KR101647281B1 - Drone for cable checking - Google Patents

Drone for cable checking Download PDF

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Publication number
KR101647281B1
KR101647281B1 KR1020160007103A KR20160007103A KR101647281B1 KR 101647281 B1 KR101647281 B1 KR 101647281B1 KR 1020160007103 A KR1020160007103 A KR 1020160007103A KR 20160007103 A KR20160007103 A KR 20160007103A KR 101647281 B1 KR101647281 B1 KR 101647281B1
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KR
South Korea
Prior art keywords
cable
hollow
main body
holder
checking
Prior art date
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KR1020160007103A
Other languages
Korean (ko)
Inventor
이우상
장선재
이희구
신성용
한성진
전경주
Original Assignee
(주)스마트 제어계측
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Priority to KR1020160007103A priority Critical patent/KR101647281B1/en
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Publication of KR101647281B1 publication Critical patent/KR101647281B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
    • E01D19/00—Structural or constructional details of bridges
    • E01D19/16—Suspension cables; Cable clamps for suspension cables ; Pre- or post-stressed cables
    • B64C2201/12—

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Bridges Or Land Bridges (AREA)

Abstract

The present invention relates to a cable inspection dron for inserting a cable installed in a suspension bridge or the like into a cable holder and then receiving a lift force from a rotary wing and moving along the cable to check the state of the cable.
The cable inspection drones according to the present invention are characterized in that a first hollow is formed to penetrate through the upper and lower portions, a main body portion having a plurality of rotor blades on the outer side, and a second hollow in which a cable to be inspected is inserted, And a cable inspecting member mounted on the main body or the cable holder.

Description

Drone for cable checking

The present invention relates to a cable inspection apparatus for checking the state of a cable, more specifically, a cable installed in a suspension bridge or the like is inserted into a cable holder, To a cable inspection drone.

Cables, which are the main members of superstructure bridges such as suspension bridges or cable-stayed bridges, are subject to corrosion and cracking due to the external environment, such as climate, loads, and earthquakes, which is a major factor in shortening the life of bridges.

Therefore, it is essential to check the condition of the cable on a regular basis, but the position of the suspension bridge or the cable-stayed bridge and the height of the cable make it difficult for the operator to approach and pay attention to safety.

In addition, the current method of relying on the operator's visuals requires a lot of time for the operation and is not possible to completely check.

An invention relating to a cable inspection apparatus for solving such a problem is disclosed in Korean Utility Model Publication No. 20-0326719 entitled " Cable Inspection Robot "and Korean Patent Laid-Open Publication No. 10-2014-0093373 entitled" Cable Inspection System Using Mobile Robot "Has been proposed and disclosed.

In the above-mentioned Korean Utility Model Application No. 20-0326719, a wheel driven by a front-back vibration motor surrounds a cable and moves along the cable while photographing the outside and inside of the cable, In the above-described Korean Patent Laid-Open Publication No. 10-2014-0093373 entitled " Cable Inspection System Using a Mobile Robot ", a mobile robot capable of moving along a cable with a cable passing through the cable is provided with a cable There has been proposed an invention relating to a cable inspection system equipped with a photographing unit for photographing the surface and a non-destructive inspection unit for inspecting the inside of the cable.

However, in the above conventional arts, since the wheel contacting with the surface of the cable is provided as the only moving means, there may occur a case where the smooth checking operation can not be performed according to the condition of the icing lamp cable.

Therefore, there is a need for a drones-type cable inspection device capable of smoothly performing a check operation regardless of any state of the icemaker cable.

Korean Registered Utility Model No. 20-0326719 (2003. 09. 03) Korean Patent Publication No. 10-2014-0093373 (Apr. 28, 2014)

The drones for cable inspection according to the present invention are proposed to solve the problems of the prior art,

As the height of the cable increases, it is difficult to access the cable and the operation cost of the equipment is increased because of the location characteristic of the cable-stayed bridge and the suspension bridge.

Due to the frequent occurrence of strong winds due to the location characteristics of cable - stayed bridges and suspension bridges, the safety of the workers was also problematic;

Since the inspection is carried out by the operator's eyes, a complete inspection can not be performed and a problem of requiring a lot of time for inspection has occurred;

A method of checking a cable through a mobile robot equipped with a wheel has a problem that a check operation can not be performed smoothly according to the state of an icing lamp cable.

In order to achieve the above object, according to the present invention,

A main body formed with a first hollow through the upper and lower portions and having a plurality of rotor blades on the outer side; A cable holder in which a second hollow is formed through which a cable to be inspected is inserted and which is coupled to the main body so as to be adjustable in inclination; A cable inspection member mounted on the main body portion or the cable holder; The drones for cable inspection are characterized in that the drones for cable inspection are formed.

According to the present invention,

It is possible to save the cost and the worker's approach and safety problem are solved because the operator does not need to carry out the inspection manually;

Since the inspection operation is performed through the inspection device, not the visual inspection of the operator, the accurate inspection is performed and the inspection time is shortened;

The drone that moves along the cable is used as the moving means of the cable inspection apparatus, so that the inspection operation can be performed smoothly regardless of the state of the cable.

1 is an external perspective view of a dron for cable inspection according to the present invention;
2 is an exploded view of a dron for checking cables according to the present invention;
3 (a) to 3 (b) are views showing the opening of the opening of the dron for cable inspection according to the present invention.
4 is a view showing an example of changing the slope of a cable holder of a cable checking dron according to the present invention.

The present invention relates to a cable checking apparatus for checking the state of a cable,

A main body (100) having a first hollow (120) penetrating the upper and lower portions and having a plurality of rotor blades on the outer side; A cable holder 200 formed with a second hollow 210 into which a cable 400 to be inspected is inserted and fastened to the main body 100 so as to be able to adjust a tilt; A cable inspection member 300 mounted on the main body 100 or the cable holder 200; The drones for cable inspection are characterized in that the drones for cable inspection are made of metal.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

The cable drill according to the present invention is a device for inspecting a cable 400, which is a main member of a super long bridge such as a suspension bridge or a cable-stayed bridge. The cable drill is a moving means for moving along the cable 400, Unmanned aircraft).

1, the overall outer shape of the dron for cable inspection is the same as the known drones in that a plurality of rotor vanes, which are essential components of the dron, are provided on the outer side of the main body 100, The first hollow 120 is formed to pass through the upper and lower portions of the main body 100 as a component for achieving the object of the present invention.

The flywheel is a component for generating lifting force and thrust force for flying the cable inspection drone in the air, and must be composed of an even number such as 4, 6, 8, 12, and so on.

That is, the number of the rotor teeth rotating in the clockwise direction and the rotor teeth rotating in the counterclockwise direction opposite to each other must be made the same so that the reaction generated by the rotor teeth rotating in the forward direction is caused by the rotating wings rotating in the reverse direction. To each other.

The first hollow (120) is a component provided to accomplish the object of the present invention, in which the cable checking dron moves along the cable to carry out a checking operation, in which a cable used for a suspension bridge or a cable-stayed bridge is inserted .

An opening 130 for communicating the first hollow 120 with the outside of the main body 100 is formed at one side of the main body 100 to allow the cable to be inserted into the first hollow 120 .

The opening 130 may be a form that is a pathway in the process of inserting the cable into the first hollow 120 and may be a form that is always open or a form that is opened only when necessary for passing the cable .

That is, the opening 130 can be opened and closed according to the user's selection.

In order to form the opening 130 in the main body 100, the main body 100 is configured such that a plurality of main body units are separated and combined to form a single main body 100, When the plurality of main body units are separated from each other, the first hollow (120) communicates with the outside of the main body (100).

The plurality of body unit units are separated from each other. At least one of the plurality of body unit units that integrally form the single body unit 100 is separated from the body unit 100, The opening 100 may be maintained, but the opening 130 may be formed at one side.

The plurality of main body units are separated from each other. At least one of the plurality of main body units constituting the single main body unit 100 is fixed at one side and fixed and separated at the other side, The other side may rotate to form the opening 130.

3 (a) to 3 (b), the body portion 100 is formed as a single body portion 100 by separating and combining the plurality of body portion units. ) Has a first body separating part (140) constituting one side with respect to the first hollow (120) and having a first projection (141) formed at one end and a second body separating part (140) The first body separating part 140 and the second body separating part 150. The first body separating part 150 and the second body separating part 140 are formed in the same shape as the first body separating part 150, And a first fastener (170) for fastening the second main body separation part (150) to each other.

The first main body separating part 140 and the second main body separating part 150 are symmetrical to each other and the rotation shaft 160 penetrates the first projecting part 141 and the second projecting part, The first body separating part 140 and the second body separating part 150 are connected to each other to form the body part 100 integrally.

The rotation shaft 160 is configured to connect the first body separating part 140 and the second body separating part 150 and has a structure in which the opening part 130 in a closed state is opened or opened And serves as an axis of rotation for closing the opening 130 in a closed state.

3 (a), the first body separating part 140 and the second body separating part 150 are fastened or fastened by the first fastening part 170 The opening of the opening 130 is closed but the opening of the first body separating part 140 and the second body separating part 150 or the body of the second body separating part 150, When the first body separating part 140 and the second body separating part 150 are both rotated, the opening 130 in the closed state is opened and opened.

The first fastening member 170 fastens the other side of the first body separating part 140 and the other side of the second body separating part 150 to each other so that the opening 130 is kept closed And separates the other side of the first main body separating part 140 and the other side of the second main body separating part 150 which are fastened to open the opening 130.

The cable used for a suspension bridge or a cable-stayed bridge to be inserted into the first hollow 120 through the opening 130 has a diameter of 100 mm to 300 mm and is generally arranged in a diagonal line. do.

Although the cable having a diameter of 100 mm to 300 mm can be inserted into the inside of the main body 100 by forming the first hollow 120 to have a diameter of 300 mm or more, And therefore, there is a limit to the movement of the cable, which is disposed in a diagonal line and is in close contact with a cable composed of various angles.

In order to solve such a problem, as shown in FIGS. 1 and 2, a cable inspection dron according to the present invention includes a second hollow 210 into which a cable to be inspected is inserted, And a cable holder 200 coupled to the cable holder 200 so that the tilt of the cable holder 200 can be adjusted.

The cable holder 200 is preferably formed in a tube shape to allow the cable to be inserted into the second hollow 210. The second hollow 210 has a diameter of 300 mm or less, May be configured to have a diameter of 300 mm or more so as to allow the cable to penetrate, but a cable having a diameter of 500 mm or less may be inserted.

The cable holder 200 includes a cable holder 200 having a second hollow 210 having an inner diameter equal to or greater than a diameter of the cable to be inspected, Cable holders 200 may be provided.

The second hollow (210) is a component that is provided to accomplish the object of the present invention, in which the cable inspection dron moves along a cable to perform a check operation, and a cable used for a suspension bridge or a cable-stayed bridge is inserted .

The cable holder 200 is separated so that the second hollow 210 communicates with the outside of the main body 100 to allow the cable to be inserted into the second hollow 210.

The cable holder 200 may be configured such that one side thereof is always open, but is opened only when necessary for passing the cable.

 That is, the cable holder 200 is configured such that a plurality of cable holder units are separated and combined to form a single cable holder 200, and when the plurality of cable holder units are separated, the second hollow 210 And may be configured to communicate with the outside of the cable holder 200.

The plurality of cable holder units are separated from each other. At least one of the plurality of cable holder units forming the single cable holder 200 is separated from the cable holder 200 to form a single cable holder 200) itself may be maintained, but on one side a passage through which the cable passes may be formed.

In addition, the plurality of cable holder units are separated from each other. At least one of the plurality of cable holder units constituting the single cable holder 200 is fixed at one side and fixed and separated at the other side, And the other side rotates to form a passage through which the cable passes.

More preferably, the plurality of cable holder units are separated. The plurality of cable holder units constituting the single cable holder 200 may be completely separated from each other, and then the cable may be wrapped around and then recombined again .

3 (b), the cable holder 200 may be a single cable holder 200. The cable holder 200 may be a single cable holder 200, One side and the other side of each of the first holder separating portion 220 and the second holder separating portion 230 constituting the other side, the first holder separating portion 220 and the second holder separating portion 230 are fastened to each other And a plurality of second fasteners 240 are provided.

The first holder separator 220 and the second holder separator 230 are symmetrical with respect to each other, and one side and the other side of the first holder separator 220 and the second holder separator 230 The first holder separator 220 and the second holder separator 230 are integrally formed with the cable holder 200 so that the first holder separator 220 and the second holder separator 230 are integrated with each other, Respectively.

The second fastener 240 is connected to one side and the other side of the first holder separator 220 and the other side and the other side of the second holder separator 230 so as to maintain the state of the cable holder 200 And one side and the other side of the first holder separator 220 and one side and the other side of the second holder separator 230 are separated from each other so as to be coupled to each other or to separate the cable holder 200 .

In addition, since cables installed in a suspension bridge or a cable-stayed bridge are arranged diagonally and formed at various angles, the cable holder 200 must be adjustable in tilt. For this reason, as shown in FIGS. 1 to 4, The holder 200 may be connected to the main body 100 by a connection shaft 250 provided on both sides of the second hollow 210 symmetrically with respect to the second hollow 210.

One end of the connection shaft 250 is connected to the outer surface of the cable holder 200 and the other end of the connection shaft 250 is connected to the main body 100 and the second hollow 210, And one end of the connecting shaft 250 does not penetrate through the cable holder 200.

4, the cable holder 200 can be inclined at an angle equal to the angle of the cable arranged diagonally.

In addition, unlike the method in which the axis for adjusting the tilt is fixed by the connecting shaft 250 provided at the side portion of the cable holder 200, the direction of the shaft for adjusting the tilt can be adjusted, Lt; / RTI >

The cable holder 200 is tilted at the same angle as the cable and a cable to be inspected is inserted into the second hollow 210 through the opening 130 in the opened state and the opening 130 is closed A continuous collision between the cable holder 200 and the cable may occur when the cable checking drill is moved. The continuous collision between the cable holder 200 and the cable may be caused by the cable inspection drones according to the present invention. It will interfere with the inspection of the cable.

In order to solve this problem, the cable holder 200 is provided with a cable (not shown) on at least one of the inner circumference of the second hollow 210, the upper end of the second hollow 210 or the lower end of the second hollow 210, The buffer member may be configured to further include at least one buffer member that provides a buffering force to the buffer member.

The buffer member includes at least one guide which is fastened to one side of the cable holder 200 The roller is provided on the other side of the guide, and the roller abuts on the surface of the cable, thereby preventing direct collision between the cable holder 200 and the cable, providing a buffering force, So that the inspection drone can smoothly move along the cable.

The cushioning member may be provided with a wheel or a track instead of the roller. The cushioning member may prevent a direct collision between the cable holder 200 and the cable, provide a buffering force, and facilitate the movement of the cable check drones Anything will be acceptable.

At this time, a part or the whole of the guide may be formed in a spring shape. By this structure, even if the surface of the cable holder 200 and the cable are always kept at a constant interval and an obstacle is attached to the surface of the cable The buffer member can overcome obstacles.

The cable inspection drones according to the present invention are characterized by comprising a cable inspection member mounted to the main body 100 or the cable holder 200 as a component for achieving the object of the present invention .

It is preferable that the cable inspecting member should be positioned in close contact with or adjacent to the cable so that the cable inspecting member can be mounted on the main body 100 or the cable holder 200 in various So as to be positioned in close contact with or adjacent to the cable.

Since the cable may damage not only the outside but also the inside of the cable, the cable inspecting member may be provided with a photographing unit for photographing the surface image of the cable provided to grasp the external damage of the cable, And a non-destructive inspection unit for inspecting the inside of the cable provided.

The photographing unit includes at least one bracket coupled to one side of the main body 100 or the cable holder 200, a guide to which one side is coupled to the bracket, and a camera that is detachably attached to the other side of the guide .

The number of cameras provided for capturing the surface image of the cable depends on the user's selection, and the method of capturing the cable is the shooting of a moving image or a still image.

The nondestructive inspection unit includes at least one bracket coupled to one side of the main body 100 or the cable holder 200, a guide to which one side is coupled to the bracket, and a nondestructive inspection unit detachably attached to the other side of the guide And the like.

The nondestructive inspection unit generally refers to a device for performing at least one of a tension test, an ultrasonic test, a magnetic test, a vortex test, and a radiographic test through a cable vibration acceleration measurement used for nondestructive testing.

In addition, the main body 100 may include a receiver for receiving up and down signals from the user's control device.

The cable checking dron starts to check the cable through the rising signal of the control device and ascends, and the cable has a finite length. Therefore, the user can check whether the cable checking dron is formed And transmits a down signal to the steering apparatus.

It goes without saying that the signal can be transmitted to the control device so that the cable checking drones stop in the air.

The dron for checking the cable according to the present invention is not limited to the embodiment operated according to the signal from the control device but may be automatically ascended and descended by the control device such as a computer and the inside and outside of the cable are inspected It would be possible.

At this time, the cable inspection drones fly to examine the inside and outside of the cable and can rise and fall along the cable, but it is possible to inspect the inside and the outside of the cable while holding the cable while climbing and descending A grip portion may be further provided.

In addition, the main body 100 may include a transmission unit for transmitting data generated in the cable inspection member to a user's control device or storage device.

The user can immediately analyze the data received by the control device or the storage device to determine the state of the cable.

Also, the main body 100 may include a power supply unit for supplying power to the cable checking drones.

Any method such as a known technique may be applied as a method of supplying power to the cable checking drones.

In addition, the main body 100 may include a controller for controlling the cable checking drones.

The control unit controls the rising and falling of the cable checking drones, the operation of the cable inspection member, and the like in accordance with a signal transmitted from the control unit.

The embodiments described above are provided by way of example for the purpose of enabling a person skilled in the art to sufficiently transfer the technical idea of the present invention to the embodiments described above, But may be embodied in other forms without limitation.

In order to clearly explain the present invention, parts not related to the description are omitted from the drawings, and in the drawings, the width, length, thickness, etc. of the components may be exaggerated or reduced for convenience.

Further, like reference numerals designate like elements throughout the specification.

100: main body part 110: upper main body part
120: first hollow 130: opening
140: first main body separating portion 141: first protrusion
150: second body separator 160:
170: first fastener 180: lower main body part
190: Third hollow 200: Cable holder
210: second hollow 220: first holder separator
230: second holder separator 240: second fastener
250: Connection axis

Claims (11)

delete A main body (100) having a first hollow (120) penetrating the upper and lower portions and having a plurality of rotor blades on the outer side;
A cable holder 200 formed with a second hollow 210 into which a cable to be inspected is inserted and fastened to the main body 100 so as to be able to adjust a tilt;
A cable inspection member mounted on the main body 100 or the cable holder 200; And a dron for checking the cable.
3. The method of claim 2,
In the main body 100,
And an opening (130) for communicating the first hollow (120) with the outside of the main body (100) is formed on one side.
3. The method of claim 2,
In the main body 100,
A plurality of body unit units are separated and combined to form a single body part 100,
And the first hollow (120) is configured to communicate with the outside of the main body (100) when the plurality of main body units are separated.
3. The method of claim 2,
In the main body 100,
An upper body portion 110 formed with a first hollow 120 passing through the upper and lower portions and having a plurality of rotor blades on the outer side;
A lower body portion 180 formed at a central portion of the upper body portion 110 and having a third hollow 190 passing through the upper and lower portions thereof and coupled to the upper body portion 110; And a dron for checking the cable.
3. The method of claim 2,
The cable holder (200)
Wherein a cable having a diameter of 500 mm or less is inserted into the second hollow (210).
3. The method of claim 2,
The cable holder (200)
A plurality of cable holder units are configured to be detached and coupled to form a single cable holder 200,
Wherein when the plurality of cable holder units are separated, the second hollow (210) communicates with the outside of the cable holder (200).
3. The method of claim 2,
The cable holder (200)
At least one of the inner circumference of the second hollow (210), the upper end of the second hollow (210) or the lower end of the second hollow (210) is further provided with at least one buffer member A cable inspection dron.
9. The method of claim 8,
The cushioning member,
One or more guides to which one end is fastened to the cable holder 200;
A roller provided on the other side of the guide; And a dron for checking the cable.
3. The method of claim 2,
Wherein the cable inspection member comprises:
A photographing unit for photographing a surface image of the cable;
A nondestructive inspection unit for inspecting the inside of the cable; And a dowel for checking the cable.
3. The method of claim 2,
In the main body 100,
A receiving unit for receiving rising and falling signals from a user's steering device;
A transmitter for transmitting data generated by the cable inspection member to a user's control device;
A power supply unit for supplying power to the cable checking drones;
A controller for controlling the cable checking drone; And a dron for checking the cable.
KR1020160007103A 2016-01-20 2016-01-20 Drone for cable checking KR101647281B1 (en)

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KR20140093373A (en) 2013-01-16 2014-07-28 한국유지관리 주식회사 System for inspecting cable using movable robot
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JP2018119312A (en) * 2017-01-25 2018-08-02 三井住友建設株式会社 Inspection device
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KR20190107831A (en) 2018-03-13 2019-09-23 경일대학교산학협력단 Cleaning and maintenance of high voltage lines in machining lines
CN111650955A (en) * 2020-06-19 2020-09-11 深圳市人工智能与机器人研究院 Control method of climbing robot and climbing robot
KR102351537B1 (en) 2020-09-15 2022-01-14 한전케이디엔주식회사 Downward opgw checking for drone
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CN114228997A (en) * 2020-12-29 2022-03-25 国网山东省电力公司蒙阴县供电公司 High-altitude cable sheath detection method
CN114228997B (en) * 2020-12-29 2024-05-07 国网山东省电力公司蒙阴县供电公司 High-altitude cable sheath detection method
CN114194407A (en) * 2021-12-20 2022-03-18 国网河南省电力公司洛阳供电公司 High altitude electric power operation safety stop device based on unmanned aerial vehicle
CN114194407B (en) * 2021-12-20 2024-01-09 国网河南省电力公司洛阳供电公司 Unmanned aerial vehicle-based high-altitude electric power operation safety limiting device
KR20240053442A (en) 2022-10-17 2024-04-24 주식회사 스카이솔루션 Vibration-based pier crack detection system using unmanned aerial vehicles
KR20240054786A (en) 2022-10-19 2024-04-26 주식회사 스카이솔루션 Structure diagnosis method and structure diagnosis system using unmanned aerial vehicle
KR20240055230A (en) 2022-10-19 2024-04-29 주식회사 스카이솔루션 Unmanned aerial vehicle for crack inspection of concrete structures
KR20240055533A (en) 2022-10-20 2024-04-29 주식회사 스카이솔루션 Structure diagnosis system using unmanned aerial vehicle
CN117779610A (en) * 2023-12-15 2024-03-29 广西科学院 Vector pushing type pull-sling detection robot with self-adaptive reducing structure

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