear wheel 122C are located below the overhead line 120.

In step 3 (running state), the vehicle travels as it is, and when the proximity switch 127A detects the clamp portion 119a of the insulator 119, the flaw detection sensor 128 is lowered and the vehicle passes as it is. At this time, the front wheel 122A
Rides on the clamp portion 119a, but the tension spring 1
With the return force of 34, the overhead line 120 is strongly sandwiched between the intermediate wheel 122B and the rear wheel 122C, so that the overhead line traveling device does not fall.

In step 4 (the state in which the front wheel has passed), the flaw detection sensor 128 is raised and the vehicle travels as it is.
When the proximity switch 127B operates when 22A passes under the clamp portion 119a, it stops.

In the next step 5, the drive motor 140 is rotated in the reverse direction of step 2, and the vehicle bodies 123A, 123B and the like are turned counterclockwise to make the front wheels 122A and the rear wheels 122C.
Above the overhead line 120.

In step 6, the vehicle travels as it is, passes under the clamp portion 119a, and moves to the proximity switch 127C.
Stop by the operation of Then, in the next step (not shown), the drive motor 140 is driven to move the balancer 143 to the right, turn the vehicle bodies 123A and 123B to the right, move the intermediate wheel 122B to the left of the overhead line 120, and move the intermediate wheel 122B to the overhead line. 12
The vehicle travels while being set to 0 while detecting the flaw with the flaw detection sensor and the camera to the next obstacle. Also, in the case of the pull-down line, the drive motor is similarly driven to turn the vehicle bodies 123A, 123B, the front wheels 122A, the intermediate wheels 122B, the rear wheels 123C, etc. left and right, and the drive motor 140 moves the flaw detection sensor 128 up and down. To run.

In the second conventional example having such a configuration, when the overhead traveling device travels over an obstacle, the main body of the overhead traveling device is bent so as to reduce the overcoming resistance. Restore by force. Then, when the balancer 143 is operated and reversed, each of the drive wheels 122
Since the weight applied to A, 122B and 122C changes,
In order to obtain the required restoring force in one posture, the restoring force becomes excessive in another posture. The surplus of the force (restoring force of the tension spring 134) sandwiching the overhead line 120 between the three drive wheels 122A to 122C when overcoming the obstacle becomes a burden for overcoming the obstacle.

[0022]

In order for the above-described conventional overhead traveling device to perform advanced control using an image processing device or the like, it is necessary to increase the weight of the main body of the overhead traveling device and put the overhead traveling device on the overhead wire. It is hard, power consumption increases, mileage decreases,
In addition, there is a problem that an optimum setting suitable for a site where the overhead traveling device travels is performed each time.

[0023] The conventional overhead contact line travel device has a problem that communication means with the operating device is only radio waves, and if the communication state is deteriorated or interrupted by jamming radio waves, interference, or the like, control becomes impossible at worst. .

The operation device of the conventional overhead contact line traveling device is of a pendant type, which is convenient for carrying, but lacks in processing functions. Since the video of the mounted camera and the output of the flaw detector are also recorded on the VTR mounted on the overhead traveling device main body, the overhead traveling device main body had to be collected in order to observe them.

In order to suppress the increase in the weight of the overhead traveling device main body, only a storage battery having a minimum capacity required for performing the overhead traveling and obstacle avoidance in the specified section can be mounted. There is a problem that the unloading operation is complicated and the operation is increased.

An object of the present invention is to provide an overhead traveling device and a method of controlling the overhead traveling device capable of performing advanced control without mounting an image processing device or the like that increases the weight of the overhead traveling device main body and reducing the number of replacements of storage batteries. To get.

[0027]

In order to achieve the above object, an invention according to claim 1 comprises an overhead traveling device main body that travels over an overhead wire to perform inspection and maintenance work on the overhead wire and around the overhead wire, The overhead traveling device includes a remote control device that wirelessly transmits an operation command to the overhead traveling device main body and is installed by a worker in a mobile station such as a portable or ground station or mounted on a mobile station such as a car. Image recognition means for conducting a patrol inspection of the overhead wire and the vicinity of the overhead wire, and remote automatic driving means installed on the remote control device and generating an operation command given to the overhead wire traveling device main body. This is the overhead traveling device.

According to the first aspect of the present invention, the use of the wireless image enables advanced control,
There is no need to mount an image processing device or the like that increases the weight of the overhead traveling device. Therefore, the overhead traveling device main body can be configured to be small and lightweight.

In order to achieve the above object, the invention according to claim 2 is characterized in that the main body of the overhead contact line traveling device is provided with obstacle avoidance means for attitude control, and the remote control device is provided with image information of the image recognition means. 2. The overhead traveling device according to claim 1, further comprising: an image processing unit configured to perform image processing of the image data; and a correction unit configured to correct the remote automatic driving unit based on a result of the image processing unit.

According to the second aspect of the present invention, by correcting the operation command automatically generated by the remote automatic driving means, even if there is a position shift of an obstacle or the like, a more accurate operation command can be obtained. Can be generated.

According to a third aspect of the present invention, in order to achieve the above object, the image recognition means is an infrared camera.
The overhead traveling device according to claim 1 or 2, wherein the overhead traveling device main body includes an infrared light source that emits infrared light in a direction monitored by the infrared camera.

According to the third aspect of the present invention, even in the daytime when there is sunlight or the night when there is no light (when only house lights and street lights are conspicuous), since the infrared rays used by the image processing means are peculiar light, disturbance is caused. Hardly affected by

In order to achieve the above object, an invention according to claim 4 is an overhead traveling device main body which travels while hanging on an overhead wire to perform inspection and maintenance work on the overhead wire and around the overhead wire, and the overhead traveling device An overhead traveling device that wirelessly transmits an operation command to a main body and that is installed by the worker in a main body and a remote control device mounted on a ground station or mounted on a mobile station. Image recognition means for outputting image information around the overhead line; provided in the remote control device; wirelessly receiving video information from the image recognition means; performing image processing on the received video information to approach an obstacle; And an operation command provided to the remote control device and provided to the main body of the overhead traveling device, and the image processing means detects the approach of an obstacle. Remote operation means for generating an operation command for lowering the traveling speed of the overhead traveling device main body compared to a normal state in which the approach of the obstacle is not detected, and giving the operation command to the overhead traveling device main body. This is the overhead traveling device.

According to the fourth aspect of the present invention, the use of wireless images enables advanced control,
There is no need to mount an image processing device or the like that increases the weight of the overhead traveling device. Therefore, the overhead traveling device main body can be configured to be small and lightweight.

According to a fifth aspect of the present invention, there is provided an overhead traveling device main body which travels while hanging on an overhead wire to perform inspection and maintenance work on the overhead wire and around the overhead wire, and the overhead traveling device. In an overhead traveling device that wirelessly transmits an operation command to a main body and is installed by a worker in a portable or ground station or a remote control device mounted on a mobile station, an attitude control device installed in the overhead traveling device main body is used. Obstacle avoiding means, mounted on the overhead traveling device main body,
An image recognition unit that outputs image information around the overhead line and the overhead line, and is provided in the remote control device, wirelessly receives video information from the image recognition unit, and performs image processing on the received video information. Image processing means for detecting the type of obstacle and outputting an obstacle confirmation result, and an operation command provided to the remote control device and given to the overhead wire traveling device main body, wherein the image processing means When a result is output, a remote automatic driving means for generating an operation command group of obstacle avoidance according to the obstacle for the overhead traveling device main body and giving the operation instruction group to the overhead traveling device main body,
The remote control device is a control method of the overhead traveling device that wirelessly transmits to the main body of the overhead traveling device to move around the obstacle while avoiding the obstacle while operating the obstacle avoiding means.

According to the fifth aspect of the present invention, the use of wireless images enables advanced control,
Not only is there no need to mount an image processing device or the like that increases the weight of the overhead traveling device, but also the overhead traveling device can be made small and lightweight. In addition, it is possible to avoid obstacles and get over the obstacles while operating the obstacle avoiding means.

According to a sixth aspect of the present invention, there is provided an overhead traveling device main body which travels while hanging from an overhead wire to perform inspection and maintenance work on the overhead wire and around the overhead wire, and the overhead traveling device. In an overhead traveling device that wirelessly transmits an operation command to a main body and is installed by a worker in a portable or ground station or a remote control device mounted on a mobile station, an attitude control device installed in the overhead traveling device main body is used. A balancer, an image recognizing means mounted on the main body of the catenary traveling device, for outputting image information of the catenary line and the surroundings of the catenary line, and provided in the remote control device, for receiving video information from the image recognizing means by radio Image processing means for performing image processing on the received video information to detect shaking of the overhead wire traveling device, and outputting a result of the swing detection; provided in the remote control device; Remote automatic driving means for giving an operation command to the balancer so as to suppress shaking of the overhead wire traveling device main body based on the swing detection result from the image processing means, and the swing detection result is output from the image processing means. When performed, the balancer corresponds to a swing upside down,
A method of controlling an overhead wire traveling device that moves up and down the center of gravity or laterally moves the balancer as an active mass damper to suppress the swing of the overhead wire traveling device body.

According to the invention corresponding to claim 6, when the overhead traveling line main body travels while hanging on the overhead line, when the wind blows or swings while avoiding an obstacle, Shaking can be automatically suppressed.

In order to achieve the above object, the invention according to claim 7 is an invention in which an overhead traveling line main body which travels along an overhead line to perform inspection and maintenance work on the overhead line and around the overhead line, and an operation in the overhead traveling line body An overhead traveling device that transmits a command wirelessly and that includes a remote control device that is mounted on a mobile station or mounted on a mobile station or carried by a worker, wherein the overhead traveling device is mounted on the overhead traveling device main body, and the vicinity of the overhead wire and the overhead wire. An image recognition means for performing a patrol inspection of the, a servo driver mounted on the overhead wire traveling device main body and having a serial interface capable of inputting and outputting various parameters necessary for servo control, and installed on the remote control device, Remote automatic driving means for generating an operation command to be given to the catenary traveling device main body; and servo control provided to the remote control device and provided to the servo driver. A servo controller having a serial interface capable of inputting and outputting necessary parameters, and a wireless communication device installed between the servo controller and the servo driver for transmitting and receiving signals between the two; The overhead traveling device is characterized in that the image processing means and all other processes related to overall operation control are executed by the remote control device.

According to the seventh aspect of the present invention, all processing relating to image processing means and other general operation control is performed by the remote control device, so that the equipment required to be mounted on the overhead traveling device main body. Therefore, the overhead traveling wire main body can be configured to be small and lightweight.

To achieve the above object, an invention according to claim 8 is a data recording device which is fixedly or detachably installed in the remote control device and records the outputs of the remote automatic driving means and the image processing means. 2. The overhead wire traveling device according to claim 1, further comprising an apparatus and traveling means for traveling while sequentially reading various data recorded in the data recording device.

According to the invention corresponding to claim 8, data necessary for operation in the recording device is recorded in advance, and the vehicle travels while sequentially reading the data, so that various settings before starting and during traveling can be changed. Operation can be performed without performing each operation, and the number of times the overhead traveling device is operated is reduced. Therefore, in addition to preventing abnormal operation due to a defective operation or the like, efficient operation can be performed.

According to a ninth aspect of the present invention, in order to achieve the above object, a plurality of the image recognizing means are provided, and an overhead wire on which the overhead wire traveling device main body travels, ancillary equipment existing on the overhead wire, and the overhead wire or the overhead wire. It is possible to observe the state of the structure for laying the incidental facilities and to measure the angle of the main body of the overhead traveling device and the distance from the incidental equipment during overhead traveling and obstacle avoidance operation, at that time The overhead wire traveling device according to claim 2, further comprising an image selection device that automatically or manually selects an image from the image recognition unit that is most appropriate for image processing.

According to the ninth aspect of the present invention, by selecting and receiving images from a plurality of image recognition means, it is possible to observe the state of the overhead line or the incidental facilities and the surrounding structures, In the measurement of the distance and the angle from the main body of the overhead wire traveling device in the traveling and obstacle avoiding operations, the most appropriate image for the processing at that time can be used, and therefore,
The blind spot of the imaging range can be reduced.

In order to achieve the above object, the invention according to claim 10 is characterized in that the wireless communication device between the main body of the catenary traveling device and the remote control device is equipped with two types of communication modes, radio wave and light, The overhead traveling device according to claim 7, further comprising a wireless switching function of automatically or manually switching the wireless communication method to the other wireless communication method when any one of the wireless communication states deteriorates.

In order to achieve the above object, an invention according to claim 11 is characterized in that when the wireless communication between the overhead traveling device main body and the remote control device is interrupted, the operation control by the remote control device is stopped, The overhead traveling device according to claim 10, further comprising an automatic evacuation unit that performs an evacuation operation such as evacuation to the nearest steel tower or the structure or waiting at the site.

According to the tenth or eleventh aspect of the present invention, when the radio communication condition deteriorates, by switching to the other radio communication system, it is possible to prevent a communication accident due to jamming radio waves, interference, disturbance light, and the like. In addition, when the two types of wireless communication device and the wireless switching device fail simultaneously,
Even if the wireless switching device receives an unavoidable disturbance, it automatically evacuates to the nearest tower or structure, or performs evacuation actions such as waiting on the spot, so that the overhead wire traveling device body Can be prevented from being uncollectible.

In order to achieve the above object, an invention according to claim 12 is provided in the remote control device, wherein various types of the overhead traveling device main body which are not transmitted by the wireless communication device between the servo driver and the servo controller are transmitted. An information transmission device for transmitting information to the remote control device in an audio band of a radio wave of the image recognition means; and an information restoration device for restoring information from an audio band of a radio wave of the image recognition means received by the remote control device. The overhead traveling device according to claim 7, further comprising an apparatus.

According to the twelfth aspect of the present invention, the remaining amount of the storage battery of the main body of the overhead traveling device and various other information are converted into a sound signal band of a radio wave of the image recognition means and transmitted to the remote control device. By transmitting the information, the status of the main body of the overhead traveling device on the overhead line can be observed by the remote control device, and abnormal operation such as runaway can be prevented.

In order to achieve the above object, the invention according to claim 13 is a flaw detection device which is installed in the main body of the catenary traveling device and outputs an analog flaw detection signal for detecting an abnormality such as a crack of the catenary, An analog flaw detection result transmitting device that is installed in the overhead traveling device main body and transmits an analog flaw detection signal from the flaw detection device to the remote control device in an audio signal band of a radio wave of the wireless camera, and is installed in the remote control device. 2. The overhead traveling device according to claim 1, further comprising a flaw detection result restoring device for restoring the flaw detection result from an audio signal band of radio waves of the wireless camera.

In order to achieve the above object, an invention corresponding to claim 14 is a flaw detector installed in the main body of the catenary traveling apparatus, which outputs a digital flaw detection signal for detecting an abnormality such as a crack of the catenary, A digital flaw detection result transmission device that is installed in the overhead traveling device main body and that transmits a digital flaw detection signal from the flaw detection device to the remote control device in a sound signal band of a radio wave of the image recognition unit; and a digital flaw detection result transmission device that is installed in the remote control device. 2. The overhead traveling device according to claim 1, further comprising a flaw detection result restoring device for restoring the flaw detection result from an audio signal band of a radio wave of the image recognition means.

According to the thirteenth or fourteenth aspect of the present invention, the flaw detector detects chemical abnormalities such as green rust and black rust, or physical abnormalities such as cracks, indentations, and nicks in the overhead wire. Then, the flaw detection output is transmitted to the remote control device in the audio signal band of the radio wave of the wireless camera, and the remote control device restores the flaw detection output, thereby making it possible to detect a variant of the overhead line, thereby enabling the overhead line to be detected. It is possible to prevent the power transmission accident due to the cutting of the overhead wire and to confirm the replacement time.

In order to achieve the above object, an invention according to claim 15 is a power switch for opening and closing a power supply of a device other than the wireless communication device installed in the main body of the catenary traveling device in response to a command from the remote control device. The overhead traveling device according to claim 7, further comprising an apparatus.

According to the invention corresponding to claim 15, in the case of temporary standby on the overhead line, etc., the power supply of a servo driver or the like which consumes a large amount of power is cut off in accordance with a command from the remote control device, thereby saving the storage battery. By reducing the consumption of
The number of times of battery replacement is reduced, and therefore, the mileage that can be continuously operated can be increased.

In order to achieve the above object, an invention according to claim 16 is an overhead traveling device which travels on an overhead wire to perform inspection and maintenance work on the overhead wire and its surroundings, wherein the overhead traveling device is installed in the overhead traveling device main body. A solar cell for using the electromotive force as a part or all of the power source of the overhead traveling device main body, and installed in the overhead traveling device main body, and the remaining electromotive force of the solar cell is transferred via a charging device. And a storage battery that charges the battery sequentially.

In order to achieve the above object, an invention according to claim 17 is an overhead traveling apparatus which performs inspection and maintenance work on the overhead line and the surrounding area by traveling on the overhead line, wherein the overhead traveling apparatus is installed in the overhead traveling apparatus main body. An induction coil that is detachable in a circumferential direction of the overhead wire so that the overhead wire crosses a magnetic field generated from the overhead overhead wire in a vertical direction, and an electromotive force of the induction coil is applied to a main body of the overhead traveling device. A catenary traveling apparatus characterized by comprising a charging device that is used as a part or all of a power source or that sequentially charges the storage battery.

According to the invention corresponding to claim 16 or 17, the section in which the overhead wire traveling device main body travels is usually exposed to sunlight except for a partial section such as in a tunnel within a radio communication range or immediately below a bridge. It is easily analogized that the traveling overhead line is normally in a hot-line state, so that when sunlight or light equivalent thereto or a magnetic field generated from the hot-line state overhead line is vertically crossed, By using the generated power as part or all of the power source of the overhead traveling device main body, or by charging the storage battery installed in the overhead traveling device main body, the number of times of battery replacement is reduced, and therefore, The operable traveling distance can be increased.

[0058]

Embodiments of the present invention will be described below with reference to the drawings. <First Embodiment (corresponding to claims 1 to 6)> FIG.
Is traveling on the overhead wire 11 to check the overhead wire 11 and its surroundings.
An overhead traveling device that performs maintenance work, and an image recognition unit such as a wireless camera 30 that performs a patrol inspection of the overhead wire 11 and its surroundings mounted somewhere on the overhead traveling device main body 10, and wirelessly transmits an operation command to the overhead traveling device main body 10. The remote control device 31 transmits, for example, a remote control device 31 carried by the worker. The remote control device 31 automatically processes the image information of the wireless camera 30 based on the result of the image processing. A remote automatic driving means 33 for generating an operation command.

Further, the overhead wire traveling device main body 10 is provided with a balancer 16 or an obstacle avoiding means 15 for attitude control. As the wireless camera 30, an infrared camera is used. For this reason, an infrared light source 34 that irradiates infrared light in a direction monitored by the infrared camera is attached to the overhead traveling device main body 10.

The overhead traveling device thus configured has the following operational effects. That is, when the vehicle travels while hanging on the overhead wire 11 and approaches the obstacle 17 on the way of the overhead traveling device main body 10, the image processing means 32 performs image processing on the video information from the wireless camera 30 of the overhead wire traveling device main body 10. Then, the approach of the obstacle 17 is detected. Upon detecting the approach of the obstacle 17, the remote automatic driving means 33 generates an operation command to automatically reduce the traveling speed based on the obstacle detection result of the image processing means 32, and the remote control device 31 transmits the operation command. Wireless transmission to the overhead traveling device main body 10 causes the overhead traveling device main body 10 to slow down and slowly move the obstacle 1
Approach 7. For this reason, there is no fear that the overhead traveling device main body 10 collides with the obstacle 17.

By performing image processing on the image signal of the wireless camera 30, image processing means 32 which increases the weight of the overhead traveling device main body 10 despite high-level control is possible.
Is provided in the remote control device 31 without being provided in the overhead traveling device main body 10, so that the overhead traveling device main body 10 can be reduced in size and weight.

The following functions and effects can be obtained by providing the following functions to the image processing means 32 of the remote control device 31 described above. That is, the image processing means 32 performs image processing on the video information from the wireless camera 30 of the overhead wire traveling device main body 10 so that the type of the obstacle 17 can be confirmed.

By configuring the image processing means 32 in this way, the remote automatic driving means 33 of the remote control device 31
Automatically generates an operation command group for obstacle avoidance corresponding to the obstacle 17 from the obstacle confirmation result of the image processing means 32, and the remote control device 31 wirelessly transmits the operation command group to the overhead wire traveling device body 10. By transmitting, the obstacle avoiding means 15 can be operated to avoid the obstacle and get over the obstacle.

The image processing means of the remote controller 31 when the wind travels while the overhead traveling device main body 10 is suspended while hanging from the overhead wire 11 or shakes while avoiding an obstacle. Reference numeral 32 denotes image processing of the video information from the wireless camera 30 of the overhead traveling device main body 10 to detect the swing of the overhead traveling device main body 10, and the remote automatic driving means 33 of the remote control device 31 causes the image processing means 32 to swing. The remote control device 31 generates an operation command for the balancer 16 that automatically suppresses the swing based on the detection result, and the remote control device 31 wirelessly transmits the operation command to the overhead traveling device main body 10 at an effective timing. Moves the balancer 16 up and down on the center of gravity corresponding to the upside down swing, or
The vibration can be suppressed by making the left and right 6 move as an active mass damper.

Further, the operation command automatically generated by the remote automatic driving means 31 is corrected based on the result of image processing of the image of the wireless camera 30 mounted on the overhead wire traveling device body 10 by the image processing means 32. Thus, even if the obstacle 17 is displaced or the like, a more accurate operation command can be generated.

By using an infrared camera as the wireless camera 30, the image information illuminated by the infrared light from the infrared light source 34 is a unique light, so that the image processing means 32 is hardly affected by disturbance light. As a result, stable driving can be performed even in the daytime when there is sunlight or the night when there is no light (when only house lights and street lights are conspicuous).

According to the present embodiment, the overhead wire traveling device main body 1
0 decelerates and slowly approaches the obstacle 17, so there is no need to worry about colliding with the obstacle 17. Furthermore, an operation command group for obstacle avoidance according to the obstacle 17 is automatically generated,
The worker does not need to constantly monitor the overhead traveling device because the obstacle 17 can be avoided and passed over.

Further, the overhead traveling device main body 10 is
The vibration can be suppressed when the wind blows while swaying while hanging or when the vehicle shakes while avoiding an obstacle, so that stable traveling and obstacle avoidance can be realized.

<Second Embodiment (Claims 7 to 1)
FIGS. 2 and 3 are blocks showing a second embodiment of the present invention, and are also block diagrams showing a specific configuration of the control system of the first embodiment described above. The remote control device 31 includes an image processing unit 32 and a remote automatic driving unit 33.
And these are configured as follows.

The image processing means 32 includes a main computer 41 for controlling the entire overhead wire traveling device, a recording device 42 for recording data necessary for traveling on the overhead wire 11, and a servo mounted on the overhead wire traveling device body 10. The driver 43 (43a, 4
3b, 43c) Servo controller 4 for controlling
4, a radio wireless communication device 50a that communicates with the servo driver 43, and an optical wireless communication device 50b
And a wireless switching device 45 for switching between the two types of wireless devices according to communication conditions, and a video and audio signal band transmitted from the wireless camera 30 (30a, 30b, 30c) mounted on the overhead wire traveling device body 10. Image receiver 46
A video selecting device 47 for appropriately switching the video, an image processing device 61 for taking in the video selected by the video selecting device 47 and outputting it to the main computer 41, and converting various data from the audio signal band into digital values and analog values. An information restoring device 48 for conversion and a flaw detection result restoring device 49 for restoring flaw detection results in the same manner are provided.

The traveling device body 10 includes a servo driver 4
3 (43a, 43b, 43c) and a radio wireless communication device 51a for wirelessly communicating with the servo controller 44 installed in the remote control device 31, and an optical wireless communication device 51
b, a wireless switching device 52 for switching between the two types of wireless devices according to communication conditions, and a servo driver 43 for operating the traveling device main body 10 based on commands received by these devices.
With the command transmitted from the remote control device 31, the radio wave wireless communication device 51a, the optical wireless communication device 51b,
A power switching device 53 for opening and closing the power of the other devices of the wireless switching device 52, a solar battery 54 and an induction coil 55 as auxiliary power sources, and a storage battery 56 installed in the overhead wire traveling device main body 10 using the electromotive force thereof. And a wireless camera 30 (30a, 30b, 30c) for conducting a patrol inspection of the overhead line 11 and its surroundings,
1, a flaw detection output device 59 for converting a flaw detection output obtained by the flaw detection device 58 into an audio signal band of a radio wave of the wireless camera 30, and a servo driver 4
An information transmission device 60 that converts the remaining amount of the storage battery 56 and other various information of the overhead wire traveling device main body 40 into an audio signal band of a radio wave of the wireless camera 30, which is not transmitted by wireless communication between the wireless communication device 3 and the servo controller 44. .

The flaw detection device 58 is configured to output an analog flaw detection signal. The flaw detection output transmission device 59 is capable of outputting the analog flaw detection signal.
The flaw detection result restoring device 49 may be configured to restore the flaw detection result from the radio signal of the wireless camera 30 from the audio signal band.

The flaw detection device 58 is configured to output a digital flaw detection signal. The flaw detection device 58 transmits the digital flaw detection signal to the remote control device 31 in an audio signal band of radio waves of the wireless camera 30. The transmission device 59 may be constituted by a flaw detection result restoring device 49 for restoring a flaw detection output result from an audio signal band of a radio wave of the wireless camera 30 received by the remote control device 31. Next, the operation of the overhead traveling line device configured as described above will be described.
The main computer 41 installed in the remote control device 31 records running path conditions (not shown) such as the distance of the traveling overhead line 11 and the size of the obstacle 17 and operating conditions (not shown) such as running speed and acceleration / deceleration start positions. While reading sequentially from
The above-described remote automatic driving means 33 of the first embodiment and other conditions such as a position and a speed required for traveling (not shown) are given to a servo controller 44.

The servo controller 44 calculates and outputs a servo control value required to operate the servo driver 43 from the received conditions. The output servo control value (not shown) is transmitted to the traveling device main body 10 by the radio wave wireless communication device 50a or the optical wireless communication device 50b.

Here, when the radio communication state of the currently selected system is degraded by jamming radio waves, disturbance light, or the like, the radio switching device 45, which constantly monitors the communication state, can perform good communication. Switch to wireless communication device 50a or 50b.

Note that this function is also provided in the traveling apparatus main body 10 by the radio radio communication device 51a and the optical radio communication device 51b.
And a wireless switching device 52. A servo control value (not shown) transmitted from the remote control device 31 is transmitted to a radio-wave wireless communication device 51 mounted on the main body 40 of the traveling device 10.
The wireless switching device 52 receives and switches the better communication condition of the wireless communication device 51a or the optical wireless communication device 51b to the servo driver 43. In the servo driver 43, this
The motor (not shown) is operated, and as a result, the traveling device body 1
Control 0. Further, either or both of the solar cell 54 and the induction coil 55 are installed in the traveling device main body 10. The solar cell 54 is provided under sunlight and the induction coil 55 is provided if the traveling overhead line 11 is a live line. , Or both of them, the charging device 57 charges the storage battery 56 sequentially.

Here, if the storage battery 56 is fully charged, it can be used as a power source of the traveling apparatus main body 10 without charging. In addition, a power supply opening / closing device 53 that opens and closes the power supply of the other devices of the radio type wireless communication device 51a, the optical type wireless communication device 51b, and the wireless switching device 52 is connected to the overhead wire 1
For example, in the case of standby on the device 1, the power supply of the device such as the servo driver 43 which consumes a large amount of power is shut off. Further, the traveling device body 10 includes a wireless camera 30 (30a, 30b, 3).
0c) is installed, and the overhead wire 11 and the periphery of the overhead wire 11 are photographed.

The remote control device 31 measures the distance to the obstacle 17, controls the vibration when the traveling device main body 10 is shaken by wind or the like, and vibrates to remove foreign substances (not shown) attached to the overhead wire 11. In order to perform the processing, the image processing means 32
A calculation (not shown) such as extraction of a singular point (not shown) and measurement of a vibration period (not shown) is executed at this time.
The video selection device 47 selects the most suitable video for the image processing (not shown) at that point in time from the video of the wireless camera 30 received at (4).

In addition to the image processing, a patrol inspection of the overhead wire 11 and its surroundings is performed by displaying a received image on a monitor (not shown). Here, since the radio wave transmitted from the wireless camera 30 is the same as that of a general commercial broadcast, no audio signal band is used.

Therefore, the information transmission device 60 converts the charging status of the storage battery 56 and other various data of the traveling apparatus main body 10 into audio signals, which are not transmitted by the communication between the servo controller 44 and the servo driver 43, and converts them into audio signals.
To the remote control device 31 via the receiver 46 and the information restoration device 48.
Is transmitted to the main computer 41 installed in the computer and used as a determination condition for the control of the remote automatic driving means 33.

Further, the traveling device main body 10 has an overhead wire 11
A flaw detection device 58 for detecting unusual changes such as black rust, cracks, indentations and flaws is installed, and this flaw detection output is transmitted by a flaw detection output transmission device 59 in the same manner as the function related to the information transmission device 60 described above. In the sound signal band of the radio wave of the wireless camera 30 by the method of
Then, a situation such as an abnormality of the overhead wire 11 is determined.

According to the present embodiment, the traveling device main body 10
Is not provided with a main control device as in a normal robot, and the main control device is installed on a remote control device 31 installed separately from the traveling device main body 10, so that the number of electrical components is reduced and the traveling device The main body 10 side can be made small and lightweight.

Further, since various data necessary for traveling on the overhead wire 11 can be stored in the recording device 42 in advance, various settings before starting and during traveling can be set by sequentially reading the stored various data. The operation can be performed without performing each operation, and the number of times of operating the overhead traveling device is reduced. Therefore, not only an abnormal operation due to a defective operation or the like can be prevented, but also an efficient operation can be performed.

In addition, radio-wave radio communication devices 5 of different systems
0a, 51a, optical wireless communication devices 50b, 51b,
The wireless switching devices 45 and 52, which switch the two types of wireless devices according to the communication conditions, can be switched to the other wireless communication device even if one communication becomes abnormal due to jamming radio waves, interference, or strong disturbance light. Fatal obstacles such as communication interruption can be eliminated. Furthermore, even in the event that disturbance that cannot be avoided by this method is applied, it can be easily collected by automatically waiting on the spot of the traveling device body 10 or evacuating to the nearest steel tower or the like (not shown). Can be.

Further, a plurality of wireless cameras 30a, 30b, 30c are installed in
The image selection device 47 is installed in the camera to select an image most suitable for performing a singular point extraction (not shown) required for image processing (not shown) or a vibration period measurement (not shown), thereby preventing unexpected foreign matter from appearing. However, a supplemental defect or the like does not occur, and stable image processing (not shown) can be executed. The most suitable image for processing at that time in observing the state of the overhead wire or ancillary facilities and the surrounding structures, and measuring the distance and angle from the overhead wire traveling device in the overhead wire traveling and obstacle avoidance operation Can be used, and thus the blind spot of the imaging range can be reduced. Further, when an unexpected appearance of foreign matter or an abnormality is found in the overhead line 11 and the vicinity of the overhead line, the inspection is automatically displayed on a monitor (not shown), so that the inspection of the overhead line 11 and the vicinity thereof can be performed more accurately. it can.

In the wireless camera 30, in order to effectively use the unused audio signal band, the charge state of the storage battery 56 and other travel devices 10 that are not transmitted by the communication between the servo controller 44 and the servo driver 43. The various data of the main body 40 are converted into audio signals by the information transmission device 60 and input to the wireless camera 30 so as to ride on the audio signal band of the transmission radio wave, and are transmitted to the remote control device via the image receiver 46 and the information restoration device 48. By transmitting the data to the main computer 41 installed in the base station 31 and using it as a determination condition for the control of the automatic driving means 33, stable operation control can be realized.

Further, as an inspection method of the overhead wire 11 which is one of the main objects of the traveling device, chemical abnormalities such as black rust (not shown) generated in the overhead wire 11 and physical abnormalities such as cracks, indentations and nicks are shown. By installing the flaw detection device 58 for detection, the service life of the overhead wire 11 can be determined, and a power transmission accident or the like due to disconnection can be prevented, and the timing of replacement can be confirmed.

The flaw detection output is transmitted to the flaw detection output transmission device 5.
In step 9, the main computer 41 determines the status of the overhead line 11 by using the same method as that for the function related to the information transmission device 60 described above, and the main computer 41 determines the status of the abnormal change of the overhead wire 11. Priority inspections can be carried out.

Further, a solar cell 54 is
And / or the induction coil 55, and a charging device 57 for sequentially charging the storage battery 56 with the electromotive force of the servo driver 43. By shutting off the power supply of such a device by the power supply opening / closing device 53, the number of replacements of the storage battery 56 is reduced, thereby increasing the continuous travelable distance.

[0090]

According to the overhead traveling device and the control method of the present invention described above, the following operational effects can be obtained. (1) By using wireless images, it is not necessary to mount an image processing device or the like that increases the weight of the overhead wire traveling main body although advanced control can be performed.

(2) Since the power generator and the charger are mounted, the number of replacements of the storage battery is reduced. Therefore, it is light and easy to handle, it is easy to put it on the overhead wire, and long-time operation (long continuous running distance) can be realized by suppressing the power consumption of the storage battery.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of an overhead wire traveling device according to a first embodiment of the present invention.

FIG. 2 is a block diagram showing a schematic configuration of a main body of the overhead wire traveling device of FIG. 1;

FIG. 3 is a block diagram showing a schematic configuration of a remote control device of the overhead traveling device of FIG. 1;

FIG. 4 is a view for explaining an example of a conventional overhead wire traveling device.

FIG. 5 is a diagram for explaining the operation of the conventional overhead traveling line traveling apparatus of FIG. 4;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 ... Overhead wire traveling apparatus main body 11 ... Overhead wire 15 ... Obstacle avoiding means 16 ... Balancer 17 ... Obstacle 30 (30a, 30b, 30c) ... Wireless camera 31 ... Remote control device 32 ... Image processing means 33 ... Remote automatic driving means 34 ... Infrared light source 35 ... Overhead traveling device main body 41 ... Main computer 42 ... Recording device 43 (43a, 43b, 43c) ... Servo driver 44 ... Servo controller 45, 52 ... Wireless switching device 46 ... Receiver 47 ... Video selection device 48 ... Information restoration device 49 ... Flaw detection result restoring device 50a, 51a ... Radio wave wireless communication device 50b, 51b ... Optical wireless communication device 53 ... Power switch device 54 ... Solar cell 55 ... Induction coil 56 ... Storage battery 57 ... Charging device 58 ... Flaw detection Device 59: flaw detection output transmission device 60: information transmission device 61: image processing device

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Tetsushi Koshiyama 2-24-24 Harumi-cho, Fuchu-shi, Tokyo Toshiba FA System Engineering Co., Ltd. (72) Inventor Tadashi Munakata 1-stock, Toshiba-cho, Fuchu-shi, Tokyo Toshiba company Fuchu factory

Claims (17)

[Claims] An overhead traveling device main body for performing inspection and maintenance work on the overhead wire and around the overhead wire by traveling on the overhead wire, and an operation command transmitted wirelessly to the overhead traveling device main body, wherein the worker carries the In an overhead traveling device including a remote control device installed on a ground station or mounted on a mobile station such as a car, an image recognition unit that performs a patrol inspection of the overhead wire and a periphery of the overhead wire on a part of the overhead traveling device main body, and And a remote automatic driving means which is installed in the remote control device and generates an operation command to be given to the overhead traveling line device main body. 2. The overhead traveling device main body includes an obstacle avoiding unit for attitude control, an image processing unit for performing image processing of image information of the image recognition unit on the remote control device, and an image processing unit of the image processing unit. The overhead wire traveling device according to claim 1, further comprising a correction unit that corrects the remote automatic driving unit based on a result. 3. The apparatus according to claim 1, wherein the image recognition means is an infrared camera, and the main body of the overhead traveling device includes an infrared light source for emitting infrared light in a direction monitored by the infrared camera. Or the overhead wire traveling device according to claim 2. 4. An overhead traveling device main body that travels while hanging from an overhead wire to perform inspection and maintenance work on the overhead wire and around the overhead wire, and wirelessly transmits an operation command to the overhead traveling device main body. An overhead traveling device including a remote control device installed in a mobile or ground station or mounted on a mobile station, mounted on the overhead traveling device main body, image recognition means for outputting image information of the overhead line and the periphery of the overhead line, Image processing means provided in the remote control device, which wirelessly receives video information from the image recognition means, performs image processing on the received video information to detect approach of an obstacle, and is provided in the remote control device. Generating an operation command to be given to the main body of the overhead traveling device, and when the image processing means detects the approach of an obstacle, the traveling speed of the main body of the overhead traveling device is reduced by the obstacle. And a remote automatic operation means for generating an operation command for delaying the operation from a normal state in which no approach of a harmful object is detected and giving the operation command to the overhead traveling device main body. 5. An overhead traveling device main body that travels while hanging on an overhead wire and performs inspection and maintenance work on the overhead wire and around the overhead wire, and wirelessly transmits an operation command to the overhead traveling device main body. An overhead traveling device comprising a remote control device installed on a mobile or ground station or mounted on a mobile station, comprising: an obstacle avoiding means for attitude control installed on the overhead traveling device main body; and mounted on the overhead traveling device main body. Image recognition means for outputting image information of the overhead line and the periphery of the overhead line, provided in the remote control device, wirelessly receiving video information from the image recognition means, and performing image processing on the received video information Image processing means for detecting the type of the obstacle and outputting the result of the obstacle confirmation, and automatically generating an operation command provided to the remote control device and given to the overhead traveling device main body. Then, when the image processing means outputs an obstacle confirmation result, the overhead traveling device main body generates an operation instruction group of obstacle avoidance according to the obstacle, and the Remote control means for controlling the overhead traveling device, wherein the remote control device wirelessly transmits to the overhead traveling device main body and avoids the obstacle while operating the obstacle avoiding means to get over the obstacle. . 6. An overhead traveling device main body that travels while hanging from an overhead wire to perform inspection and maintenance work on the overhead wire and the vicinity of the overhead wire, and wirelessly transmits an operation command to the overhead traveling device main body. An overhead traveling device comprising a remote control device installed on a portable or ground station or mounted on a mobile station, a balancer for attitude control installed on the overhead traveling device main body, and mounted on the overhead traveling device main body, the overhead wire And image recognition means for outputting image information around the overhead wire, provided in the remote control device, wirelessly receiving video information from the image recognition means, performing image processing on the received video information, and An image processing means for detecting the swing of the traveling device and outputting the swing detection result; and the overhead wire provided in the remote control device and based on the swing detection result from the image processing means. Remote automatic driving means for giving an operation command to the balancer so as to suppress shaking of the main body of the line device, and when the swing detection result is output from the image processing means, the balancer is turned over by a swing. Equivalent to
A method of controlling an overhead traveling device that causes the center of gravity to move up and down or the balancer to move laterally as an active mass damper to suppress the swing of the overhead traveling device. 7. A catenary traveling device main body for performing inspection and maintenance work on the catenary line and the vicinity of the catenary line by traveling the catenary line, and wirelessly transmitting an operation command to the catenary traveling device main body. An overhead traveling device including a remote control device installed on a ground station or mounted on a mobile station, an image recognition unit mounted on the overhead traveling device main body and performing a patrol inspection around the overhead line and the overhead line, and the overhead traveling device A servo driver mounted on the main body and having a serial interface capable of inputting and outputting various parameters necessary for servo control; and a remote control installed on the remote control device and generating an operation command to be given to the overhead wire traveling device main body. Automatic driving means, installed in the remote control device, the servo driver,
A servo controller having a serial interface capable of inputting and outputting various parameters required for servo control; and a wireless communication device installed between the servo controller and the servo driver for transmitting and receiving signals between the two; An overhead wire traveling device, wherein all processes related to the image processing means and other general operation control of the traveling device main body are executed by the remote control device. 8. A data recording device which is fixedly or detachably installed in the remote control device and records the outputs of the remote automatic driving means and the image processing means; and various data recorded in the data recording device. 2. The overhead wire traveling device according to claim 1, further comprising: traveling means for traveling while reading sequentially. 9. A plurality of the image recognition means are installed, and a state of a catenary line on which the main body of the catenary traveling device travels, ancillary facilities existing on the catenary line, and a structure for laying the catenary line or the ancillary facilities is provided. And, it is possible to measure the angle of the main body of the overhead traveling device and the distance from the incidental equipment in overhead traveling and obstacle avoidance operation, etc., the image from the image recognition means most suitable for image processing at that time The overhead wire traveling device according to claim 2, further comprising an image selection device that selects automatically or manually. 10. The wireless communication device between the main body of the catenary traveling device and the remote control device is equipped with two modes of radio wave and light as a communication form, and when one of the wireless communication conditions is deteriorated, the wireless communication is performed. The overhead traveling line device according to claim 7, further comprising a wireless switching function of automatically or manually switching the system to the other wireless communication system. 11. When the wireless communication between the main body of the overhead traveling device and the remote control device is interrupted, the operation control by the remote control device is stopped, and evacuation to the nearest steel tower or the structure, or The overhead wire traveling device according to claim 10, further comprising an automatic evacuation unit that performs an evacuation action such as a standby at the vehicle. 12. The various information of the overhead traveling device main body, which is installed in the remote control device and is not transmitted by the wireless communication device between the servo driver and the servo controller, in a voice band of a radio wave of the image recognition means. 8. The information processing apparatus according to claim 7, further comprising an information transmission device for transmitting the information to the remote control device, and an information restoring device for restoring information from a voice band of a radio wave of the image recognition means received by the remote control device. Overhead traveling device. 13. A flaw detector installed in the overhead traveling device main body and outputting an analog flaw detection signal for detecting an abnormality such as a crack in the overhead wire, and a flaw detector installed in the overhead wire traveling device main body and receiving a signal from the flaw detector. An analog flaw detection result transmitting device that transmits an analog flaw detection signal to the remote control device in a sound signal band of a radio wave of the image recognition means; and The overhead wire traveling device according to claim 1, further comprising: a flaw detection result restoring device that restores a flaw detection result. 14. A flaw detector installed in the overhead traveling device main body and outputting a digital flaw detection signal for detecting an abnormality such as a crack in the overhead wire, and a flaw detector installed in the overhead wire traveling device main body, and A digital flaw detection result transmitting device for transmitting a digital flaw detection signal to the remote control device in a sound signal band of a radio wave of the image recognition means; and The overhead wire traveling device according to claim 1, further comprising: a flaw detection result restoring device that restores a flaw detection result. 15. According to a command from the remote control device,
The overhead traveling device according to claim 7, further comprising: a power switching device that opens and closes a power source of a device other than the wireless communication device installed in the overhead traveling device main body. 16. An overhead traveling device which travels on an overhead line to perform inspection and maintenance work on the overhead line and its surroundings, wherein the power source is installed in the overhead traveling device main body, and an electromotive force is applied to a power source of the overhead traveling device main body. A solar cell for use as a part or all of a storage battery installed on the overhead wire traveling device main body, and sequentially charging the remaining electromotive force of the solar cell via a charging device, Overhead traveling device. 17. An overhead wire traveling device that travels on an overhead wire to perform inspection and maintenance work on the overhead wire and its surroundings, such that the overhead wire crosses a magnetic field generated from the overhead overhead wire in a vertical direction. An induction coil that is detachable in a circumferential direction of the overhead wire, and a charging device that uses the electromotive force of the induction coil as part or all of a power source of a main body of the overhead traveling device, or sequentially charges the storage battery, An overhead wire traveling device comprising: