WO2017126820A1

WO2017126820A1 - Variable flying robot

Info

Publication number: WO2017126820A1
Application number: PCT/KR2017/000018
Authority: WO
Inventors: 박준영; 최인규; 이재경; 김석태
Original assignee: 한국전력공사
Priority date: 2016-01-20
Filing date: 2017-01-02
Publication date: 2017-07-27
Also published as: KR20170087573A; KR101837585B1

Abstract

The present invention relates to a variable flying robot comprising: an airframe; a plurality of independently-tiltable rotor parts arranged at the airframe along the circumferential direction of the airframe; and a running part having at least one a running wheel and installed to be rotatable in the lateral direction of the airframe. Therefore, the robot can prevent an electric power line accident and enables remote maintenance or repair of a high-voltage and high-elevation electric power line, thereby maximizing work stability.

Description

Variable flight robot

The present invention relates to a variable flight robot for maintenance of a power line that can fly when installed on a power line and when obstacles are avoided while the power line is running, and can run a power line when monitoring or inspecting the power line.

The power line is a general term for transmission lines, distribution lines, and electrical equipment belonging to the power transmission, and in order to supply high quality power, it is most important to operate the power line without trouble.

Therefore, it is necessary to periodically check the power line in order to prevent the power line accidents, and in general, maintenance of the power line is performed by walking and helicopter patrols.

However, due to human visual inspection by walking personnel, it is difficult to secure visibility due to the limitation of access to power lines of high voltage and high places, and helicopter patrols have low accuracy of inspection and operate according to season and region due to high speed flight. Often difficult.

In order to solve the limitations of these inspection methods, robots that are installed directly on the power line and run while supervising or inspecting the power line have been developed.

However, these robots must be able to overcome obstacles such as aviation fault indicators and child locks located on the power lines, so that they can be equipped with complicated mechanical structures or devices to make the robots considerably larger in weight and volume. do. Moreover, it is very complicated and difficult to install the robot directly on the live power line, and it takes a lot of time and effort, and there is also a risk in terms of work safety.

On the other hand, research is being actively conducted to use the drone, which can approach the power line by flight, for monitoring the power line.

However, drones use high-speed rotors to fly while lifting their weights in the air, consuming a battery, and the use time is only a few minutes or tens of minutes. In addition, due to the influence of the environment, such as wind gusts can be a situation that is not easy to control should pay attention to the operation.

For reference, Korean Patent Publication No. 846743 is a related art related to the present invention.

Accordingly, the present invention provides a variable flight robot that can be installed and dismantled in a live power line, and easy to avoid obstacles, and is capable of autonomous instantaneous autonomy for a long time by reducing energy consumed for driving, while allowing super close inspection to the power line for precise inspection. Its main purpose is to help.

According to one embodiment of the present invention, a variable flight robot includes a body; A plurality of rotor parts disposed in the gas along a circumferential direction of the gas, each of which may be tilted; And a traveling part provided with at least one traveling wheel to be rotatable sideways of the body.

As described above, according to the present invention, it is possible to be detached to the power line after flying close to the power line can be easily installed and dismantled on the power line in the ultra-high voltage live state, and when the obstacle is encountered after flying away from the power line by obstacles Since it can be mounted on the power line after avoiding, there is an effect of smoothing the obstacles.

In addition, according to the present invention, by performing the maintenance while driving the power line directly, the energy consumed for driving is reduced compared to the instantaneous flight can be autonomous instantaneous for a long time and at the same time close to the power line has the effect of enabling accurate inspection Will be.

Ultimately, according to the present invention, as well as preventing accidents of the power line in advance, there is an advantage that can maximize the work safety by performing maintenance on the power line of the high voltage, high power remotely.

1 is a perspective view showing a variable flight robot according to an embodiment of the present invention.

2 is a perspective view illustrating a rotor part of a variable flight robot and a tilting part for tilting the rotor part according to an embodiment of the present invention.

3 is a perspective view showing a running part of a variable flight robot according to an embodiment of the present invention.

Figure 4 is a perspective view showing a contact portion of the variable flight robot according to an embodiment of the present invention.

5 is a view schematically showing a method of using a variable flight robot according to an embodiment of the present invention.

6A to 6C are diagrams illustrating a state in which a variable flight robot according to an embodiment of the present invention is in flight in proximity to a power line.

7A to 7C are views illustrating a state in which a contact wheel of a variable flight robot according to an embodiment of the present invention is in contact with a power line in flight.

8A through 8C are diagrams illustrating a state in which a traveling part of a variable flight robot according to an embodiment of the present invention is in a vertical position.

9A to 9C are views illustrating a state in which a traveling wheel and a contact wheel of a variable flight robot according to an embodiment of the present invention are mounted in contact with a power line.

10 is a perspective view illustrating a state in which a variable flight robot according to an embodiment of the present invention is driving along a power line.

11 is a perspective view illustrating a modified example of a state in which a variable flight robot according to an embodiment of the present invention is driving along a power line.

Hereinafter, the present invention will be described in detail through exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are assigned to the same components as much as possible even though they are shown in different drawings. In addition, in describing the present invention, when it is determined that the detailed description of the related well-known configuration or function may obscure the gist of the present invention, the detailed description thereof will be omitted.

In the present specification, for convenience of description, terms defining directionality are used. For example, the term "top" or "up" means the upward direction of the flying robot, and the term "bottom" or "bottom" means the downward direction of the flying robot.

These terms are only used to describe the positional relationship between the components or to describe the operational relationship of the flight robot, and are not intended to limit the scope of the invention.

As shown therein, the variable flight robot 1 according to the embodiment of the present invention includes a base 10; A plurality of rotor portions 20 disposed in the gas along the circumferential direction of the gas, each of which can be tilted; And a traveling part 40 provided with at least one traveling wheel 41 so as to be rotatable in the body.

Although not shown in the drawings, the body 10 may include a controller, a communication module, a battery, a motor, and the like that can remotely control the flying robot. Here, since the configuration and function of the communication module, the battery, and the motor are already known, a detailed description thereof will be omitted.

Each rotor unit 20 has a connecting arm 21; A first rotary motor 22 installed at one end of the connecting arm; And it may include a blade 23 connected to the rotary shaft of the first rotary motor.

Further, the rotor portion 20 is connected to a plurality of supports 24 extending radially from one end of the connecting arm 21, and the annular shape is connected to the end of these supports and the other end of the connecting arm at intervals surrounding the wings 23 And may further comprise an upper duct 25. The duct may optimize the air flow during flight or driving while protecting the first rotary motor 22 and the wings 23.

In the drawings, an example of the variable flight robot 1 of the present invention having four rotor parts 20 is illustrated, but the number and arrangement of the rotor parts are not necessarily limited to the illustrated example.

The variable flight robot according to an embodiment of the present invention may further include a tilting unit connected to the rotor unit to tilt the plurality of rotor units.

The tilting portion 30 includes a shaft 31 which crosses the base 10 laterally and is connected to the other end of the connecting arm 21 at both ends thereof. The first gear 32 is provided in the middle of the shaft, and the first gear is engaged with the second gear 33 provided on the rotational shaft of the first drive motor 34.

The shaft 31 and the connecting arm 21 may be connected to each other in a bent shape at a predetermined angle.

A worm wheel and a worm may be employed as the first gear 32 and the second gear 33, but are not necessarily limited thereto, and any other transmission mechanism other than the gear may be adopted. However, the combination of the worm wheel and the worm has an advantage that a separate braking means for fixing the worm wheel does not need to rotate due to mechanical properties.

The first driving motor 34 is installed to be fixed to the base 10, and the shaft 31 may also be supported by the bearing 35 to be rotatable to the base.

Accordingly, the rotational force of the first drive motor 34 is transmitted to the shaft 31 through the second gear 33 and the first gear 32, so that the shaft can be rotated by a predetermined angle, and eventually the shaft Rotor portions 20 located at both ends of the can be tilted. In this way, the rotor section can be positioned at any angle between horizontal, vertical, or horizontal and vertical.

Therefore, the variable flight robot 1 of the present invention can fly up and down when the rotor part 20 is horizontally positioned and the blade 23 rotates at high speed, and the rotor part is positioned approximately vertically in the wing. When rotated, it can travel along an electric power line as mentioned later.

The driving unit 40 includes a driving wheel 41; A mounting bracket 42 for holding the wheel shaft 41a of the traveling wheel; A rotation arm 44 having one end connected to the mounting bracket and having a rotation member 43 fixed to the other end; A third gear 45 provided on the rotation member; A fourth gear 46 meshing with the third gear; And a second driving motor 47 connected to the fourth gear.

A curved receiving groove 41b having a width corresponding to the diameter of the power line is formed on the circumferential surface of the travel wheel 41. This prevents the power line from being seated in the receiving groove so that the travel wheels can easily escape from the power line during travel.

In addition, the mounting bracket 42 may be additionally mounted with a second rotary motor 41c which is connected to the wheel shaft 41a and may drive the driving wheel 41 in rotation.

Worm wheels and worms may be employed as the third gear 45 and the fourth gear 46, but are not necessarily limited thereto, and any other transmission mechanism other than gears may be employed.

The second driving motor 47 is installed to be fixed to the base 10, and the rotating member 43 may also be supported by the bearing 48 to be rotatable to the base. In order to prevent the interference when the pivoting arm 44 rotates, the base may be formed with a through slit 11 (see FIG. 1) or a concave groove along the moving trajectory of the pivoting arm.

3 shows an example of a traveling part 40 in which the variable flight robot 1 of the present invention is linked with two pivoting arms 44 and two traveling wheels 41 to one second driving motor 47. have. As such, when the fourth gear 46, which is a worm, is driven by the second driving motor, two worm wheels, ie, third gears 45, disposed on both sides of the worm rotate in opposite directions to each other. Rotating arm 44 may be rotated close to each other, or spread away from each other. Thereby, the rotational arm 44 and the traveling wheel 41 can be rotated laterally with respect to the base 10, and the traveling wheel can have a horizontal or vertical attitude.

However, the number and arrangement of the second driving motor, the rotating arm and the driving wheel are not necessarily limited to the illustrated example.

Therefore, in the variable flight robot 1 of the present invention, the driving unit 40 may be horizontally unfolded, and when the driving unit is erected vertically, the driving wheel 41 may travel forward or backward on the power line as described below. Will be.

On the other hand, the variable flight robot according to an embodiment of the present invention may further include a contact portion installed in the gas to detect the contact with the power line, and to serve as a braking device.

The contact portion 50 includes a contact wheel 51; A support bracket 52 holding the wheel shaft 51a of the contact wheel; A support arm 54 having one end connected to the support bracket and having a support member 53 fixed to the other end; A fifth gear 55 provided on the support member; A sixth gear 56 meshed with the fifth gear; A third drive motor 57 connected to the sixth gear and fixed to the base 10; And an elastic member 58 interposed between the support arm and the base.

A curved receiving groove 51b having a width corresponding to the diameter of the power line may be formed on the circumferential surface of the contact wheel 51. This prevents the power line from being seated in the receiving groove so that the contact wheel is easily detached from the power line.

A worm wheel and a worm may be employed as the fifth gear 55 and the sixth gear 56, but are not necessarily limited thereto, and any other transmission mechanism other than the gear may be adopted.

The support member 53 may be rotatably supported on the base 10 by a bearing 59 or the like, and the torsion spring is applied to the support member by fitting the torsion spring to the support member. The silver may be fixed to the support arm 54 and the other end may be fixed to the base 10.

Further, when the support arm 54 or the support member 53 rotates by a predetermined angle, a switch unit (not shown) such as a limit switch, which is in contact with each other and senses this rotation, is installed in the base 10. The unit may be electrically connected to a controller (not shown).

In addition, at least one distance sensor 12 is mounted on the upper surface of the base 10 or in front and rear of the traveling direction, so that the variable flight robot 1 of the present invention can approach the power line and detect the power line. As the distance sensor, a sensor such as an ultrasonic sensor may be employed, and the distance sensor may also be electrically connected to the controller.

In addition, the body 10 may be provided with a plurality of cameras for monitoring the power line. For example, a first camera 13 for monitoring a power line may be mounted on an upper surface of the base, and a second camera 14 for monitoring other equipment may be mounted on a lower surface of the base. Such a camera may be a high resolution camera, an ultraviolet camera or a thermal imaging camera, and these cameras may serve as inspection devices.

Accordingly, when the variable flight robot 1 of the present invention flies and approaches the power line, the power line monitoring first camera 13 and the distance sensor 12 are used to parallel the longitudinal axis of the power line and the variable flight robot. In this state, the variable flying robot can be gradually raised so that the contact wheel 51 is pressed by the power line. As the contact wheel is pressed by the power line, the support arm 54 rotates down to contact the switch portion, and an electrical signal is transmitted from the switch portion to the controller, thereby detecting the contact with the power line. At this time, the elastic member 58 supports the support arm while continuously applying elasticity to the support arm.

In particular, the contact portion 50 operates the third drive motor 57 while the variable flight robot 1 travels along the power line, thereby supporting the support member 53 such that the support arm 54 lifts the contact wheel 51. When rotated, a friction force between the contact wheel and the power line is generated, which enables braking.

In addition, although not shown in the drawings, the body may be provided with a robot arm for maintaining the power line. An end of the robot arm is provided with, for example, a power tool, and can serve as a maintenance device such as tightening a bolt or removing foreign matter.

The variable flight robot 1 according to the present invention may include a controller in the body 10. The controller receives the position of the flight robot measured from the sensors such as the distance sensor 12 and compares it with the reference set value to perform attitude control and position control of the current variable flight robot, and the remote control device through the communication module. It serves to control to transmit the real-time image data captured by the plurality of cameras.

In addition, the controller in the aircraft controls the operation of the variable flight robot by outputting a control command to the rotary motors and the drive motor in accordance with various control commands received from the remote control device through the communication module.

Although not shown in the drawings, a remote controller, a PC such as a laptop or a tablet, a smartphone, or the like is used, and the rotor part 20, the tilting part 30, and the driving part 40 of the variable flight robot 1 are used. ), The contact unit 50, the operation control commands of the components such as the robot arm, and receive the real-time image data about the power line can check the defect while checking the surface state of the power line.

Hereinafter, a method of using a variable flight robot according to an embodiment of the present invention will be described.

First, by flying the variable flight robot 1 of the present invention to approach the power line (2).

When approaching the power line 2, the traveling part of the variable flight robot 1 is erected so that the traveling wheel is placed on the power line, and the traveling wheel performs the inspection or maintenance of the power line while traveling on the power line.

When the variable flight robot 1 encounters an obstacle 3 such as, for example, an aviation obstacle indicator or a child lock, the vehicle is stopped and the obstacle is avoided through the flight after the driving part is separated from the power line 2.

After avoiding obstacles, the variable flight robot 1 is approached to the power line 2 to raise the driving part so that the driving wheel is placed on the power line again, so that the variable flight robot can continue to check or maintain the power line while driving the power line. do.

With reference to Figures 6a to 9c will be described in more detail the operation of the variable flight robot according to an embodiment of the present invention.

6A to 6C are diagrams illustrating a state in which a variable flight robot according to an embodiment of the present invention is in flight in close proximity to a power line, and FIGS. 7A to 7C illustrate contact of a variable flight robot according to an embodiment of the present invention. 8A through 8C are diagrams illustrating a state in which a wheel is vertically driven while the driving unit of the variable flight robot according to an embodiment of the present invention is placed vertically.

First, the flight of the variable flight robot 1, for example, by rotating the blades 23 of the plurality of rotor portion 20 at the same speed, to raise and lower the body 10 in the vertical direction, You can control the altitude of the gas by increasing it.

In this way, the variable flight robot 1 is allowed to fly close to the power line 2 as shown in Figs. 6A to 6C. If the power line is close to the power line using the first camera 13 and the distance sensor 12 for monitoring the power line in a state in which the longitudinal axis of the power line and the variable flight robot in parallel with the contact wheel 51 is pressed by the power line variable flight Slowly raise the robot.

When the contact wheel 51 is pressed by the power line 2 as shown in Figs. 7A to 7C, the support arm 54 rotates downward to come into contact with the switch portion, and electrical signals are transmitted from the switch portion to the controller. It will detect contact with the power line. At this time, the elastic member 58 (see FIG. 4) supports the support arm while applying elasticity to the support arm.

When the contact with the power line 2 is detected, the variable flight robot 1 is hovered in the air through the attitude control of the controller to fly, and rotates the driving unit 40 as shown in FIGS. 8A to 8C. Stand upright.

When the driving wheel 41 of the driving unit 40 is completely raised, the rotational speed of the blades 23 of the plurality of rotor units 20 is gradually reduced to finally stop. 9A to 9C are views illustrating a state in which a traveling wheel and a contact wheel of a variable flight robot according to an embodiment of the present invention are mounted in contact with a power line.

When the rotation of the blades 23 is completely stopped, the upper portion of the power line (2) is in contact with the receiving groove of the driving wheel 41, the contact wheel 51 also burnt the elastic member 58 applied to the support arm (54) The accommodating grooves are constantly touching the lower part of the power line by the force.

The process of detaching the variable flight robot of the present invention from the power line may be performed in the reverse order.

Next, a process of driving the power line by the variable flight robot of the present invention will be described.

9a to 9c, when the variable flight robot 1 is mounted on the power line 2, as shown in FIG. 10, tilting the rotor parts 20 located in front and behind in the traveling direction of the variable flight robot as shown in FIG. Let's do it.

However, the tilting method of the rotor part is not limited to the example shown in FIG. 10, and for example, one side of the rotor parts 20 located at the front and the rear, for example, the rear rotor parts, as shown in FIG. 11, tilt upward and the other side. The rotor parts can also be tilted down.

The variable flight robot 1 of the present invention may use the thrust of the rotor unit 20 to travel along the power line 2.

When the rotor parts 20 located at the front and rear are tilted to face each other as shown in FIG. 10, the rotors 23 of the rotor parts located at the front and rear are rotated in opposite directions so that these rotor parts generate thrust in the same direction. To control. As the wings rotate, the variable flight robot sends wind in the direction opposite to the direction of travel.

When the rotor parts 20 located at the front and the rear are tilted to be disposed up and down as shown in FIG. 11, the wings 23 of the rotor parts located at the front and the back are winded in the same direction, that is, in a direction opposite to the direction in which the variable flight robot intends to travel. Controls to rotate to export

As described above, the thrust of the rotor unit may be used only for driving the variable flight robot, but as shown in FIG. 11, together with the rotor unit 20, a second rotary motor connected to the wheel shaft of the traveling wheel 41 ( 41c) can be used to add the driving force of the second rotary motor.

Alternatively, the variable flight robot 1 may travel along the power line 2 by the sole driving of the second rotary motor 41c connected to the wheel shaft of the travel wheel 41 without thrust of the rotor unit.

On the other hand, as shown in Figure 10, when the obstacle 3, such as the aviation failure indicator on the power line 2 while driving is detected by the distance sensor 12, the second camera 14, etc., the variable flight robot The driving of (1) must be stopped.

At this time, when the support member 54 is rotated so that the support arm 54 lifts the contact wheel 51 by operating the third driving motor 57 (see FIG. 4) of the contact portion 50, the contact wheel and the power line are separated. The frictional force of the brake can be generated, thereby stopping the traveling of the variable flight robot (1).

Next, as described above, after the driving unit 40 is separated from the power line 2, the variable flight robot 1 avoids the obstacle 3 through the flight, and after avoiding the obstacle, approaches the power line and runs. By attaching the unit back to the power line, the variable flight robot can continue to perform the inspection or maintenance of the power line while driving the power line.

As described above, according to the present invention, it is possible to be detached to the power line after flying close to the power line can be easily installed and dismantled on the power line in the ultra-high voltage live state, and when the obstacle is encountered after flying away from the power line by obstacles The obstacle can be smoothly avoided since it can be mounted on the power line again after avoiding.

In addition, according to the present invention, by performing maintenance while driving the power line directly, the energy consumed for driving is reduced compared to the instantaneous flight, and autonomous instantaneous operation is possible for a long time, and at the same time close inspection to the power line enables precise inspection.

The above description is merely illustrative of the technical idea of the present invention, and those skilled in the art to which the present invention pertains may make various modifications and changes without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.

As described above, the present invention is capable of avoiding precise inspection and obstacles, and is useful for monitoring and inspecting power lines.

Claims

Gas;

A plurality of rotor parts disposed in the gas along a circumferential direction of the gas, each of which may be tilted; And

A traveling part rotatably installed to the side of the body with at least one traveling wheel

Variable flight robot comprising a.
The method of claim 1,

The rotor part

Connecting arm;

A first rotating motor installed at one end of the connecting arm; And

Wings connected to the rotating shaft of the first rotary motor

Variable flight robot comprising a.
The method of claim 2,

The rotor part

A plurality of supports extending radially from one end of the connecting arm; And

A duct connected to an end of the support and the other end of the connecting arm and spaced apart from the wing;

Variable flight robot further comprises a.
The method of claim 2,

And a tilting part for tilting the plurality of rotor parts,

The tilting unit

A shaft placed across the gas and having opposite ends of the connecting arm with the rotor part connected to both ends thereof;

A first gear provided in the middle of the shaft;

A second gear meshing with the first gear; And

A first driving motor connected to the second gear

Variable flight robot characterized in that it comprises a.
The method of claim 1,

The running part

Traveling wheel;

A mounting bracket for holding a wheel shaft of the driving wheel;

A rotation arm having one end connected to the mounting bracket and having a rotation member fixed at the other end;

A third gear provided on the pivot member;

A fourth gear meshed with the third gear; And

A second driving motor connected to the fourth gear

Variable flight robot comprising a.
The method of claim 5,

The mounting bracket is a variable flight robot, characterized in that the second rotation motor is connected to the wheel shaft for driving the driving wheel rotation.
The method of claim 1,

The gas can detect a contact with the power line, and a variable flight robot, characterized in that the contact portion that serves as a braking device is installed.
The method of claim 7, wherein

The contact portion

Contact wheel;

A support bracket for holding a wheel shaft of the contact wheel;

A support arm having one end connected to the support bracket and having a support member fixed to the other end;

A fifth gear provided on the support member;

A sixth gear meshing with the fifth gear;

A third driving motor connected to the sixth gear and fixed to the gas; And

An elastic member interposed between the support arm and the base

Variable flight robot comprising a.
The method of claim 8,

The elastic member is a torsion spring,

And at least one end of the torsion spring is fixed to the support arm and the other end of the torsion spring is fixed to the body while the torsion spring is fitted to the support member.
The method of claim 8,

And a switch unit which is contacted when the support arm or the support member rotates by a predetermined angle.
The method of claim 1,

The aircraft is a variable flight robot, characterized in that the at least one distance sensor is mounted.
The method of claim 1,

The aircraft is a variable flight robot, characterized in that a plurality of cameras for monitoring the power line is installed.
The method of claim 1,

The driving wheel stops driving when it meets an obstacle while driving on a power line, and is controlled so as to avoid the obstacle through a flight after leaving the driving part from the power line.
The method of claim 4, wherein

The rotor of the plurality of rotors located in the front and rear of the traveling direction is tilted so as to face each other variable flight robot.
The method of claim 4, wherein

The shaft and the connecting arm are connected in a bent shape at a predetermined angle, the variable flying robot, characterized in that the rotor portion located in front and rear of the traveling direction of the plurality of rotor portions are tilted to be arranged up and down.