WO2019132674A1 - System and apparatus for inspecting electric power transmission lines - Google Patents

System and apparatus for inspecting electric power transmission lines Download PDF

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Publication number
WO2019132674A1
WO2019132674A1 PCT/PE2017/000033 PE2017000033W WO2019132674A1 WO 2019132674 A1 WO2019132674 A1 WO 2019132674A1 PE 2017000033 W PE2017000033 W PE 2017000033W WO 2019132674 A1 WO2019132674 A1 WO 2019132674A1
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WO
WIPO (PCT)
Prior art keywords
self
propelled vehicle
cables
control
robot
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Application number
PCT/PE2017/000033
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Spanish (es)
French (fr)
Inventor
Vidal Francisco GALINDO VERÁSTEGUI
Ricardo Manuel ARIAS VELÁSQUEZ
Original Assignee
Galindo Verastegui Vidal Francisco
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Application filed by Galindo Verastegui Vidal Francisco filed Critical Galindo Verastegui Vidal Francisco
Priority to PCT/PE2017/000033 priority Critical patent/WO2019132674A1/en
Publication of WO2019132674A1 publication Critical patent/WO2019132674A1/en

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables

Definitions

  • the invention relates to a system and an apparatus for the maintenance and inspection of high voltage power lines, which optimizes the quality of inspection and evaluation, both in the conductors and in the protection cable.
  • the high voltage lines must be accessible to carry out preventive maintenance, as well as for their access to any eventuality throughout their useful life.
  • the elements to inspect in the high voltage lines are a set of components that define the situation of the line, both its physical aspects and the situation of the environment in which they are installed.
  • Transmission line inspections have been a topic of ongoing research in recent years. The inspection has been carried out by the workers on the techniques of energized cables or a careful remote observation. This process is slow and requires intensive work, to force the safety of the electrical system, but sometimes affects the availability of the power supply. With the development of robotics, the robotic system is introduced into the field of inspection of the power transmission line. The transmission network requires greater availability and reliability for the safety of the power system.
  • the electric transmission lines are continuously energized, so it is important to avoid direct electric discharges that interrupt the continuity of the service. Therefore, ways have been sought to isolate these structures electrically creating a "cage" around them.
  • One of the most frequently used methods is the use of guard cables, which are placed on the electric line acting as a kind of lightning rod.
  • said guard cables of an electrical transmission line are exposed to breakage due to contaminants trapped at the point of contact between the cable and its clamping mechanism to the beacon sphere, where the fault occurred. , that is, the guard wire fails due to a combined Corrosion-Friction-Abrasion mechanism, accelerated by the presence of Si02 particles and chlorides at the point of contact with the beaconing sphere.
  • These cables are made of different shapes and materials, one of the most common designs is the one that consists of seven interwoven wires that have a matrix or steel core and are covered with aluminum.
  • the guard wire is also used for signaling, such as beaconing spheres. All the construction elements of an airline must be chosen, shaped and constructed so that they have a safe behavior in service conditions, under climatic conditions, under regime tensions and under current.
  • AGV Automatic Guided Vehicle
  • the inspection of equipment in the substation is a key factor to find and solve an incipient failure of the equipment over time, therefore, it ensures the safe operation of the equipment and increases the reliability of the electrical network.
  • the robot system based on AGV uses the inspection of the substation by means of an automatic guided vehicle, a kind of simple mobile robot, which integrates the sound, infra red light, into a simple computing system, without integrated intelligence. That is, it uses the same technology as automated construction systems in industries, such as the assembly of automobiles.
  • CTEEP FDTE / EPUSP
  • the American patent application US 2001015149 (Institute, Hydro-Québec's research institute, IREQ), describes a robot for inspection of transmission lines, such as a vehicle for use in a live line, said vehicle being provided with three wheels of coplanar traction mounted on a frame and spaced along a first longitudinal axis parallel to the direct line and below it.
  • the vehicle is also provided with two mobile coplanar pressure wheels mounted on the frame and spaced along a second longitudinal axis parallel to and below the line.
  • the vehicle has a drive motor mounted on the frame, for driving the traction wheels.
  • the engine has a power source, like batteries.
  • the vehicle has a pressure mechanism mounted on the frame and coupled to the pressure wheels, to keep the line compressed between the traction wheels and the pressure wheels.
  • Some robot-type supervision systems are known that grip the line drivers and even allow their visualization. That they can also perform simple maintenance tasks such as tightening bolts of phase separators or beacons. Their speed is a few meters per minute and they are able to bypass the suspension fittings of the electric line using two arms that sequentially grab and release the line, such as it is disclosed for the device in the application US 43419455. These devices are indicated for river crossings, large openings, etc. However, these systems have the disadvantage that you have to move the robot to the tower near the area where you are going to act, upload it to that tower and then lower it. In addition, it does not allow the transport of workers, since to have the aforementioned mobility for the draw of obstacles it is not possible to have a high weight. Some of these devices are autonomous and are managed by a local and nearby remote control.
  • the patent ES 2575737 discloses a system of maintenance of high voltage power lines comprising a set of high voltage towers and high voltage power lines that extend between said towers, at least one auxiliary cable that extends between the towers of form continuous and that is attached to them, a self-propelled vehicle movable by the auxiliary cable.
  • the tower and the auxiliary cable are configured so that the self-propelled vehicle can cross the tower by traveling along the auxiliary cable, and where the auxiliary cable and the self-propelled vehicle are part of the transmission line itself throughout its useful life , and allow the transport of personnel, material and tools. That is to say, with this patent the problem is eliminated that the vehicle has to be transferred to the tower, ascended to it, and then descended.
  • the robot must move through all the points in the destination area that covers it completely.
  • the robot must fill the region without superimposed paths.
  • the present invention seeks to improve and optimize the maintenance and inspection of high voltage power lines (cables and electrical conductors), such as, for example, the conductor and the protection or guard cable, for which a system has been developed.
  • maintenance and inspection of high voltage power lines comprising among other elements a self-propelled vehicle or intelligent automatic robot, which allows the diagnosis of such cables through sensors and diagnostic cameras, applying techniques on energized equipment and electronic technology, using microprocessors , and thereby reduce the security risks for workers and the network.
  • the maintenance and inspection system of high voltage power lines comprises the following elements:
  • At least one self-propelled vehicle or robot that moves on electric cables and guard cables, and where said vehicle is made up of: hardware, software and a parasitic current absorption mechanism.
  • the hardware weighs less than 2Kg, preferably 1, 9 Kg +/- 0.1 Kg., And is made up of:
  • a propulsion system comprising a locomotion mechanism formed by at least four toothed drive wheels for the movement and brake of the vehicle and clamps that come into contact with the cables; DC motors type ⁇ "; a control mechanism associated with relays for the control of said tipo "type motors, for their interaction and control in direct current;
  • a communications system comprising a radio frequency communication antenna at 2.4 kHz; control relays, and a radio frequency communication mechanism, which is located in the new electronic board created for the device, as detailed in Fig. 1. This system allows the supervisor in charge of the activity, to start the robot at the time that is required;
  • the sensor sends the signals: proximity (detecting elements in the transmission line), when this external element is detected, an associated photograph will be taken for its analysis, entering the GPS information, to determine the exact location.
  • the photo sender and receiver sensor determines the conductor section, to detect possible corrosion of the system. It also determines if there is any broken strand or any defect in the cable.
  • the device has the option to extend 3 additional cameras to record other cables, servitude or power towers. This accessory is optional. Up to 3 additional cameras in the self-propelled vehicle or robot, to perform the inspection in a band of easement or other electrical conductors of the transmission line;
  • a control system comprising a set of relays to control the movement of the vehicle or robot; a micro-controller capable of transporting up to four controller modules, which processes the signals coming from the sensors, which allows dynamic analysis, which is based on self-diagnosis to respond to key factors, in order to determine the dynamics and the kinematics that requires the processing of the signal given by the sensors, to translate and process them and thus execute the control of the actuator, this system allows the control of the motors to be continuous, with a type H system, which allows a turn and against turn to the associated engines; the detail is given in Fig. 2, showing the type H motors and communications antenna;
  • a tension regulating mechanism which regulates the reference voltage and the signal processing by means of a microcontroller.
  • the reference voltage allows to reduce and control the voltage (Voltage) of the robot to 5V, for the control system.
  • the motors use a voltage level of 12 V.
  • This system allows the control of the associated voltages and the injection of current to each motor, to be able to overtake, brake and rewind on the guard cable.
  • the microcontroller it allows this system to enter all the data of the sensors to determine the state of the cable and electrical conductor and to make the decisions in the control systems;
  • a system of cameras arranged on both sides of the vehicle comprising at least one IP camera or digital cameras arranged at both ends of the self-propelled vehicle, to perform the inspection of the cable; and, at least 3 additional cameras to perform the inspection in the belt of the uncertainty or other electrical conductors of the transmission line;
  • a parasitic current absorption mechanism made up of a Faraday cage. This system is composed of a non-corrosive metal mesh, which allows covering the entire mechanism, preventing the entry of unwanted currents (parasitic currents) inside the control system or force (motors).
  • a controller who supports the work of the line technician by minimizing the risk.
  • the controller is integrated in PIC 16D84, as shown in fig. 4. which is the memory of the robot.
  • the microcontroller has a program developed for the project in assembly language; own for the application.
  • the operation of the cards is as follows, has a motor control system: It is of type H, which allows the interaction and control in direct current to start a route, stop or rewind.
  • the card is shown in fig. two.
  • the device requires a temporary memory for the storage of some actions, this is obtained through the memory a 16F84 PIC microcontroller, responsible for signal processing.
  • This card has also been considered a device that regulates the power voltage for 5V control and for the 12V motor system, which allows dynamic analysis, is based on the self-diagnosis of the situation and the response to key factors in order to to determine the movement of the device (dynamics), and to measure the balance of the device at the time of traveling through the electrical conductor (kinematics); both dynamic and kinematic, is required for the correct operation and processing of the signal by the sensors.
  • These signals from the sensors are key factors for the diagnosis of the driver and power cable; and they are linked according to fig. 5.
  • the design characteristics of a conceptual analysis can be found in Annex 1, which has a weight of 1.9kg with an uncertainty of +/- 0.1kg: which facilitates its elevation in the tower and easy transportation, for its small weight of the remote areas.
  • the robot has required to incorporate a dynamic and kinematic system, to process the environmental conditions, to generate a better control over the motors.
  • the vehicle is designed to move even through various obstacles in the cables, such as: vibration dampers, pre-shape rods, dynamic loads and adverse weather conditions (corrosion, atmospheric discharge, sulfur, salinity) that do not make meticulous inspection, especially at averages of 1, 5 Km, located between mountains.
  • vibration dampers such as: vibration dampers, pre-shape rods, dynamic loads and adverse weather conditions (corrosion, atmospheric discharge, sulfur, salinity) that do not make meticulous inspection, especially at averages of 1, 5 Km, located between mountains.
  • the vehicle or robot inspector of conductors of the electric line performs the following functions: i) The self-propelled vehicle or robot moves on electric cables or conductors and guard cables.
  • the self-propelled vehicle or robot navigates through the various obstacles in the electric cables (guard cables or conductors electrical), such as: vibration dampers, tension clamp, preform rods.
  • the self-propelled vehicle or robot is light with a weight less than 2 kg, which allows its easy integration and transfer.
  • the self-propelled vehicle or robot is portable and easily accessible, therefore, the electrical technicians responsible for the maintenance of the electric transmission lines can use it as a work tool.
  • the self-propelled vehicle or robot navigates through the various obstacles in the electrical cables (guard cables or electrical conductors), such as: vibration dampers, tension clamp, preform rods.
  • Figure 1 Shows the dynamic or conceptual analysis diagram of the robot
  • Figure 2 Shows views of the self-propelled vehicle or robot.
  • Figure 3 Shows the structure of the base of the vehicle or robot
  • Figure 4 Shows the upper component of the robot structure in a preferred embodiment.
  • Figure 5 Shows detailed views of a robot element.
  • Figure 6 Shows the self-propelled vehicle or line inspection robot with all its structural components.
  • the maintenance and inspection system of high voltage power lines comprises the following elements:
  • At least one self-propelled vehicle or robot that moves on electric cables and guard cables, and where said vehicle is made up of: hardware, software and a parasitic current absorption mechanism.
  • the hardware weighs less than 2Kg, preferably 1, 9 Kg +/- 0.1 Kg., And is made up of:
  • a propulsion system comprising a mechanism of locomotion (see figure 09) formed by at least four toothed drive wheels for the movement and brake of the vehicle and clamps that come into contact with the cables; "H" type DC motors; a control mechanism associated with relays for the control of said type "H” motors, for their interaction and control in direct current;
  • a communications system comprising a radio frequency communication antenna at 2.4 kHz; control relays, and a radio frequency communication mechanism, which is located in the new electronic board created for the device, as detailed in Fig. 1. This system allows the supervisor in charge of the activity, to start the robot at the time that is required;
  • the photo sender and sensor receiver determines the conductor section, to detect possible corrosion of the system. It also determines if there is any broken strand or any defect in the cable.
  • the device has the option to extend 3 additional cameras to record other cables, servitude or power towers. This accessory is optional. Up to 3 additional cameras in the self-propelled vehicle or robot, to perform the inspection in a band of easement or other electrical conductors of the transmission line;
  • a control system comprising a set of relays to control the movement of the vehicle or robot; a micro-controller capable of transporting up to four controller modules, which processes the signals coming from the sensors, which allows the dynamic analysis, which is based on the agnostic autod to respond to key factors, in order to determine the dynamics and the kinematics that the processing of the signal given by the sensors requires, to translate and process them and thus execute the control of the actuator, this system allows the control of the motors to be continuous, with a type H system, which allows one turn and counter rotation to the associated engines;
  • a tension regulating mechanism which regulates the reference voltage and the signal processing by means of a microcontroller.
  • the reference voltage allows to reduce and control the voltage (Voltage) of the robot to 5V, for the control system.
  • the engines use a voltage level of 12 V.
  • This system allows the control of the associated voltages and the injection of current to each motor, to be able to overtake, brake and rewind in the guard wire.
  • the microcontroller it allows this system to enter all the data of the sensors to determine the state of the cable and electrical conductor and to make the decisions in the control systems;
  • a system of cameras arranged on both sides of the vehicle comprising at least one IP camera or digital cameras arranged at both ends of the self-propelled vehicle, to perform the inspection of the cable; and, at least 3 additional cameras to perform the inspection in the belt of the uncertainty or other electrical conductors of the transmission line;
  • a parasitic current absorption mechanism made up of a Faraday cage. This system is composed of a non-corrosive metal mesh, which covers the entire mechanism, preventing the entry of unwanted currents (parasitic currents) inside the control system or force (motors).
  • a controller who supports the work of the line technician by minimizing the risk.
  • the controller is integrated in PIC 16D84, which is the robot's memory.
  • the microcontroller has a program developed for the project in assembly language; own for the application.
  • the operation of the cards is as follows, has a motor control system: It is of type H, which allows the interaction and control in direct current to start a route, stop or rewind.
  • the device requires a temporary memory for the storage of some actions, this is obtained through the memory a 16F84 PIC microcontroller, responsible for signal processing.
  • This card has also been considered a device that regulates the power voltage for 5V control and for the 12V motor system, which allows dynamic analysis, is based on the self-diagnosis of the situation and the response to key factors in order to to determine the movement of the device (dynamics), and to measure the balance of the device at the time of traversing the electric conductors (kinematics); both the dynamics and the kinematics are required for the correct operation and processing of the signals by the sensors. These sensor signals are key factors for the diagnosis of the driver and power cable.
  • figure 1 The design characteristics of a conceptual analysis can be found in figure 1, with which it has a weight of 1 9kg with an uncertainty of +/- 0.1kg: which facilitates its elevation in the tower and easy transportation, due to its small weight of the remote areas.
  • the robot has required to incorporate a dynamic and kinematic system, to process the environmental conditions, to generate a better control over the motors.
  • the dynamic analysis is based on the self-diagnosis of the situation and the response to key factors in order to determine the dynamics and kinematics required by signal processing by the sensors.
  • the definition of supply requires the use of various techniques to reduce consumption and maximum demand time and under electric and magnetic field conditions.
  • the robot moves automatically and returns to the start site, with the diagnosis already made. Where the inspection is done by sections, without crossing the complete transmission line. Likewise, it should be specified that the braking or recoil of the self-propelled vehicle is done directly with the tires or wheels of said vehicle.
  • the cameras and sensors installed in the self-propelled vehicle or robot allow to analyze and diagnose the electrical and guard conductors, by using PIC 16F84 microcontrollers to integrate the sensors and cameras.
  • Figure 1 describes the dynamic analysis, which is based on the self-diagnosis of the situation and the response to key factors in order to determine the dynamics, dynamics and kinematics required by the processing of the signal obtained by the sensors , to translate, process and execute them.
  • the definition of supply requires the use of various techniques to reduce consumption and the maximum demand time and under electric and magnetic field conditions.
  • the weight of the robot must be light, and the friction force between the cable and the robot must be small.
  • the parts that come in contact with the cable are the drive wheels and the calipers, where the drive wheels roll over the cable, which means less friction.
  • the design features from a conceptual analysis are found in the diagram of figure 1, facilitating lifting and transport, due to their weight, especially from remote areas.
  • the use of kinematics has been required of drag of motors of direct current by rough surface of the wheels, double support for vertical displacement and scaling of compliance negative and positive slopes.
  • a base plate capable of transporting up to four controller modules has been designed.
  • the PIC microcontroller
  • the base plate allows a localized low level position control of the actuator.
  • the acquisition of the axis position of the encoders has proven to be more compact and less prone to noise induced by the supply in their signals.
  • the base plate was designed to fit inside the robot structure, with a Faraday cage mesh that prevents parasitic currents inside the electronic circuit.

Abstract

The present invention relates to a self-propelled vehicle and a system for maintenance of high-voltage power lines, which includes said self-propelled vehicle. The self-propelled vehicle or robot, which moves along said power lines via drive wheels and clamps, is made up of a propulsion system, a communication system, a control system, cameras mounted on the vehicle for the respective inspections of the power lines or cables, proximity sensors, an actuator and a voltage regulator mechanism, among others; said elements integrated with software. Said self-propelled vehicle makes it possible to perfect and optimise the maintenance and inspection of high-voltage power lines.

Description

SISTEMA Y APARATO DE INSPECCIÓN DE LÍNEAS DE TRANSMISIÓN DE  SYSTEM AND INSPECTION DEVICE OF TRANSMISSION LINES OF
ENERGÍA ELÉCTRICA  ELECTRIC POWER
Campo técnico Technical field
La invención se refiere a un sistema y a un aparato para el mantenimiento e inspección de líneas eléctricas de alta tensión, que optimice la calidad de la inspección y la evaluación, tanto en los conductores como en el cable de protección. The invention relates to a system and an apparatus for the maintenance and inspection of high voltage power lines, which optimizes the quality of inspection and evaluation, both in the conductors and in the protection cable.
Estado de técnica State of technique
Las líneas de alta tensión deben ser accesibles para realizar mantenimiento preventivo, así como para su acceso ante cualquier eventualidad a lo largo de su vida útil. Los elementos a inspeccionar en las líneas de alta tensión son un conjunto de componentes que definen la situación de la línea, tanto de sus aspectos físicos como de la situación del entorno en donde se implantan. The high voltage lines must be accessible to carry out preventive maintenance, as well as for their access to any eventuality throughout their useful life. The elements to inspect in the high voltage lines are a set of components that define the situation of the line, both its physical aspects and the situation of the environment in which they are installed.
Las inspecciones de líneas de transmisión han sido un tema de investigación continuo en los últimos años. La inspección ha sido realizada por los trabajadores sobre las técnicas de cables energizados o una minuciosa observación a distancia. Este proceso es lento y requiere un trabajo intensivo, para forzar la seguridad del sistema eléctrico, pero a veces afecta la disponibilidad de la fuente de alimentación. Con el desarrollo de la robótica, el sistema robótico se introduce en el campo de inspección de la línea de transmisión de potencia. La red de transmisión exige mayor disponibilidad y confiabilidad para la seguridad del sistema de potencia. Transmission line inspections have been a topic of ongoing research in recent years. The inspection has been carried out by the workers on the techniques of energized cables or a careful remote observation. This process is slow and requires intensive work, to force the safety of the electrical system, but sometimes affects the availability of the power supply. With the development of robotics, the robotic system is introduced into the field of inspection of the power transmission line. The transmission network requires greater availability and reliability for the safety of the power system.
Las líneas de transmisión eléctrica se encuentran energizadas continuamente, por lo cual, es importante evitar descargas eléctricas directas que interrumpan la continuidad del servicio. Por ello se han buscado formas de aislar esas estructuras eléctricamente creando a su alrededor una “jaula”. Uno de los métodos más frecuentemente utilizados es el uso de cables de guarda, que son colocados sobre la línea eléctrica actuando como una especie de pararrayos. Sin embargo, se sabe que dichos cables de guarda de una línea de transmisión eléctrica, están expuestos a la rotura debido a contaminantes atrapados en el punto de contacto entre el cable y su mecanismo de sujeción a la esfera de balizaje, donde se presentó la falla, es decir el cable de guarda falla por un mecanismo combinado Corrosión-Fricción-Abrasión, acelerado por la presencia de partículas de Si02 y cloruros en el punto de contacto con la esfera de balizaje. Estos cables son fabricados de formas y materiales diferentes, uno de los diseños más comunes es el que consta de siete hilos entrelazados entre sí que posee una matriz o núcleo de acero y están recubiertos con aluminio. El cable de guarda también se utiliza para la colocación de señalizaciones, como por ejemplo las esferas de balizaje. Todos los elementos constructivos de una línea aérea deben ser elegidos, conformados y construidos de manera que tengan un comportamiento seguro en condiciones de servicio, bajo las condiciones climáticas, bajo tensiones de régimen y bajo corriente. The electric transmission lines are continuously energized, so it is important to avoid direct electric discharges that interrupt the continuity of the service. Therefore, ways have been sought to isolate these structures electrically creating a "cage" around them. One of the most frequently used methods is the use of guard cables, which are placed on the electric line acting as a kind of lightning rod. However, it is known that said guard cables of an electrical transmission line are exposed to breakage due to contaminants trapped at the point of contact between the cable and its clamping mechanism to the beacon sphere, where the fault occurred. , that is, the guard wire fails due to a combined Corrosion-Friction-Abrasion mechanism, accelerated by the presence of Si02 particles and chlorides at the point of contact with the beaconing sphere. These cables are made of different shapes and materials, one of the most common designs is the one that consists of seven interwoven wires that have a matrix or steel core and are covered with aluminum. The guard wire is also used for signaling, such as beaconing spheres. All the construction elements of an airline must be chosen, shaped and constructed so that they have a safe behavior in service conditions, under climatic conditions, under regime tensions and under current.
China y Japón han desarrollado y presentado investigaciones teóricas sobre sistemas robóticos pero aplicados a subestaciones eléctricas, un ejemplo es el sistema AGV (Automatic Guided Vehicle). La inspección de equipos en la subestación es un factor clave para encontrar y solucionar una falla incipiente de los equipos en el tiempo, por lo tanto, asegura la operación segura de los equipos y aumenta la fiabilidad de la red eléctrica. Actualmente varias empresas eléctricas no tienen automatizado su mantenimiento de líneas de transmisión o subestaciones, lo cual no sólo tiene un costo de recurso humano en obra o recursos materiales, sino también presenta un proceso ineficiente e inseguro. El sistema de robot basado en AGV utiliza la inspección de la subestación mediante un vehículo guiado automático, una especie de robot móvil simple, que integra el sonido, la luz infra roja, en un sistema de cómputo simple, sin inteligencia integrada. Es decir, utiliza la misma tecnología que los sistemas de construcción automatizada en las industrias, como por ejemplo el ensamblaje de los automóviles. China and Japan have developed and presented theoretical investigations on robotic systems but applied to electrical substations, an example is the AGV (Automatic Guided Vehicle) system. The inspection of equipment in the substation is a key factor to find and solve an incipient failure of the equipment over time, therefore, it ensures the safe operation of the equipment and increases the reliability of the electrical network. Currently several electricity companies do not have automated maintenance of transmission lines or substations, which not only has a human resource cost in work or material resources, but also presents an inefficient and insecure process. The robot system based on AGV uses the inspection of the substation by means of an automatic guided vehicle, a kind of simple mobile robot, which integrates the sound, infra red light, into a simple computing system, without integrated intelligence. That is, it uses the same technology as automated construction systems in industries, such as the assembly of automobiles.
Otras soluciones, han sido exploradas por Brasil, a través de un esfuerzo entre CTEEP y FDTE/EPUSP para mejorar la confiabilidad del servicio de mantenimiento a través de robots móviles, sin embargo, la aplicación se ha desarrollado solamente para subestaciones eléctricas. El diseño propuesto por CTEEP se compone de 2 cámaras y 2 ruedas dentadas, con una placa comando y baterías. El diseño es fijo para un tramo de subestación y/o 1 vano en una línea de transmisión y debería permanecer fijo. Other solutions have been explored by Brazil, through an effort between CTEEP and FDTE / EPUSP to improve the reliability of maintenance service through mobile robots, however, the application has been developed only for electrical substations. The design proposed by CTEEP consists of 2 cameras and 2 cogwheels, with a command plate and batteries. The design is fixed for a substation section and / or 1 span on a transmission line and should remain fixed.
La solicitud de patente americana US 2001015149 (Instituto, Hydro-Québec’s research institute, IREQ), describe un robot de inspección de líneas de transmisión, tal como un vehículo para su uso en una línea viva, siendo que dicho vehículo está provisto de tres ruedas de tracción coplanares montadas en un bastidor y espaciadas a lo largo de un primer eje longitudinal paralelo a la línea directa y por debajo de la misma. El vehículo está provisto también de dos ruedas de presión coplanarias móviles montadas en el bastidor y espaciadas a lo largo de un segundo eje longitudinal paralelo a la línea y por debajo de la misma. El vehículo tiene un motor de accionamiento montado en el marco, para la conducción de las ruedas de tracción. El motor tiene una fuente de energía, como las baterías. El vehículo tiene un mecanismo de presión montado en el bastidor y acoplado a las ruedas de presión, para mantener la línea comprimida entre las ruedas de tracción y las ruedas de presión. El vehículo tiene un mecanismo de control acoplado al motor para controlar el motor. Por lo tanto, en uso, el vehículo se mueve a lo largo de la línea. El vehículo también puede estar provisto de una herramienta de deshielo. La herramienta de descongelación tiene un collar con dos partes que se abren y cierran alrededor de la línea. El collar soporta varias cuchillas concéntricamente espaciadas entre sí y que forman un cono abierto en una dirección de avance del vehículo. The American patent application US 2001015149 (Institute, Hydro-Québec's research institute, IREQ), describes a robot for inspection of transmission lines, such as a vehicle for use in a live line, said vehicle being provided with three wheels of coplanar traction mounted on a frame and spaced along a first longitudinal axis parallel to the direct line and below it. The vehicle is also provided with two mobile coplanar pressure wheels mounted on the frame and spaced along a second longitudinal axis parallel to and below the line. The vehicle has a drive motor mounted on the frame, for driving the traction wheels. The engine has a power source, like batteries. The vehicle has a pressure mechanism mounted on the frame and coupled to the pressure wheels, to keep the line compressed between the traction wheels and the pressure wheels. The vehicle has a control mechanism coupled to the engine to control the engine. Therefore, in use, the vehicle moves along the line. The vehicle may also be provided with a defrosting tool. The defrosting tool has a collar with two parts that open and close around the line. The collar supports several blades concentrically spaced from one another and forming an open cone in a direction of advancement of the vehicle.
Son conocidos algunos sistemas de supervisión tipo robot que se agarran a los conductores de las líneas e incluso permiten su visualización. Que puedan realizar también trabajos de mantenimiento sencillos como el apriete de tornillos de separadores de fases o balizas. Su velocidad es de unos pocos metros por minuto y son capaces de sortear los herrajes de suspensión de la línea eléctrica utilizando dos brazos que secuencialmente agarran y sueltan la línea, tal como se divulga para el dispositivo en la solicitud US 43419455. Estos dispositivos están indicados para cruces de ríos, grandes vanos, etc. Sin embargo, estos sistemas tienen el inconveniente de que hay que trasladar el robot a la torre cercana a la zona en la que se va a actuar, subirlo a dicha torre y después bajarlo. Además, no permite el transporte de operarios, ya que para tener la movilidad anteriormente referida para el sorteo de obstáculos no es posible que tenga un peso elevado. Algunos de estos dispositivos son autónomos y se manejan por un control remoto local y cercano. Some robot-type supervision systems are known that grip the line drivers and even allow their visualization. That they can also perform simple maintenance tasks such as tightening bolts of phase separators or beacons. Their speed is a few meters per minute and they are able to bypass the suspension fittings of the electric line using two arms that sequentially grab and release the line, such as it is disclosed for the device in the application US 43419455. These devices are indicated for river crossings, large openings, etc. However, these systems have the disadvantage that you have to move the robot to the tower near the area where you are going to act, upload it to that tower and then lower it. In addition, it does not allow the transport of workers, since to have the aforementioned mobility for the draw of obstacles it is not possible to have a high weight. Some of these devices are autonomous and are managed by a local and nearby remote control.
La patente ES 2575737 divulga un sistema de mantenimiento de líneas eléctricas de alta tensión que comprende un conjunto de torres de alta tensión y líneas eléctricas de alta tensión que se extienden entre dichas torres, al menos un cable auxiliar que se extiende entre las torres de forma continua y que se dispone unido a las mismas, un vehículo autopropulsado desplazable por el cable auxiliar. Donde la torre y el cable auxiliar están configurados de modo que el vehículo autopropulsado puede atravesar la torre desplazándose por el cable auxiliar, y en donde el cable auxiliar y el vehículo autopropulsado forman parte de la propia línea de transmisión a lo largo de su vida útil, y permiten el transporte de personal, material y herramientas. Es decir, con esta patente se elimina el problema de que el vehículo tenga que ser trasladado a la torre, ascendido a la misma, y después descendido. The patent ES 2575737 discloses a system of maintenance of high voltage power lines comprising a set of high voltage towers and high voltage power lines that extend between said towers, at least one auxiliary cable that extends between the towers of form continuous and that is attached to them, a self-propelled vehicle movable by the auxiliary cable. Where the tower and the auxiliary cable are configured so that the self-propelled vehicle can cross the tower by traveling along the auxiliary cable, and where the auxiliary cable and the self-propelled vehicle are part of the transmission line itself throughout its useful life , and allow the transport of personnel, material and tools. That is to say, with this patent the problem is eliminated that the vehicle has to be transferred to the tower, ascended to it, and then descended.
Desde el punto de vista de los sensores: se debe analizar planificación de ruta, sensores, sistema de cómputo abordo y sistemas de video. La planificación de la ruta de cobertura (CPP: Coverage Path Planning) tiene como objetivo determinar un camino que pasa por todos los puntos de un área o volumen de interés mientras se evitan los obstáculos. Esta tarea es parte integrante de muchas aplicaciones robóticas, tales como robots de limpieza por vacío, robots pintores, vehículos submarinos autónomos que crean mosaicos de imágenes, robots de desminado, cortacéspedes, cosechadoras automatizadas, limpiadores de ventanas e inspección de estructuras submarinas complejas para nombrar unos pocos. En uno de los primeros trabajos sobre CPP encontrados en la literatura, se definieron los requisitos que un robot debe cumplir para realizar una operación de cobertura. Aunque la aplicación de blanco en el documento antes mencionado es un robot móvil que se mueve en un entorno plano bidimensional. From the point of view of the sensors: route planning, sensors, on-board computer system and video systems should be analyzed. The purpose of planning the coverage route (CPP: Coverage Path Planning) is to determine a path that passes through all points of an area or volume of interest while avoiding obstacles. This task is an integral part of many robotic applications, such as vacuum cleaning robots, painters robots, autonomous underwater vehicles that create mosaics of images, demining robots, mowers, automated harvesters, window cleaners and inspection of complex underwater structures to name a few. In one of the first works on CPP found in the literature, the requirements that a robot must meet to perform a hedge operation. Although the target application in the aforementioned document is a mobile robot that moves in a flat two-dimensional environment.
Los mismos criterios son aplicables a otros escenarios de cobertura. Los requisitos son los siguientes: The same criteria are applicable to other coverage scenarios. The requirements are the following:
1. El robot debe moverse a través de todos los puntos en el área de destino que lo cubre completamente. 1. The robot must move through all the points in the destination area that covers it completely.
2. El robot debe llenar la región sin caminos superpuestos.  2. The robot must fill the region without superimposed paths.
3. Se requiere un funcionamiento continuo y secuencial sin repetición de trayectorias.  3. Continuous and sequential operation without repetition of trajectories is required.
4. El robot debe evitar todos los obstáculos.  4. The robot must avoid all obstacles.
5. Se deben usar trayectorias de movimiento simples (por ejemplo, líneas rectas o círculos) (para simplificar el control).  5. Simple movement trajectories (for example, straight lines or circles) should be used (to simplify control).
6. Se desea una trayectoria "óptima" bajo las condiciones disponibles.  6. An "optimal" trajectory is desired under the available conditions.
Sin embargo, no siempre es posible satisfacer todos estos criterios en entornos complejos. Por lo tanto, a veces se requiere una consideración prioritaria. Los enfoques recientes en el procesamiento de señales, modelos gráficos y enfoques de optimización descentralizada para la coordinación MRS y en particular para la asignación de tareas. Los modelos gráficos son herramientas atractivas que a medida que explotan la estructura del dominio, que en MRS normalmente se relaciona con la localidad de las interacciones: las acciones de un robot suelen afectar sólo a un pequeño subconjunto de otros robots (por ejemplo, robots cercanos o robots asignados a cerrar, por tareas). Los modelos gráficos proporcionan técnicas de optimización extremadamente eficientes, y se han utilizado en diferentes comunidades como el aprendizaje automático y el procesamiento de restricciones. Aquí nos centramos en un tipo específico de modelo gráfico, es decir, los problemas de optimización de restricción distribuida (DCOP), ya que estamos interesados en la solución descentralizada.  However, it is not always possible to satisfy all these criteria in complex environments. Therefore, priority consideration is sometimes required. Recent approaches in signal processing, graphical models and decentralized optimization approaches for MRS coordination and in particular for the assignment of tasks. Graphical models are attractive tools that exploit the structure of the domain, which in MRS is usually related to the location of the interactions: the actions of a robot usually affect only a small subset of other robots (for example, nearby robots). or robots assigned to close, by tasks). Graphic models provide extremely efficient optimization techniques, and have been used in different communities such as machine learning and constraint processing. Here we focus on a specific type of graphical model, that is, the problems of distributed restriction optimization (DCOP), since we are interested in the decentralized solution.
En el caso de sensores, diversos autores no proporcionan una solución unificada para integrar las dos modalidades de detección. En su lugar, dado que los sensores de visión y fuerza a menudo miden diferentes fenómenos físicos, es preferible combinar directamente sus datos en el nivel de control. En lugar de aplicar una fusión multisensorial o diseñar máquinas de estado complejas. Esta idea se ha propuesto inicialmente, mediante la adaptación del paradigma híbrido de control de posición-fuerza: la fuerza restringe algunas direcciones de movimiento, mientras que la visión impulsa los grados restantes de libertad. Posteriormente, los autores han presentado una lista de configuraciones de control híbrido, y dividido los grados de libertad para ser controlados por la visión y la fuerza. Una alternativa es el control de impedancia / admitancia, que se ha integrado con el control visual e incluso táctil, para tener en cuenta las externalidades efectivas. Aunque se han diseñado muchas técnicas para combinar visión, fuerza y control de posición, la presencia del ser humano en el bucle de control del robot rara vez se cuenta. Uno de los autores ha comenzado el diseño de un multimodal en el marco de la cooperación humano-robot. In the case of sensors, several authors do not provide a unified solution to integrate the two detection modalities. Instead, since vision and force sensors often measure different physical phenomena, it is preferable to directly combine their data at the control level. Instead of applying a multisensory fusion or designing complex state machines. This idea has been proposed initially, by adapting the hybrid paradigm of control of position-force: the force restricts some directions of movement, while the vision drives the remaining degrees of freedom. Subsequently, the authors have presented a list of hybrid control configurations, and divided the degrees of freedom to be controlled by vision and force. An alternative is the impedance / admittance control, which has been integrated with the visual and even tactile control, to take into account the effective externalities. Although many techniques have been designed to combine vision, force and position control, the presence of the human being in the robot control loop is rarely counted. One of the authors has begun the design of a multimodal in the framework of human-robot cooperation.
Por tanto, las concesiones de transmisión de energía tienen la necesidad de modernizar sus procesos y metodologías de trabajo con el avance tecnológico, para así asegurar la operatividad y mayor precisión en los datos recogidos. Uno de los aspectos más importantes a tener en cuenta, por los riesgos que conlleva a las personas, infraestructura, y el costo asociado, son las inspecciones detalladas de la infraestructura (inspección minuciosa), la cual debe ser realizada en las líneas eléctricas. Therefore, energy transmission concessions have the need to modernize their work processes and methodologies with technological progress, in order to ensure the operation and greater precision in the data collected. One of the most important aspects to take into account, due to the risks to people, infrastructure, and the associated cost, are the detailed inspections of the infrastructure (thorough inspection), which must be carried out on the power lines.
Un factor importante a considerar, son los obstáculos a sortear en los conductores y cables de guarda, tales como: los amortiguadores de vibración, aisladores, varillas de pre forme, o las propias torres, entre otros, las diversas cargas dinámicas; y, las condiciones climáticas adversas (corrosión, descarga atmosférica, azufre y salinidad), los cuales deben ser considerados durante la realización de las inspecciones. An important factor to consider are the obstacles to be overcome in the conductors and guard cables, such as: the vibration dampers, insulators, preform rods, or the towers themselves, among others, the various dynamic loads; and, the adverse climatic conditions (corrosion, atmospheric discharge, sulfur and salinity), which must be considered during the realization of the inspections.
Actualmente, la inspección tradicional por parte de la mayoría de empresas de transmisión y distribución de energía eléctrica, utiliza cuadrillas o supervisores encargados de la inspección mediante binoculares de larga distancia. Esta técnica tradicional limita la inspección minuciosa del cable de la guardia y conductor, en especial en vanos promedios de 1 ,5 km, situado entre montañas. Durante las inspecciones minuciosas a las líneas de transmisión, se realiza un recorrido de la servidumbre de la línea de transmisión debajo de la faja de servidumbre o encima del conductor eléctrico (energizado o des energizado), para visualizar el estado del conductor eléctrico. Los cables de guarda, protegen al conductor eléctrico ante descargas atmosféricas, por tal motivo, se debilita el nivel de esfuerzo, ductilidad, o deterioro interno del conductor eléctrico. El personal técnico no puede ingresar a visualizar el cable de guarda por el gran riesgo de caída a distinto nivel. Currently, the traditional inspection by most electricity transmission and distribution companies uses crews or supervisors responsible for the inspection by long distance binoculars. This traditional technique limits the careful inspection of the cable of the guard and driver, especially in vain averages of 1, 5 km, located between mountains. During the detailed inspections of the transmission lines, a route is made of the servitude of the transmission line under the bondage belt or on top of the electric conductor (energized or de-energized), to visualize the status of the electric conductor. The guard cables protect the electrical conductor against atmospheric discharges, for this reason, the level of effort, ductility, or internal deterioration of the electrical conductor is weakened. The technical personnel can not enter to visualize the guard wire due to the great risk of falling at a different level.
Algunos de los riesgos presentes son: a) El personal técnico encima del conductor eléctrico tiene un mayor riesgo de caída a distinto nivel por rotura del cable de guarda o conductor eléctrico. Some of the present risks are: a) The technical personnel on top of the electrical conductor has a higher risk of falling at different levels due to breakage of the guard wire or electrical conductor.
b) Caída del conductor o cable de guarda por deterioro interno, el cual no logro detectarse con las técnicas de inspección tradicionales.  b) Fall of the driver or cable guard for internal deterioration, which can not be detected with traditional inspection techniques.
c) Daño de la infraestructura de la empresa eléctrica o de los vecinos del sistema de transmisión en las ciudades.  c) Damage to the infrastructure of the electricity company or the neighbors of the transmission system in the cities.
Por lo que, existe la necesidad de optimizar la calidad de la inspección y evaluación, tanto de los cables conductores como de los cables de guarda (cable de protección), por ello se ha desarrollado un sistema que incluye un aparato, tal como un robot o un vehículo autómata asociado a las inspecciones minuciosas (de un vano a otro de forma minuciosa) que elimina el riesgo de rotura del cable conductor y cable de guarda, que es un cable que protege las torres contra las descargas eléctricas. Therefore, there is a need to optimize the quality of the inspection and evaluation, both of the conductor cables and of the guard cables (protection cable), for this reason a system has been developed that includes an apparatus, such as a robot or an automatic vehicle associated with minute inspections (from one vain to another in a meticulous way) that eliminates the risk of breakage of the cable and guard wire, which is a cable that protects the towers against electrical discharges.
Descripción de la invención Con la presente invención se busca perfeccionar y optimizar el mantenimiento e inspección de las líneas eléctricas de alta tensión (cables y conductores eléctricos), como por ejemplo, del conductor y del cable de protección o de guarda, para lo cual se ha desarrollado un sistema de mantenimiento e inspección de líneas eléctricas de alta tensión que comprende entre otros elementos un vehículo autopropulsado o robot automático inteligente, que permite el diagnóstico de dichos cables a través de sensores y cámaras de diagnóstico, aplicando técnicas sobre equipos energizados y tecnología electrónica, mediante microprocesadores, y de ese modo disminuir los riesgos de seguridad para los trabajadores y para la red. Description of the invention The present invention seeks to improve and optimize the maintenance and inspection of high voltage power lines (cables and electrical conductors), such as, for example, the conductor and the protection or guard cable, for which a system has been developed. maintenance and inspection of high voltage power lines comprising among other elements a self-propelled vehicle or intelligent automatic robot, which allows the diagnosis of such cables through sensors and diagnostic cameras, applying techniques on energized equipment and electronic technology, using microprocessors , and thereby reduce the security risks for workers and the network.
El sistema de mantenimiento e inspección de líneas eléctricas de alta tensión comprende los siguientes elementos:  The maintenance and inspection system of high voltage power lines comprises the following elements:
- Un conjunto de torres de alta tensión, - A set of high voltage towers,
- Unas líneas eléctricas de alta tensión que se extienden entre dichas torres de alta tensión, conformadas por cables eléctricos y cables de guarda.  - High voltage power lines that extend between said high voltage towers, formed by electric cables and guard cables.
La invención se caracteriza porque además comprende: The invention is characterized in that it also comprises:
- Al menos un vehículo autopropulsado o robot que se desplaza sobre unos cables eléctricos y unos cables de guarda, y donde dicho vehículo está conformado por: un hardware, un software y un mecanismo de absorción de corrientes parasitas. - At least one self-propelled vehicle or robot that moves on electric cables and guard cables, and where said vehicle is made up of: hardware, software and a parasitic current absorption mechanism.
El hardware pesa menos de 2Kg, preferentemente 1 ,9 Kg +/- 0.1 Kg., y está conformado por: The hardware weighs less than 2Kg, preferably 1, 9 Kg +/- 0.1 Kg., And is made up of:
• un sistema de propulsión que comprende un mecanismo de locomoción formado por al menos cuatro ruedas motrices dentadas para el desplazamiento y freno del vehículo y unas pinzas que entran en contacto con los cables; unos motores de corriente continua tipo Ή”; un mecanismo de control asociado a unos relés para el control de dichos motores tipo Ή”, para su interacción y control en corriente continua; • a propulsion system comprising a locomotion mechanism formed by at least four toothed drive wheels for the movement and brake of the vehicle and clamps that come into contact with the cables; DC motors type Ή "; a control mechanism associated with relays for the control of said tipo "type motors, for their interaction and control in direct current;
• un sistema de comunicaciones que comprende una antena de comunicación vía radio frecuencia a 2.4 kHz; unos relés de control, y un mecanismo de comunicación de radio frecuencia, el cual está ubicado en la nueva placa electrónica creada para el dispositivo, como se detalla en la Fig. 1. Este sistema permite que el supervisor encargado de la actividad, pueda iniciar el robot en el momento que se requiera;  • a communications system comprising a radio frequency communication antenna at 2.4 kHz; control relays, and a radio frequency communication mechanism, which is located in the new electronic board created for the device, as detailed in Fig. 1. This system allows the supervisor in charge of the activity, to start the robot at the time that is required;
• unos sensores de aproximación y un mecanismo de control de los sensores de aproximación y control de acercamiento; el sensor remite las señales: proximidad (detectando elementos en la línea de transmisión), al detectarse este elemento externo, se tomará una fotografía asociada para su análisis, ingresando la información del GPS, para determinar la ubicación exacta. El sensor foto emisor y receptor determina la sección del conductor, para detectar posible corrosión del sistema. Así mismo determina si hay alguna hebra rota o algún defecto en el cable. Por lo menos 1 o 2 cámaras IP o digitales dispuestas en ambos lados del vehículo autopropulsado o robot, para realizar inspecciones a los cables eléctricos; y, de acuerdo a la necesidad, la cámara puede ser intercambiable con cualquier tipo de cámara, recomendando por lo menos 2 cámaras en ambos extremos. El dispositivo tiene la opción de ampliar 3 cámaras adicionales para grabar otros cables, servidumbre o las torres de energía. Este accesorio es opcional. Hasta 3 cámaras adicionales en el vehículo autopropulsado o robot, para realizar la inspección en una faja de servidumbre u otros conductores eléctricos de la línea de transmisión; • Approach sensors and a control mechanism for the approach and approach control sensors; the sensor sends the signals: proximity (detecting elements in the transmission line), when this external element is detected, an associated photograph will be taken for its analysis, entering the GPS information, to determine the exact location. The photo sender and receiver sensor determines the conductor section, to detect possible corrosion of the system. It also determines if there is any broken strand or any defect in the cable. At least 1 or 2 IP or digital cameras arranged on both sides of the self-propelled vehicle or robot, to perform inspections of the electric cables; and, according to the need, the camera can be interchangeable with any type of camera, recommending at least 2 cameras at both ends. The device has the option to extend 3 additional cameras to record other cables, servitude or power towers. This accessory is optional. Up to 3 additional cameras in the self-propelled vehicle or robot, to perform the inspection in a band of easement or other electrical conductors of the transmission line;
• un sistema de control que comprende un conjunto de relés para controlar el desplazamiento del vehículo o robot; un micro-controlador capaz de transportar hasta cuatro módulos de controlador, el cual procesa las señales provenientes de los sensores, lo cual permite el análisis dinámico, que se basa en el autodiagnóstico para dar respuesta a factores clave, con el fin de determinar la dinámica y la cinemática que requiere el procesamiento de la señal dada por los sensores, para traducirlas y procesarlas y así ejecutar el control del actuador, este sistema permite que el control de los motores sea continuo, con un sistema tipo H, que permite dar un giro y contra giro a los motores asociados; se brinda el detalle en la Fig. 2, mostrando los motores tipo H y antena de comunicaciones; • a control system comprising a set of relays to control the movement of the vehicle or robot; a micro-controller capable of transporting up to four controller modules, which processes the signals coming from the sensors, which allows dynamic analysis, which is based on self-diagnosis to respond to key factors, in order to determine the dynamics and the kinematics that requires the processing of the signal given by the sensors, to translate and process them and thus execute the control of the actuator, this system allows the control of the motors to be continuous, with a type H system, which allows a turn and against turn to the associated engines; the detail is given in Fig. 2, showing the type H motors and communications antenna;
• un mecanismo de unión de plataformas elaborado en Polietileno que permite separar dos sistemas importantes del robot: el primero, asociado al sistema de fuerza (motores y ruedas de unión con el cable y conductor), el segundo sistema asociado a los componentes electrónicos que permiten la conexión con el sistema de control y telecomunicaciones;  • a platform joining mechanism made of polyethylene that separates two important systems of the robot: the first, associated with the force system (motors and connecting wheels with the cable and driver), the second system associated with the electronic components that allow the connection to the control and telecommunications system;
• un mecanismo regulador de tensión; el cual regula la tensión de referencia y el procesamiento de señales mediante un micro controlador. La tensión de referencia permite reducir y controlar la tensión (Voltaje) del robot a 5V, para el sistema de control. Los motores utilizan un nivel de tensión de 12 V. Este sistema permite el control de las tensiones asociadas y la inyección de corriente a cada motor, para poder adelantar, frenar y retroceder en el cable de guarda. Finalmente, en el micro controlador, permite que este sistema ingrese todos los datos de los sensores para determinar el estado del cable y conductor eléctrico y tomar las decisiones en los sistemas de control;  • a tension regulating mechanism; which regulates the reference voltage and the signal processing by means of a microcontroller. The reference voltage allows to reduce and control the voltage (Voltage) of the robot to 5V, for the control system. The motors use a voltage level of 12 V. This system allows the control of the associated voltages and the injection of current to each motor, to be able to overtake, brake and rewind on the guard cable. Finally, in the microcontroller, it allows this system to enter all the data of the sensors to determine the state of the cable and electrical conductor and to make the decisions in the control systems;
• un actuador; y,  • an actuator; Y,
• un sistema de cámaras dispuestas en ambos lados del vehículo, que comprende al menos una cámara IP o digitales dispuestas en ambos extremos del vehículo autopropulsado, para realizar la inspección del cable; y, al menos 3 cámaras adicionales para realizar la inspección en la faja de la incertidumbre u otros conductores eléctricos de la línea de transmisión;  • a system of cameras arranged on both sides of the vehicle, comprising at least one IP camera or digital cameras arranged at both ends of the self-propelled vehicle, to perform the inspection of the cable; and, at least 3 additional cameras to perform the inspection in the belt of the uncertainty or other electrical conductors of the transmission line;
• Un mecanismo de absorción de corrientes parasitas conformado por una jaula Faraday. Este sistema está compuesto de una malla de metal no corrosivo, que permite cubrir el mecanismo completo, impidiendo el ingreso de corrientes no deseadas (corrientes parasitas) en el interior del sistema de control o de fuerza (motores). • A parasitic current absorption mechanism made up of a Faraday cage. This system is composed of a non-corrosive metal mesh, which allows covering the entire mechanism, preventing the entry of unwanted currents (parasitic currents) inside the control system or force (motors).
• Un controlador, que apoya el trabajo del técnico de línea minimizando el riesgo. El controlador está integrado en el PIC 16D84, como se muestra en la fig. 4. el cual es la memoria del robot. El micro controlador tiene un programa desarrollado para el proyecto en el lenguaje ensamblador; propio para la aplicación. Un software para el procesamiento de la información de los sensores y análisis de información detallada proveniente de los sensores de proximidad, foto sensores (foto emisor / receptor), corriente de los motores, imágenes de las cámaras; con los cuales se procesa la información y determina si hay alguna observación en el conductor eléctrico.  • A controller, who supports the work of the line technician by minimizing the risk. The controller is integrated in PIC 16D84, as shown in fig. 4. which is the memory of the robot. The microcontroller has a program developed for the project in assembly language; own for the application. A software for the processing of the information of the sensors and analysis of detailed information coming from the sensors of proximity, photo sensors (photo emitter / receiver), current of the motors, images of the cameras; with which the information is processed and determines if there is any observation in the electrical conductor.
El funcionamiento de las tarjetas es el siguiente, cuenta con un sistema de control de motores: Es del tipo H, que permite la interacción y control en corriente continua para iniciar una ruta, parar o retroceder. La tarjeta se muestra en la fig. 2.  The operation of the cards is as follows, has a motor control system: It is of type H, which allows the interaction and control in direct current to start a route, stop or rewind. The card is shown in fig. two.
El dispositivo requiere de una memoria temporal para el almacenamiento de algunas acciones, esta se obtiene a través de la memoria un micro controlador PIC 16F84, encargado del procesamiento de las señales. En esta tarjeta también se ha considerado un dispositivo que regula la tensión de energía para control 5V y para el sistema de motores 12V, lo cual permite el análisis dinámico, se basa en el autodiagnóstico de la situación y la respuesta a factores clave con el fin de determinar el movimiento del dispositivo (dinámica), y medir el balance del dispositivo al momento de recorrer por el conductor eléctrico (cinemática); ambos dinámica y cinemática, se requiere para el correcto funcionamiento y procesamiento de las señal por los sensores. Estas señales de los sensores son factores clave para el diagnóstico del conductor y cable de energía; y se enlazan de acuerdo a la fig. 5.  The device requires a temporary memory for the storage of some actions, this is obtained through the memory a 16F84 PIC microcontroller, responsible for signal processing. This card has also been considered a device that regulates the power voltage for 5V control and for the 12V motor system, which allows dynamic analysis, is based on the self-diagnosis of the situation and the response to key factors in order to to determine the movement of the device (dynamics), and to measure the balance of the device at the time of traveling through the electrical conductor (kinematics); both dynamic and kinematic, is required for the correct operation and processing of the signal by the sensors. These signals from the sensors are key factors for the diagnosis of the driver and power cable; and they are linked according to fig. 5.
Por último, en la definición de oferta se requiere el uso de diversas técnicas para reducir el consumo y el tiempo máximo de demanda y bajo condiciones de campo eléctrico y magnético; para este punto se utiliza una malla para reducir las corrientes parásitas en los circuitos electrónicos empleando una jaula de Faraday. Finally, the definition of supply requires the use of various techniques to reduce consumption and the maximum demand time and under electric and magnetic field conditions; for this point it uses a mesh to reduce stray currents in electronic circuits using a Faraday cage.
Las características de diseño de un análisis conceptual se encuentran en el anexo 1 , con lo cual se cuenta con un peso de 1.9kg con una incertidumbre de +/-0.1kg: lo cual facilita su elevación en la torre y fácil transporte, por su pequeño peso de las áreas alejado. El robot ha requerido incorporar un sistema dinámico y cinemático, para procesar las condiciones del entorno, para generar un mejor control sobre los motores.  The design characteristics of a conceptual analysis can be found in Annex 1, which has a weight of 1.9kg with an uncertainty of +/- 0.1kg: which facilitates its elevation in the tower and easy transportation, for its small weight of the remote areas. The robot has required to incorporate a dynamic and kinematic system, to process the environmental conditions, to generate a better control over the motors.
En la fig. 5, se describe el análisis dinámico, se basa en el autodiagnóstico de la situación y la respuesta a factores clave con el fin de determinar la dinámica, la dinámica y la cinemática requiere el procesamiento de la señal por los sensores. Por último, en la definición de oferta se requiere el uso de diversas técnicas para reducir el consumo y el tiempo máximo de demanda y bajo condiciones de campo eléctrico y magnético.  In fig. 5, dynamic analysis is described, is based on the self-diagnosis of the situation and the response to key factors in order to determine the dynamics, dynamics and kinematics requires signal processing by sensors. Finally, the definition of supply requires the use of various techniques to reduce consumption and the maximum demand time and under electric and magnetic field conditions.
Un software que procesa y analiza la información proveniente de los sensores; y,  A software that processes and analyzes the information coming from the sensors; Y,
El vehículo está diseñado para moverse incluso a través de diversos obstáculos en los cables, tales como: amortiguadores de vibración, varillas de pre-forma, cargas dinámicas y condiciones climáticas adversas (corrosión, descarga atmosférica, azufre, salinidad) que no hacen posible una inspección minuciosa, en especial en vanos promedios de 1 ,5 Km, situados entre montañas. The vehicle is designed to move even through various obstacles in the cables, such as: vibration dampers, pre-shape rods, dynamic loads and adverse weather conditions (corrosion, atmospheric discharge, sulfur, salinity) that do not make meticulous inspection, especially at averages of 1, 5 Km, located between mountains.
El vehículo o robot inspector de conductores de la línea eléctrica realiza las siguientes funciones: i) El vehículo autopropulsado o robot se mueve sobre los cables eléctricos o conductores y cables de guarda. The vehicle or robot inspector of conductors of the electric line performs the following functions: i) The self-propelled vehicle or robot moves on electric cables or conductors and guard cables.
ii) El vehículo autopropulsado o robot navega a través de los diversos obstáculos en los cables eléctricos (cables de guarda o conductores eléctricos), tales como: amortiguadores de la vibración, abrazadera de tensión, varillas de pre forme. ii) The self-propelled vehicle or robot navigates through the various obstacles in the electric cables (guard cables or conductors electrical), such as: vibration dampers, tension clamp, preform rods.
iii) Cuando el vehículo autopropulsado o robot se encuentre en movimiento sobre los cables eléctricos debe mantener una velocidad constante, y no afectar los sistemas electrónicos debido al campo electromagnético.  iii) When the self-propelled vehicle or robot is moving on the electric cables it must maintain a constant speed, and not affect the electronic systems due to the electromagnetic field.
Algunas ventajas del sistema de mantenimiento e inspección de cables conductores son: Some advantages of the conductor cable maintenance and inspection system are:
- El vehículo autopropulsado o robot es ligero con un peso menor a 2 Kg., lo cual permite su fácil integración y traslado. - The self-propelled vehicle or robot is light with a weight less than 2 kg, which allows its easy integration and transfer.
- El vehículo autopropulsado o robot es portátil y de fácil acceso, por lo que, los técnicos electricistas encargados del mantenimiento de las líneas de transmisión eléctricas pueden utilizarla como una herramienta de trabajo. - The self-propelled vehicle or robot is portable and easily accessible, therefore, the electrical technicians responsible for the maintenance of the electric transmission lines can use it as a work tool.
- Es de fácil transporte, manipulación, y ejecución en el elemento de diagnóstico, para detectar deficiencias en las líneas eléctricas, alertando a los especialistas responsables de la inspección. - It is easy to transport, manipulate, and execute in the diagnostic element, to detect deficiencies in the electrical lines, alerting the specialists responsible for the inspection.
- Se elimina el riesgo de los operarios y se garantiza la seguridad de las personas, mediante la utilización de un sistema autónomo (robot) para las inspecciones de las líneas de transmisión eléctrica.  - The risk of the operators is eliminated and the safety of the people is guaranteed, through the use of an autonomous system (robot) for the inspections of the electric transmission lines.
- Se reducen daños en los cables eléctricos, debido a que el robot es de peso ligero.  - Damage to electrical cables is reduced, because the robot is lightweight.
- Es de construcción compacta.  - It is compact in construction.
- Presenta pequeñas fuerzas de fricción entre los cables y el robot.  - Presents small friction forces between the cables and the robot.
- Es de interfaz dinámica de alta duración.  - It is a dynamic interface of high duration.
- Permite la integración con sistemas de bajo consumo de energía y baja electrónica al realizar el procesamiento vía micro controlador.  - It allows the integration with systems of low power consumption and low electronics when performing the processing via microcontroller.
- Permite el diagnóstico en la línea de conductores eléctricos.  - Allows diagnosis in the line of electrical conductors.
- Permite la integración con sistemas de bajo consumo de energía y baja electrónico al realizar el procesamiento vía micro controlador PIC 16F84; dado que este controlador requiere una corriente de energía de 0.2A-h; un valor muy bajo de energía para este tipo de aplicación.  - Allows integration with low power and low electronic systems when processing via PIC 16F84 microcontroller; since this controller requires an energy current of 0.2A-h; a very low energy value for this type of application.
- Permite el diagnóstico en la línea de conductores eléctricos. El sistema para inspeccionar los conductores de la línea eléctrica realiza las siguientes funciones: - Allows diagnosis in the line of electrical conductors. The system for inspecting the conductors of the electric line performs the following functions:
- El vehículo autopropulsado o robot se mueve sobre los cables eléctricos o conductores, - The self-propelled vehicle or robot moves over the electric wires or conductors,
- El vehículo autopropulsado o robot navega a través de los diversos obstáculos en los cables eléctricos (cables de guarda o conductores eléctricos), tales como: amortiguadores de la vibración, abrazadera de tensión, varillas de pre forme.  - The self-propelled vehicle or robot navigates through the various obstacles in the electrical cables (guard cables or electrical conductors), such as: vibration dampers, tension clamp, preform rods.
- Cuando el vehículo autopropulsado o robot se encuentre en movimiento sobre los cables eléctricos debe mantener una velocidad constante, y no afectar los sistemas electrónicos debido al campo electromagnético.  - When the self-propelled vehicle or robot is moving on the electric cables it must maintain a constant speed, and not affect the electronic systems due to the electromagnetic field.
Breve descripción de figuras Brief description of figures
Con la finalidad de ayudar a una mejor comprensión de la invención, se proporcionan las siguientes figuras: In order to help a better understanding of the invention, the following figures are provided:
Figura 1 : Muestra el diagrama de análisis dinámico o conceptual del robot Figura 2: Muestra vistas del vehículo autopropulsado o robot. Figure 1: Shows the dynamic or conceptual analysis diagram of the robot Figure 2: Shows views of the self-propelled vehicle or robot.
Figura 3: Muestra la estructura de la base del vehículo o robot  Figure 3: Shows the structure of the base of the vehicle or robot
Figura 4: Muestra el componente superior de la estructura del robot en una forma de realización preferente.  Figure 4: Shows the upper component of the robot structure in a preferred embodiment.
Figura 5: Muestra vistas en detalle de un elemento del robot.  Figure 5: Shows detailed views of a robot element.
Figura 6: Muestra el vehículo autopropulsado o robot inspector de líneas con todos sus componentes estructurales.  Figure 6: Shows the self-propelled vehicle or line inspection robot with all its structural components.
Realización preferente de la invención PREFERRED EMBODIMENT OF THE INVENTION
El sistema de mantenimiento e inspección de líneas eléctricas de alta tensión comprende los siguientes elementos: The maintenance and inspection system of high voltage power lines comprises the following elements:
- Un conjunto de torres de alta tensión, - Unas líneas eléctricas de alta tensión que se extienden entre dichas torres de alta tensión, conformadas por cables eléctricos y cables de guarda. - A set of high voltage towers, - High voltage power lines that extend between said high voltage towers, formed by electric cables and guard cables.
La invención se caracteriza porque además comprende: The invention is characterized in that it also comprises:
- Al menos un vehículo autopropulsado o robot que se desplaza sobre unos cables eléctricos y unos cables de guarda, y donde dicho vehículo está conformado por: un hardware, un software y un mecanismo de absorción de corrientes parasitas. - At least one self-propelled vehicle or robot that moves on electric cables and guard cables, and where said vehicle is made up of: hardware, software and a parasitic current absorption mechanism.
El hardware pesa menos de 2Kg, preferentemente 1 ,9 Kg +/- 0.1 Kg., y está conformado por: The hardware weighs less than 2Kg, preferably 1, 9 Kg +/- 0.1 Kg., And is made up of:
• un sistema de propulsión que comprende un mecanismo de locomoción (ver figura 09) formado por al menos cuatro ruedas motrices dentadas para el desplazamiento y freno del vehículo y unas pinzas que entran en contacto con los cables; unos motores de corriente continua tipo“H”; un mecanismo de control asociado a unos relés para el control de dichos motores tipo“H”, para su interacción y control en corriente continua; • a propulsion system comprising a mechanism of locomotion (see figure 09) formed by at least four toothed drive wheels for the movement and brake of the vehicle and clamps that come into contact with the cables; "H" type DC motors; a control mechanism associated with relays for the control of said type "H" motors, for their interaction and control in direct current;
• un sistema de comunicaciones que comprende una antena de comunicación vía radio frecuencia a 2.4 kHz; unos relés de control, y un mecanismo de comunicación de radio frecuencia, el cual está ubicado en la nueva placa electrónica creada para el dispositivo, como se detalla en la Fig. 1. Este sistema permite que el supervisor encargado de la actividad, pueda iniciar el robot en el momento que se requiera;  • a communications system comprising a radio frequency communication antenna at 2.4 kHz; control relays, and a radio frequency communication mechanism, which is located in the new electronic board created for the device, as detailed in Fig. 1. This system allows the supervisor in charge of the activity, to start the robot at the time that is required;
• unos sensores de aproximación y un mecanismo de control de los sensores de aproximación y control de acercamiento; el sensor remite las señales: proximidad (detectando elementos en la línea de transmisión), al detectarse este elemento externo, se tomará una fotografía asociada para su análisis, ingresando la información del • Approach sensors and a control mechanism for the approach and approach control sensors; the sensor sends the signals: proximity (detecting elements in the transmission line), when this external element is detected, an associated photograph will be taken for its analysis, entering the information of the
GPS, para determinar la ubicación exacta. El sensor foto emisor y receptor determina la sección del conductor, para detectar posible corrosión del sistema. Así mismo determina si hay alguna hebra rota o algún defecto en el cable. Por lo menos 1 o 2 cámaras IP o digitales dispuestas en ambos lados del vehículo autopropulsado o robot, para realizar inspecciones a los cables eléctricos; y, de acuerdo a la necesidad, la cámara puede ser intercambiable con cualquier tipo de cámara, recomendando por lo menos 2 cámaras en ambos extremos. El dispositivo tiene la opción de ampliar 3 cámaras adicionales para grabar otros cables, servidumbre o las torres de energía. Este accesorio es opcional. Hasta 3 cámaras adicionales en el vehículo autopropulsado o robot, para realizar la inspección en una faja de servidumbre u otros conductores eléctricos de la línea de transmisión;GPS, to determine the exact location. The photo sender and sensor receiver determines the conductor section, to detect possible corrosion of the system. It also determines if there is any broken strand or any defect in the cable. At least 1 or 2 IP or digital cameras arranged on both sides of the self-propelled vehicle or robot, to perform inspections of the electric cables; and, according to the need, the camera can be interchangeable with any type of camera, recommending at least 2 cameras at both ends. The device has the option to extend 3 additional cameras to record other cables, servitude or power towers. This accessory is optional. Up to 3 additional cameras in the self-propelled vehicle or robot, to perform the inspection in a band of easement or other electrical conductors of the transmission line;
• un sistema de control que comprende un conjunto de relés para controlar el desplazamiento del vehículo o robot; un micro-controlador capaz de transportar hasta cuatro módulos de controlador, el cual procesa las señales provenientes de los sensores, lo cual permite el análisis dinámico, que se basa en el autod ¡agnóstico para dar respuesta a factores clave, con el fin de determinar la dinámica y la cinemática que requiere el procesamiento de la señal dada por los sensores, para traducirlas y procesarlas y así ejecutar el control del actuador, este sistema permite que el control de los motores sea continuo, con un sistema tipo H, que permite dar un giro y contra giro a los motores asociados; • a control system comprising a set of relays to control the movement of the vehicle or robot; a micro-controller capable of transporting up to four controller modules, which processes the signals coming from the sensors, which allows the dynamic analysis, which is based on the agnostic autod to respond to key factors, in order to determine the dynamics and the kinematics that the processing of the signal given by the sensors requires, to translate and process them and thus execute the control of the actuator, this system allows the control of the motors to be continuous, with a type H system, which allows one turn and counter rotation to the associated engines;
• un mecanismo de unión de plataformas elaborado en Polietileno que permite separar dos sistemas importantes del robot: el primero, asociado al sistema de fuerza (motores y ruedas de unión con el cable y conductor), el segundo sistema asociado a los componentes electrónicos que permiten la conexión con el sistema de control y telecomunicaciones;  • a platform joining mechanism made of polyethylene that separates two important systems of the robot: the first, associated with the force system (motors and connecting wheels with the cable and driver), the second system associated with the electronic components that allow the connection to the control and telecommunications system;
• un mecanismo regulador de tensión; el cual regula la tensión de referencia y el procesamiento de señales mediante un micro controlador. La tensión de referencia permite reducir y controlar la tensión (Voltaje) del robot a 5V, para el sistema de control. Los motores utilizan un nivel de tensión de 12 V. Este sistema permite el control de las tensiones asociadas y la inyección de corriente a cada motor, para poder adelantar, frenar y retroceder en el cable de guarda. Finalmente, en el micro controlador, permite que este sistema ingrese todos los datos de los sensores para determinar el estado del cable y conductor eléctrico y tomar las decisiones en los sistemas de control; • a tension regulating mechanism; which regulates the reference voltage and the signal processing by means of a microcontroller. The reference voltage allows to reduce and control the voltage (Voltage) of the robot to 5V, for the control system. The engines They use a voltage level of 12 V. This system allows the control of the associated voltages and the injection of current to each motor, to be able to overtake, brake and rewind in the guard wire. Finally, in the microcontroller, it allows this system to enter all the data of the sensors to determine the state of the cable and electrical conductor and to make the decisions in the control systems;
• un actuador; y,  • an actuator; Y,
• un sistema de cámaras dispuestas en ambos lados del vehículo, que comprende al menos una cámara IP o digitales dispuestas en ambos extremos del vehículo autopropulsado, para realizar la inspección del cable; y, al menos 3 cámaras adicionales para realizar la inspección en la faja de la incertidumbre u otros conductores eléctricos de la línea de transmisión;  • a system of cameras arranged on both sides of the vehicle, comprising at least one IP camera or digital cameras arranged at both ends of the self-propelled vehicle, to perform the inspection of the cable; and, at least 3 additional cameras to perform the inspection in the belt of the uncertainty or other electrical conductors of the transmission line;
• Un mecanismo de absorción de corrientes parasitas conformado por una jaula Faraday. Este sistema está compuesto de una malla de metal no corrosivo, que permite cubrir el mecanismo completo, impidiendo el ingreso de corrientes no deseadas (corrientes parasitas) en el interior del sistema de control o de fuerza (motores).  • A parasitic current absorption mechanism made up of a Faraday cage. This system is composed of a non-corrosive metal mesh, which covers the entire mechanism, preventing the entry of unwanted currents (parasitic currents) inside the control system or force (motors).
• Un controlador, que apoya el trabajo del técnico de línea minimizando el riesgo. El controlador está integrado en el PIC 16D84, el cual es la memoria del robot. El micro controlador tiene un programa desarrollado para el proyecto en el lenguaje ensamblador; propio para la aplicación. Un software para el procesamiento de la información de los sensores y análisis de información detallada proveniente de los sensores de proximidad, foto sensores (foto emisor / receptor), corriente de los motores, imágenes de las cámaras; con los cuales se procesa la información y determina si hay alguna observación en el conductor eléctrico.  • A controller, who supports the work of the line technician by minimizing the risk. The controller is integrated in PIC 16D84, which is the robot's memory. The microcontroller has a program developed for the project in assembly language; own for the application. A software for the processing of the information of the sensors and analysis of detailed information coming from the sensors of proximity, photo sensors (photo emitter / receiver), current of the motors, images of the cameras; with which the information is processed and determines if there is any observation in the electrical conductor.
El funcionamiento de las tarjetas es el siguiente, cuenta con un sistema de control de motores: Es del tipo H, que permite la interacción y control en corriente continua para iniciar una ruta, parar o retroceder. El dispositivo requiere de una memoria temporal para el almacenamiento de algunas acciones, esta se obtiene a través de la memoria un micro controlador PIC 16F84, encargado del procesamiento de las señales. En esta tarjeta también se ha considerado un dispositivo que regula la tensión de energía para control 5V y para el sistema de motores 12V, lo cual permite el análisis dinámico, se basa en el autodiagnóstico de la situación y la respuesta a factores clave con el fin de determinar el movimiento del dispositivo (dinámica), y medir el balance del dispositivo al momento de recorrer los conductores eléctricos (cinemática); se requiere ambos, tanto la dinámica como la cinemática, para el correcto funcionamiento y procesamiento de las señal por los sensores. Estas señales de los sensores son factores clave para el diagnóstico del conductor y cable de energía. The operation of the cards is as follows, has a motor control system: It is of type H, which allows the interaction and control in direct current to start a route, stop or rewind. The device requires a temporary memory for the storage of some actions, this is obtained through the memory a 16F84 PIC microcontroller, responsible for signal processing. This card has also been considered a device that regulates the power voltage for 5V control and for the 12V motor system, which allows dynamic analysis, is based on the self-diagnosis of the situation and the response to key factors in order to to determine the movement of the device (dynamics), and to measure the balance of the device at the time of traversing the electric conductors (kinematics); both the dynamics and the kinematics are required for the correct operation and processing of the signals by the sensors. These sensor signals are key factors for the diagnosis of the driver and power cable.
Por último, en la definición de oferta se requiere el uso de diversas técnicas para reducir el consumo y el tiempo máximo de demanda y bajo condiciones de campo eléctrico y magnético; para este punto se utiliza una malla para reducir las corrientes parásitas en los circuitos electrónicos por medio de una Jaula de Faraday. Finally, the definition of supply requires the use of various techniques to reduce consumption and the maximum demand time and under electric and magnetic field conditions; for this point a mesh is used to reduce eddy currents in electronic circuits by means of a Faraday cage.
Las características de diseño de un análisis conceptual se encuentran en la figura 1 , con lo cual se cuenta con un peso de 1 9kg con una incertidumbre de +/-0.1kg: lo cual facilita su elevación en la torre y fácil transporte, por su pequeño peso de las áreas alejado. El robot ha requerido incorporar un sistema dinámico y cinemático, para procesar las condiciones del entorno, para generar un mejor control sobre los motores. The design characteristics of a conceptual analysis can be found in figure 1, with which it has a weight of 1 9kg with an uncertainty of +/- 0.1kg: which facilitates its elevation in the tower and easy transportation, due to its small weight of the remote areas. The robot has required to incorporate a dynamic and kinematic system, to process the environmental conditions, to generate a better control over the motors.
El análisis dinámico, se basa en el autodiagnóstico de la situación y la respuesta a factores clave con el fin de determinar la dinámica y la cinemática que requiere el procesamiento de la señal por los sensores. Por último, en la definición de oferta se requiere el uso de diversas técnicas para reducir el consumo y el tiempo máximo de demanda y bajo condiciones de campo eléctrico y magnético. The dynamic analysis is based on the self-diagnosis of the situation and the response to key factors in order to determine the dynamics and kinematics required by signal processing by the sensors. Finally, the definition of supply requires the use of various techniques to reduce consumption and maximum demand time and under electric and magnetic field conditions.
- Un software que procesa y analiza la información proveniente de los sensores. - A software that processes and analyzes the information coming from the sensors.
De esta manera el robot se desplaza de forma automática y retorna al sitio de inicio, con el diagnostico ya realizado. Donde la inspección se realiza por tramos, sin recorrer la línea de trasmisión completa. Asimismo, cabe precisar que el frenado o retroceso del vehículo autopropulsado se realiza directamente con las llantas o ruedas de dicho vehículo. In this way the robot moves automatically and returns to the start site, with the diagnosis already made. Where the inspection is done by sections, without crossing the complete transmission line. Likewise, it should be specified that the braking or recoil of the self-propelled vehicle is done directly with the tires or wheels of said vehicle.
Asimismo, las cámaras y los sensores instalados en el vehículo autopropulsado o robot, permiten analizar y diagnosticar a los conductores eléctricos y de guarda, mediante el empleo de micro controladores PIC 16F84 para lograr integrar a los sensores y a las cámaras. Also, the cameras and sensors installed in the self-propelled vehicle or robot, allow to analyze and diagnose the electrical and guard conductors, by using PIC 16F84 microcontrollers to integrate the sensors and cameras.
En la figura 1 se describe el análisis dinámico, el cual se basa en el autodiagnóstico de la situación y la respuesta a factores clave con el fin de determinar la dinámica, la dinámica y la cinemática que requiere el procesamiento de la señal obtenida por los sensores, para traducirlas, procesarlas y ejecutarlas. Por último, en la definición de la oferta se requiere el uso de diversas técnicas para reducir el consumo y el tiempo máximo de demanda y bajo condiciones de campo eléctrico y magnético. Figure 1 describes the dynamic analysis, which is based on the self-diagnosis of the situation and the response to key factors in order to determine the dynamics, dynamics and kinematics required by the processing of the signal obtained by the sensors , to translate, process and execute them. Finally, the definition of supply requires the use of various techniques to reduce consumption and the maximum demand time and under electric and magnetic field conditions.
Para reducir el daño al cable, el peso del robot debe ser ligero, y la fuerza de fricción entre el cable y el robot debe ser pequeña. Las piezas que entran en contacto con el cable son las ruedas motrices y las pinzas, donde las ruedas motrices ruedan sobre el cable lo que significa menos fricción. To reduce damage to the cable, the weight of the robot must be light, and the friction force between the cable and the robot must be small. The parts that come in contact with the cable are the drive wheels and the calipers, where the drive wheels roll over the cable, which means less friction.
Las características de diseño desde un análisis conceptual se encuentran en el diagrama de la figura 1 , facilitando a la elevación y transporte, debido a su peso, en especial de zonas alejadas. Se ha requerido para el análisis cinemático el uso de arrastre de motores de corriente continua por superficie rugosa de las ruedas, doble soporte para desplazamiento vertical y escalamiento de cumplimiento pendientes negativas y positivas. En cuanto al diseño electrónico de la placa se ha diseñado una placa base capaz de transportar hasta cuatro módulos de controlador. El PIC (microcontrolador) proporciona una amplia entrada/salida para la detección de posición y corriente para los actuadores y la interfaz de comunicación para la conexión en red a otras tarjetas; y, el ordenador a bordo presenta una amplia línea de visión. La placa base permite un control de posición de nivel bajo localizado del actuador. La adquisición de la posición del eje de los codificadores ha demostrado ser más compacta y menos propensa al ruido inducido por la oferta en sus señales. La placa base fue diseñada para encajar dentro de la estructura del robot, con una malla jaula de Faraday que evita corrientes parasitas en el interior del circuito electrónico. The design features from a conceptual analysis are found in the diagram of figure 1, facilitating lifting and transport, due to their weight, especially from remote areas. The use of kinematics has been required of drag of motors of direct current by rough surface of the wheels, double support for vertical displacement and scaling of compliance negative and positive slopes. As regards the electronic design of the board, a base plate capable of transporting up to four controller modules has been designed. The PIC (microcontroller) provides a wide input / output for the position and current detection for the actuators and the communication interface for the network connection to other cards; and, the computer on board presents a broad line of sight. The base plate allows a localized low level position control of the actuator. The acquisition of the axis position of the encoders has proven to be more compact and less prone to noise induced by the supply in their signals. The base plate was designed to fit inside the robot structure, with a Faraday cage mesh that prevents parasitic currents inside the electronic circuit.

Claims

REIVINDICACIONES
1. Un vehículo autopropulsado del tipo que se desplaza por unos cables de líneas eléctricas de alta tensión a través de unas ruedas motrices caracterizado porque comprende: a. Una estructura móvil conformada por: 1. A self-propelled vehicle of the type that travels through high-voltage power line cables through motorized wheels characterized in that it comprises: a. A mobile structure consisting of:
- un sistema de propulsión conformado por un mecanismo de locomoción formado por unas ruedas motrices y unas pinzas que entran en contacto con los cables; unos motores de corriente continua tipo“H”; y, un mecanismo de control asociado a unos relés para el control de dichos motores;  - a propulsion system formed by a locomotion mechanism formed by driving wheels and clamps that come into contact with the cables; "H" type DC motors; and, a control mechanism associated with relays for the control of said motors;
- un sistema de comunicaciones conformado por una antena de comunión vía radio frecuencia; unos relés de control; y un mecanismo de comunicación de radio frecuencia; ubicado en la placa electrónica, - a communication system consisting of a communion antenna via radio frequency; control relays; and a radio frequency communication mechanism; located on the electronic board,
- unos sensores de aproximación y un mecanismo de control de dichos sensores y control de acercamiento; - Approach sensors and a mechanism for controlling said sensors and approach control;
- un sistema de control conformado por un conjunto de relés para controlar el desplazamiento del vehículo; un micro-controlador capaz de transportar hasta cuatro módulos de controlador, el cual procesa las señales provenientes de los sensores;  - a control system made up of a set of relays to control the movement of the vehicle; a micro-controller capable of transporting up to four controller modules, which processes the signals coming from the sensors;
- un mecanismo de unión de plataformas para separar el sistema de propulsión de unos componentes electrónicos que conectan el sistema de comunicaciones y de control;  - a mechanism for joining platforms to separate the propulsion system from electronic components that connect the communication and control system;
- un mecanismo regulador de tensión que regula le tensión de referencia y el procesamiento de señales mediante un micro- controlador;  - a voltage regulating mechanism that regulates the reference voltage and the signal processing by means of a microcontroller;
- un actuador;  - an actuator;
- un controlador que apoya el trabajo del técnico de línea;  - a controller that supports the work of the line technician;
- un sistema de cámaras dispuestas a ambos lados o extremos del vehículo autopropulsado conformado por unas cámaras IP o digitales y unas cámaras adicionales para la inspección en la faja de incertidumbre u otros cables eléctricos de la línea de alta tensión; y, un mecanismo de absorción de corrientes parasitas. b. Un software que procesa y analiza la información recogida por los sensores. - a system of cameras arranged on both sides or ends of the self-propelled vehicle consisting of IP or digital cameras and additional cameras for inspection in the uncertainty strip or other electric cables of the high-voltage line; Y, a parasitic current absorption mechanism. b. A software that processes and analyzes the information collected by the sensors.
2. Vehículo autopropulsado según la reivindicación 1 caracterizado porque dicho vehículo presenta preferentemente 1 o 2 cámaras IP o digitales dispuestas en ambos lados del vehículo autopropulsado. 2. Self-propelled vehicle according to claim 1, characterized in that said vehicle preferably has 1 or 2 IP or digital cameras arranged on both sides of the self-propelled vehicle.
3. Vehículo autopropulsado según las reivindicaciones precedentes caracterizado porque dicho vehículo presenta al menos 3 cámaras adicionales para la inspección en la faja de incertidumbre u otros cables eléctricos de la línea de alta tensión. 3. Self-propelled vehicle according to the preceding claims, characterized in that said vehicle has at least 3 additional cameras for inspection in the uncertainty strip or other electric cables of the high-voltage line.
4. Vehículo autopropulsado según las reivindicaciones anteriores caracterizado porque dicho vehículo presenta preferentemente 4 ruedas motrices de desplazamiento dentadas, para un mejor agarre de los cables conductores. Self-propelled vehicle according to the previous claims, characterized in that said vehicle preferably has four toothed displacement drive wheels, for a better grip of the conductor cables.
5. Vehículo autopropulsado según cualquiera de las reivindicaciones anteriores caracterizado porque el vehículo autopropulsado puede ser un robot. 5. Self-propelled vehicle according to any of the preceding claims, characterized in that the self-propelled vehicle can be a robot.
6. Vehículo autopropulsado según las reivindicaciones anteriores caracterizado porque el mecanismo de absorción de corrientes parasitas es una jaula Faraday, conformada por una malla de metal no corrosivo. 6. Self-propelled vehicle according to the preceding claims, characterized in that the parasitic current absorption mechanism is a Faraday cage, formed by a non-corrosive metal mesh.
7. Vehículo autopropulsado según las reivindicaciones anteriores caracterizado porque tiene un peso menor a 2 Kg, preferentemente 1.9 Kg con una incertidumbre de +/- 0.1 Kg. Self-propelled vehicle according to the preceding claims, characterized in that it has a weight of less than 2 kg, preferably 1.9 kg with an uncertainty of +/- 0.1 kg.
8. Un sistema de mantenimiento de líneas eléctricas de alta tensión que comprende: 8. A maintenance system for high voltage power lines that includes:
- un conjunto de torres de alta tensión, - unas líneas eléctricas de alta tensión que se extienden entre dichas torres de alta tensión, conformadas por cables eléctricos y cables de guarda,- a set of high voltage towers, - high voltage power lines that extend between said high voltage towers, formed by electric cables and guard cables,
- al menos un vehículo autopropulsado de acuerdo con las reivindicaciones 1 a 7, el cual es desplazado sobre dichos cables, a través de unas ruedas motrices y unas pinzas que entran en contacto con dichos cables eléctricos. - at least one self-propelled vehicle according to claims 1 to 7, which is moved on said cables, through driving wheels and clamps that come into contact with said electric cables.
PCT/PE2017/000033 2017-12-26 2017-12-26 System and apparatus for inspecting electric power transmission lines WO2019132674A1 (en)

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CN112757313A (en) * 2020-12-28 2021-05-07 南京工业大学 Multifunctional inspection robot

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