KR102411136B1 - an automatic inspection robot system for the prestressed concrete electric pole - Google Patents

Abstract

The present invention relates to a distribution pole automatic inspection robot system for diagnosing distribution equipment installed on a distribution pole while moving along a processing branch line. A plurality of inspection robots that are connected via a medium and constitute an inspection unit for diagnosing power distribution facilities; and a link frame horizontally connected in series with each other to the inspection units of each inspection robot. Any one of the inspection robots is configured such that the transfer caster is upwardly separated from the processing branch line by ascending the adjacent inspection unit through the link frame, and any one inspection robot separated from the processing branch is a link swinging by the adjacent inspection robot. It is characterized in that it is docked on the overhead branch line connected to the opposite side of the distribution pole after it is separated from the running track by the frame and moved.

Description

An automatic inspection robot system for the prestressed concrete electric pole

The present invention is an automatic distribution pole that diagnoses damage, cracks, current leakage, overheating, deterioration, aging, and lightning damage of distribution equipment (insulators, switchgear, connection parts, transformers) installed on the distribution pole while moving the distribution pole along the connected overhead line. It relates to the inspection robot system, and more specifically, it is configured to be able to move continuously along the processing branch line avoiding the interference of the power distribution pole, so that it is possible to inspect a wider range of power distribution facilities, and in addition, time and space through wireless charging means It relates to a distribution pole automatic inspection robot system that is not restricted from

In general, inspection of distribution lines is currently operated as an inspection using technologies such as visual inspection, thermal imaging, and ultrasonic inspection.

However, most inspections are methods for inspection of structures, and in live lines, there is a method of inspecting on the ground using a high magnification telescope and measuring equipment while the operator moves under the pole, but external inspection is possible even with a high magnification telescope However, accurate diagnosis of internal corrosion is difficult, and it is difficult to inspect all wires.

As a related prior art, Korean Patent Registration No. 10-1074510 discloses a power distribution system that checks for abnormalities in distribution lines and distribution facilities installed under the overhead branch while running while hanging from an overhead branch installed at the uppermost end of a post, which is an electric wire support. A line inspection robot is disclosed.

However, the registered patent is a robot that travels using a processing branch wire in order to detect a failure of a distribution line, and since it must have a traveling device, a connecting device, a gripping device, etc., the overall configuration is very complicated and there are many components, There is a problem in that it is difficult to apply to the actual inspection of distribution lines because the cost is high and the facility investment cost is high.

Republic of Korea Patent Registration No. 10-1074510

The present invention has been devised in view of the above problems, and the first object of the present invention is to damage the distribution facilities (insulators, switchgear, connection parts, transformers) installed on the distribution pole while moving the distribution pole along the connected overhead branch line, To provide an automatic inspection robot system for power distribution poles that diagnoses cracks, current leakage, overheating, deterioration, aging, and lightning damage.

A second object of the present invention is to avoid the interference of the power distribution pole and to continuously move along the overhead line so that a wider range of power distribution facilities can be checked, and time and space are not restricted through wireless charging means. It is to provide an automatic inspection robot system for power distribution poles.

A third object of the present invention is to provide an automatic power distribution pole automatic inspection robot system that is light in weight and has a simple structure, so that it can be moved more stably, and the maintenance robot has good compatibility.

According to the characteristics for achieving the above object, the first invention relates to a distribution pole automatic inspection robot system for diagnosing a distribution facility installed on a distribution pole while moving along a processing branch line. A plurality of inspection robots consisting of a transport caster transporting along the and a link frame that becomes a link frame, which is configured such that any one of the inspection robots rises together by the rise of an adjacent inspection unit through the link frame so that the transfer caster is separated upward from the branch line, and is separated from the branch line The automatic inspection robot system for distribution pole automatic inspection characterized in that any one inspection robot is docked to the branch line connected to the opposite side of the distribution pole after it deviates from the running track by the link frame swinging by the adjacent inspection robot.

In the second invention, in the first invention, each inspection unit is characterized in that any one of an imaging camera or a thermal imaging camera, a power leakage detector, or an ultrasonic sensor for diagnosing a power distribution facility is mounted.

The third invention, in the first invention, is characterized in that each link frame is curved in an arcuate shape so as to avoid the interference of the power distribution pole.

A fourth invention is characterized in that in the first invention, a gyro sensor and a weight whose center of gravity is variable by the gyro sensor are further installed in each of the inspection units.

In a fifth invention, in the first invention, each inspection unit further includes a proximity sensor for detecting a power distribution pole, and the lifting means is fixed to an upper portion of the inspection unit and a guide rail to which the transfer caster is slidably coupled; It is characterized in that it is composed of a rotating screw screw-coupled to the transfer caster.

In the sixth invention, in the first invention, a wireless rechargeable secondary battery and a transmission/reception module are built in each inspection unit, and a wireless charging means for wirelessly charging the secondary battery of each inspection robot is provided on the processing branch line. It is characterized in that it is further installed.

In the seventh invention, in the sixth invention, the wireless charging means includes a tunnel-type housing in which a processing branch wire is disposed across the interior, a plurality of wireless charging modules formed on the inner bottom surface of the housing, and the wireless charging module; It is characterized in that it consists of a solar cell that is electrically connected.

According to the automatic distribution pole automatic inspection robot system of the present invention, the structure is simple, the manufacturing cost and facility investment cost are low, and the maintenance robot has good compatibility and maintenance is very convenient.

In addition, it is configured to be able to move continuously along the overhead branch line avoiding the interference of the power distribution pole, so that a wider range of power distribution facilities can be checked.

1 is a perspective view of a power distribution pole automatic inspection robot system according to an embodiment of the present invention;
Figure 2 is a rear view of Figure 1;
3 is a perspective view showing a wireless charging means of the present invention;
5 to 8 are operational diagrams showing the movement of the automatic distribution pole automatic inspection robot system according to an embodiment of the present invention.

The following objects, other objects, features and advantages of the present invention will be readily understood through the following preferred embodiments in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms.

Rather, the embodiments introduced herein are provided so that the disclosed subject matter may be thorough and complete, and that the spirit of the present invention may be sufficiently conveyed to those skilled in the art.

Embodiments described and illustrated herein also include complementary embodiments thereof.

In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, the terms 'comprise' and/or 'comprising' do not exclude the presence or addition of one or more other components.

Hereinafter, the present invention will be described in detail with reference to the drawings. In describing the specific embodiments below, various specific contents have been prepared to more specifically explain and help the understanding of the invention. However, a reader having enough knowledge in this field to understand the present invention can recognize that it can be used without these various specific details. In some cases, it is mentioned in advance that parts which are commonly known and not largely related to the invention in describing the invention are not described in order to avoid confusion in describing the invention.

Hereinafter, the automatic distribution pole automatic inspection robot system according to the present invention will be described in detail together with the accompanying drawings.

1 is a perspective view of an automatic power distribution pole automatic inspection robot system according to an embodiment of the present invention, FIG. 2 is a rear view of FIG. 1, and FIG. 3 is a perspective view showing a wireless charging means of the present invention.

As shown in Figures 1 and 2, the present invention moves along the overhead branch line connected to the distribution pole, and damages, cracks, current leakage, overheating, deterioration of the distribution equipment (insulator, switchgear, connection part, transformer) installed on the distribution pole. It relates to an automatic inspection robot system for power distribution poles that diagnoses aging, aging, and lightning damage.

The automatic distribution pole automatic inspection robot system of the present invention consists of two parts, which is composed of a plurality of inspection robots 100 and a link frame 200 connected between each inspection robot 100 .

In the present invention, as an embodiment, a power distribution pole automatic inspection robot system comprising three inspection robots 100 will be described.

Each of the inspection robots 100 is connected to a transfer caster 110 that is transferred along the processing branch line 410 by a motor M, and the transfer caster 110 and the elevating means 120 are connected as a medium to control the power distribution facility. It is composed of an inspection unit 130 for diagnosis.

Here, the transfer caster 110 has a structure in which a motor M or an in-wheel motor is mounted and driven by itself.

Accordingly, each inspection robot 100 can continue to run along the processing branch line 410 by the transfer caster 110 of another inspection robot 100 even if the transfer caster 110 does not operate. structure is provided.

In addition, the transfer caster 110 may be further formed with a recessed groove 111 along the circumferential direction in order to travel without being separated on the processing branch line 410 .

In addition, the lifting means 120 is fixed to the upper portion of the inspection unit 130 and the guide rail 121 to which the transfer caster 110 is slidably coupled, and a rotary screw (S) screw-coupled to the transfer caster 110 . ) is composed of

In addition, the lifting means 120 may be formed of a rack and pinion structure, and of course, may also be formed of a belt connection structure.

The lifting means 120 has a function of elevating the transfer caster 110 along the guide rail 121 according to the rotation direction of the rotating screw S rotated by the motor M built in the inspection unit 130 . do

Therefore, the inspection unit 130 of each inspection robot 100 is suspended with respect to the transfer caster 110 to provide a structure that can be raised and lowered while driving.

On the other hand, each of the inspection robot 100 is equipped with either an image camera 131 or a thermal imaging camera 132, a power leakage detector (not shown), or an ultrasonic sensor 133, so that the power distribution facility can be diagnosed and inspected. do.

Here, the video camera 131 functions to acquire an external image of the power distribution facility and detect external damage such as cracks and breakages.

In addition, the thermal imaging camera 132 functions to acquire a thermal image of the power distribution facility to detect overheating.

The power leakage detector (not shown) functions to detect power leakage or leakage of power distribution facilities.

The ultrasonic sensor 133 functions to detect whether arc or corona occurs in the power distribution facility for fire prevention.

In addition, each inspection robot 100 is equipped with a transmission/reception module 137 so that the acquired information value can be transmitted to an external server or manager. The other inspection robot 100 may be configured to be electrically connected to the inspection robot 100 on which the transmission/reception module 137 is mounted.

In addition, each of the inspection robots 100 is further provided with a proximity sensor (not shown), so that when the power distribution pole 400 approaches while driving, it can be configured to recognize it. Of course, the distribution pole can be recognized by the image obtained by

The link frame 200 has a structure in which each inspection robot 100 is connected in series and horizontally between the inspection units 130 of each inspection robot 100 to interlock each other.

Therefore, any one of the respective inspection robots 100 rises with the rise of the adjacent inspection unit 130 through the link frame 200 , so that the transfer caster 110 may be separated upward from the processing branch line 410 . .

In the above, the inspection unit 130 of the inspection robot 100 arranged in the center among the three inspection robots 100 is link-coupled to the link frame 200, and the inspection unit 130 of the inspection robot 100 arranged on the side ) is a structure connected to the motor (M) so as to rotate the link frame 200 in the horizontal direction.

In addition, the motor M for turning the link frame 200 may be mounted on all three inspection robots 100 , and may be mounted only on the central inspection robot 100 .

In addition, each link frame 200 is curved in the form of an arch so that it can be arranged around the distribution pole 400 avoiding the interference of the distribution pole 400 .

Therefore, any one inspection robot 100 separated from the processing branch line 410 is out of track by the link frame 200 swinging by the inspection robot 100 adjacent to the rear or front power distribution pole 400. It is a structure that can be continuously moved by being docked to the processing branch line 410 after moving to avoid the interference of the.

In addition, one, two, or three inspection robots 100 may be further provided with a gyro sensor 134 and a weight 135 whose center of gravity is variable by the gyro sensor 134 .

In this configuration, when any one of the inspection robots 100 is out of track from the processing branch line 410 by the swing of the link frame 200, the weight 135 so that the center of the remaining inspection robots 100 is not biased to one side. ) to move it.

Here, the weight 135 is coupled to the rotating screw S rotated by the motor M and moved to the left/right so that the position thereof can be varied.

Accordingly, when the posture of the inspection robot 100 is changed, the gyro sensor 134 detects this and controls the motor M to change the center of gravity of the inspection robot 100 .

Also, the inspection unit 130 of each inspection robot 100 may have a built-in wireless rechargeable secondary battery 136 .

And, as shown in FIG. 3 , a wireless charging means 300 for wirelessly charging the secondary battery 136 of each inspection robot 100 may be further installed on the processing branch line 410 .

The wireless charging means 300 includes a tunnel-type housing 310 in which the overhead branch wire 410 is disposed across the interior, and a plurality of wireless charging modules 320 formed on the inner bottom surface of the housing 310 and , is composed of a solar cell 330 electrically connected to the wireless charging module 320 .

At this time, the solar cell 330 is coupled to the upper surface of the housing 310 molded in the shape of a roof so that it can generate electricity by sunlight itself, thereby providing a structure that can achieve energy neutrality.

In addition, the housing 310 of the wireless charging means 300 is floated in the air through a clamp 340 fixed to the circumference of the power distribution pole 400 at the lower portion, and a wire tray 350 supported by the clamp 340 . A structure capable of being fixed in a state is provided.

This wireless charging means 300 is each inspection unit 130 through the wireless charging module 320 when the inspection robot 100 moved along the processing branch line 410 enters the inside of the housing 310 ). It functions to wirelessly charge the built-in secondary battery 136.

Here, the wireless power transmission method by the wireless charging module 320 generates a magnetic field in the power transmitter coil and charges by using the electromagnetic induction principle in which electricity is induced in the receiver coil under the influence of the magnetic field. A power transmission standard may be used.

Here, the electromagnetic induction type wireless power transmission standard may include an electromagnetic induction type wireless charging technology defined by Wireless Power Consortium (WPC) and Air Fuel Alliance (formerly PMA, Power Matters Alliance).

As another example, in the wireless power transmission method, an electromagnetic resonance method in which a magnetic field generated by a transmission coil of a wireless power transmitter is tuned to a specific resonant frequency to transmit power to a wireless power receiver located in a short distance may be used. .

Here, the electromagnetic resonance method may include a wireless charging technology of the resonance method defined by the Air Fuel Alliance (formerly Alliance for Wireless Power) standard organization, which is a wireless charging technology standard organization.

As another example, the wireless power transmission method may be a RF wireless power transmission method in which low-power energy is loaded into an RF signal to transmit power to a wireless power receiver located at a distance.

Hereinafter, the operation of the automatic power distribution pole automatic inspection robot system moving along the processing branch will be briefly described.

5 to 8 are operational diagrams showing the movement of the automatic distribution pole automatic inspection robot system according to an embodiment of the present invention.

First, the distribution pole automatic inspection robot system is a video camera 131 of the three inspection robots 100 are connected via the link frame 200 and move along the processing branch line 410 while moving the distribution equipment installed on the distribution pole 400. And, a thermal imaging camera 132, a power leak detector (not shown), and an ultrasonic sensor 133 to transmit to an external server or user terminal to perform real-time inspection.

After that, in order to diagnose another power distribution facility, it is necessary to move to the overhead branch line 410 installed on the opposite side of the power distribution pole 400 through the following process.

First, as in Figure 4,

① When the first inspection robot 100 approaches the power distribution pole 400, the proximity sensor detects it.

② Then, the second inspection robot 100 and the inspection unit 130 of the third inspection robot 100 rise through the lifting means 120 based on the transfer caster 110 .

③ At this time, the inspection unit 130 of the first inspection robot 100 is connected to the second inspection robot 100 and the link frame 200 through the medium, so that it rises together.

④ Then, the transfer caster 110 of the first inspection robot 100 rises together with the inspection unit 130 and is separated upward from the processing branch line 410 .

As shown in Figure 5,

⑤ After that, the second inspection robot 100 rotates the motor M to swing the link frame 200 connected to the first inspection robot 100 in the horizontal direction so that the first inspection robot 100 is separated from the running track.

⑥ In this state, the second inspection robot 100 and the third inspection robot 100 move along the processing branch line 410 while the first inspection robot 100 is towed out of the track.

⑦ When the second inspection robot 100 approaches the power distribution pole 400, it stops moving and swings the link frame 200 to the original position in this state to move the first inspection robot 100 out of track to the opposite side of the power distribution pole 400 to be located on the processing branch line 410 connected to the .

⑧ In this state, the second inspection robot 100 and the inspection unit 130 of the third inspection robot 100 descend through the lifting means 120, and the transfer caster 110 of the first inspection robot 100 moves to the power distribution pole 400 ) to be docked to the processing branch line 410 connected to the opposite side.

As shown in Figure 7,

⑨ And successively, the second inspection robot 100 is in a stopped state, and the inspection unit 130 of the first inspection robot 100 and the third inspection robot 100 rises through the elevating means 120 and rises to the second inspection robot 100 ) to be separated upwardly from the processing branch line 410 .

⑩ In this state, the first inspection robot 100 and the third inspection robot 100 swing the link frame 200 so that the second inspection robot 100 is separated from the running track.

⑪ After that, the first inspection robot 100 and the third inspection robot 100 move by pulling the second inspection robot 100, and when the third inspection robot 100 approaches the power distribution pole 400, it stops and then links By swinging the frame 200 to its original position, the second inspection robot 100 that is out of track is positioned on the overhead branch line 410 connected to the opposite side of the power distribution pole 400 .

As shown in Figure 8,

After that, through a series of steps ⑫, ⑬, and ⑭, the power distribution pole is docked to the overhead branch line 410 connected to the opposite side to the power distribution pole 400 to avoid interference until the third inspection robot 100 .

As described above, in the present invention, since it is possible to continuously move along the overhead line avoiding the interference of the power distribution pole, it is possible to check a wider range of power distribution facilities through the above-described process, and also to save time and money through wireless charging means. It has the characteristic of not being constrained by space.

The embodiments described in this specification and the configurations shown in the drawings are only the most preferred embodiment of the present invention and do not represent all the technical spirit of the present invention, so various equivalents that can be substituted for them at the time of the present application It should be understood that there may be variations and examples.

100: inspection robot
110: transfer caster 111: recessed groove
120: elevating means 121: guide rail
130: inspection unit 131: video camera
132: thermal imaging camera 133: ultrasonic sensor
134: gyro sensor 135: weight
136: secondary battery 137: transceiver module
200: link frame
300: wireless charging means 310: housing 320: wireless charging module
330: solar cell 340: clamp
350: wire tray
M: Motor S: Rotating screw
400: distribution pole 410: overhead branch wire

Claims (7)

In the distribution pole automatic inspection robot system for diagnosing the distribution equipment installed on the distribution pole 400 while moving along the processing branch line 410,
The transfer caster 110, which is transferred along the processing branch line 410 by the motor (M), and the transfer caster 110 and the elevating means 120 are connected through the medium to the inspection unit 130 for diagnosing the power distribution equipment. a plurality of inspection robots 100 configured;
A link frame 200 that is horizontally connected in series to the inspection unit 130 of each inspection robot 100;
Any one of the respective inspection robots 100 rises together by the rise of the adjacent inspection unit 130 through the link frame 200, so that the transfer caster 110 is upwardly separated from the processing branch line 410,
Any one inspection robot 100 separated from the processing branch line 410 is a processing branch line connected to the opposite side of the power distribution pole 400 after deviated from the running track by the link frame 200 swinging by the adjacent inspection robot 100 . Power distribution pole automatic inspection robot system, characterized in that it is docked to (410) and moved.
According to claim 1,
Each inspection unit 130 is a power distribution pole automatic inspection robot, characterized in that any one of an image camera 131 or a thermal imaging camera 132 or a power leakage detector or an ultrasonic sensor 133 for diagnosing a power distribution facility is mounted. system.
According to claim 1,
Each link frame 200 is a distribution pole automatic inspection robot system, characterized in that it is curved in an arch form to avoid interference of the distribution pole 400.
According to claim 1,
A gyro sensor (134) and a weight (135) whose center of gravity is variable by the gyro sensor (134) are further installed in each of the inspection units (130).
According to claim 1,
The elevating means 120 is fixed to the upper portion of the inspection unit 130 and the guide rail 121 to which the transfer caster 110 is slidably coupled, and a rotary screw (S) screw-coupled to the transfer caster 110 . Distribution pole automatic inspection robot system, characterized in that consisting of.
According to claim 1,
A wireless rechargeable secondary battery 136 and a transmission/reception module 137 are built-in inside each of the inspection units 130,
A power distribution pole automatic inspection robot system, characterized in that a wireless charging means (300) for wirelessly charging the secondary battery (136) of each inspection robot (100) is further installed on the processing branch line (410).
7. The method of claim 6,
The wireless charging means 300 includes a tunnel-type housing 310 in which the processing branch wire 410 is disposed across the interior, and a plurality of wireless charging modules 320 formed on the inner bottom surface of the housing 310 and , A power distribution pole automatic inspection robot system, characterized in that it consists of a solar cell (330) electrically connected to the wireless charging module (320).

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