CN108462111A - One kind being based on the unmanned crusing robot of intelligent overhead transmission line - Google Patents
One kind being based on the unmanned crusing robot of intelligent overhead transmission line Download PDFInfo
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- CN108462111A CN108462111A CN201810383786.8A CN201810383786A CN108462111A CN 108462111 A CN108462111 A CN 108462111A CN 201810383786 A CN201810383786 A CN 201810383786A CN 108462111 A CN108462111 A CN 108462111A
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- main body
- unmanned plane
- plane main
- unmanned
- transmission line
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- 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
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The invention discloses one kind being based on the unmanned crusing robot of intelligent overhead transmission line, including unmanned plane main body, the bottom of the unmanned plane main body is equipped with the first propeller, first propeller is used to control the lifting of unmanned plane main body, picture pick-up device is installed at the top of unmanned plane main body, the top both sides of the unmanned plane main body are mounted on lifting gear, detecting devices is installed at the top of lifting gear, it is symmetrically installed with the supporting rod being vertically arranged at the top of unmanned plane main body between two lifting gears, the top side of supporting rod is equipped with traveling wheel, traveling wheel is driven by driving motor and is walked.The present invention runs propeller when encountering barrier, to make unmanned plane main body rise, to across obstacle, is put on the line across after barrier, then by traveling wheel, to walk using traveling wheel, saves electric energy.
Description
Technical field
The present invention relates to unmanned crusing robot technical fields, more particularly to based on intelligent overhead transmission line, nobody patrols one kind
Examine robot.
Background technology
With the development of social economy, electric system scale constantly expands, and what is run and power to transmission line safety can
It requires to be continuously improved by property.Overhead transmission line is as the important link in electric system, and safe and stable operation is to ensureing electricity
Web frame important role！The inspection of China's high-tension line at present safeguards and substantially uses manual patrol, labor intensity is big,
It is costly and dangerous big, it is badly in need of the method and apparatus of substitution human inspection.Robot is used in the inspection of transmission line of electricity, not only
The intensity of walking operation can be mitigated, expense is reduced, the quality and technology management level of walking operation can also be improved, more ensured
The safety of staff.
The above problem has developed a whole set of overhead transmission line robot autonomous inspection technology entirely, including it is robot autonomous more
The key technologies such as barrier, autonomous positioning, automatic fault diagnosis and reset, autonomous inspection, wherein robot autonomous more barrier technique solves
Locally operation control problem, robot autonomous localization technology are that fixed point inspection lays the foundation for robot.Robot body and base
The communication technology of standing makes robot have information transfer capacity, automatic fault diagnosis and reset skill in over the horizon range inspection operation
Art makes to handle faults itself during robot inspection and be repaired, and improves inspection reliability.
Transmission line of electricity manual inspection is less efficient, great work intensity, routing inspection cost is high, it is high to meet modern power network safety
Imitate inspection demand.Currently, autonomous inspection technology is still immature entirely for grid power transmission circuit robot of China, existing line robot
Not yet realize that the intelligent overhead transmission line robot of full-automatic inspection replaces patrol worker, reliable inspection wireless charging meeting, to adopt in real time completely
Collection, storage, transmission scene image, sound, temperature, icing, data, by the analysis to data, judge whether failure
And fault location is carried out, mitigate intensity of workers, reduce labour point danger.
For this purpose, the present invention proposes that one kind being based on the unmanned crusing robot of intelligent overhead transmission line.
Invention content
The purpose of the present invention is to solve disadvantages existing in the prior art, and the one kind proposed is based on intelligent make somebody a mere figurehead
The unmanned crusing robot of circuit.
To achieve the goals above, present invention employs following technical solutions：
One kind being based on the unmanned crusing robot of intelligent overhead transmission line, including unmanned plane main body, the bottom of the unmanned plane main body
First propeller is installed, the first propeller is used to control the lifting of unmanned plane main body, the both sides installation of the unmanned plane main body
There are the second propeller, the direction of two the second propeller control unmanned plane main bodys, the surrounding of the unmanned plane main body to be mounted on
One end of radar detedtor, unmanned plane main body is equipped with wireless transceiver, and picture pick-up device, institute are equipped at the top of unmanned plane main body
The top both sides for stating unmanned plane main body are mounted on lifting gear, and detecting devices is equipped at the top of lifting gear, are located at two
The supporting rod being vertically arranged, the top side installation of supporting rod are symmetrically installed at the top of unmanned plane main body between lifting gear
There are traveling wheel, traveling wheel to drive and walk by driving motor.
Preferably, the traveling wheel includes idler wheel, two side plates and non-slip rubber ring, wherein two side plates are fixed on rolling
The outer wall of the both sides of wheel, idler wheel is circumferentially socketed with non-slip rubber ring, and the side of traveling wheel is fixed with rotation axis, and driving motor is fixed
In the side of supporting rod, the output shaft of driving motor is fixedly connected with the rotating shaft.
Preferably, the unmanned plane main body is wirelessly connected by wireless transceiver and controller, and staff is logical on ground
Traveling wheel is put on the line when the side for reaching circuit to be checked, utilizes driving motor by the traveling for crossing controller control unmanned plane
Traveling wheel rotation is driven, to be moved easily, avoids flying always, has the function of power saving.
Preferably, the picture pick-up device can be to degree of progress observation around unmanned plane main body, and picture pick-up device is by the number of shooting
According to the controller for being sent to bottom surface by wireless transceiver.
Preferably, the lifting gear uses push-rod electric machine.
Preferably, the inside of the unmanned plane main body is equipped with lithium battery, and lithium battery provides power supply.
Compared with prior art, the beneficial effects of the invention are as follows：The first spiral is installed by the bottom of unmanned plane main body
Paddle, the first propeller are used to control the lifting of unmanned plane main body, and the both sides of unmanned plane main body are equipped with the second propeller, two the
Two propellers control the direction of unmanned plane main body, and unmanned plane main body is wirelessly connected by wireless transceiver and controller, and work people
The traveling that member controls unmanned plane on ground by controller puts traveling wheel on the line when the side for reaching circuit to be checked, profit
With driving motor driving traveling wheel rotation, to be moved easily, avoids flying always, have the function of power saving, when encountering obstacle
When object, propeller is run, to make unmanned plane main body rise, to across obstacle, is put across after barrier, then by traveling wheel
On the line, to walk using traveling wheel, electric energy is saved, the present invention is ingenious in design, reasonable for structure, is suitble to promote.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram based on the unmanned crusing robot of intelligent overhead transmission line proposed by the present invention；
Fig. 2 is proposed by the present invention a kind of based on traveling wheel in the unmanned crusing robot of intelligent overhead transmission line and driving motor company
Structural schematic diagram when connecing.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Referring to Fig.1-2, a kind of to be based on the unmanned crusing robot of intelligent overhead transmission line, including unmanned plane main body 1, unmanned plane
The bottom of main body 1 is equipped with the first propeller 2, and the first propeller 2 is used to control the lifting of unmanned plane main body 1, unmanned plane main body 1
Both sides the second propeller 3 is installed, the direction of two the second propellers 3 control unmanned plane main bodys 1, the four of unmanned plane main body 1
It is mounted on radar detedtor 4 week, one end of unmanned plane main body 1 is equipped with wireless transceiver 5, the top peace of unmanned plane main body 1
Equipped with picture pick-up device 6, the top both sides of unmanned plane main body 1 are mounted on lifting gear 7, and the top of lifting gear 7 is equipped with spy
Measurement equipment 12, the top of the unmanned plane main body 1 between two lifting gears 7 are symmetrically installed with the supporting rod 8 being vertically arranged,
The top side of supporting rod 8 is equipped with traveling wheel 10, and traveling wheel 10 is driven by driving motor 9 and walked.
In the present invention, traveling wheel 10 includes 102, two side plates 101 of idler wheel and non-slip rubber ring 103, wherein two side plates
101 are fixed on the both sides of idler wheel 102, and the outer wall of idler wheel 102 is circumferentially socketed with non-slip rubber ring 103, and the side of traveling wheel 10 is solid
There are rotation axis 11, driving motor 9 to be fixed on the side of supporting rod 8, the output shaft of driving motor 9 is fixed with rotation axis 11 to be connected surely
It connects, unmanned plane main body 1 is wirelessly connected by wireless transceiver 5 and controller, and staff controls nothing on ground by controller
Man-machine traveling puts traveling wheel 10 on the line when the side for reaching circuit to be checked, and traveling wheel is driven using driving motor 9
10 rotations, to be moved easily, avoid flying always, have the function of that power saving, picture pick-up device 6 can be 1 weeks to unmanned plane main body
360 degree of observations of progress are enclosed, the data of shooting are sent to the controller of bottom surface, lifting dress by picture pick-up device 6 by wireless transceiver 5
Setting 7 uses push-rod electric machine, the inside of unmanned plane main body 1 to be equipped with lithium battery, and lithium battery provides power supply.
In the use of the present invention, being equipped with the first propeller 2 by the bottom of unmanned plane main body 1, the first propeller 2 is used for
The lifting of unmanned plane main body 1 is controlled, the both sides of unmanned plane main body 1 are equipped with the second propeller 3, two the second propeller 3 controls
The direction of unmanned plane main body 1, unmanned plane main body 1 are wirelessly connected by wireless transceiver 5 and controller, and staff is logical on ground
Traveling wheel 10 is put on the line when the side for reaching circuit to be checked, utilizes driving electricity by the traveling for crossing controller control unmanned plane
Machine 9 drives traveling wheel 10 to rotate, and to be moved easily, avoids flying always, has the function of power saving, when encountering barrier,
Propeller is run, to make unmanned plane main body 1 rise, to across obstacle, is placed on across after barrier, then by traveling wheel 10
On circuit, to walk using traveling wheel 10, electric energy is saved, the present invention is ingenious in design, reasonable for structure, is suitble to promote.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (6)
1. one kind being based on the unmanned crusing robot of intelligent overhead transmission line, including unmanned plane main body（1）, which is characterized in that it is described
Unmanned plane main body（1）Bottom the first propeller is installed（2）, the first propeller（2）For controlling unmanned plane main body（1）Liter
Drop, the unmanned plane main body（1）Both sides the second propeller is installed（3）, two the second propellers（3）Control unmanned plane main body
（1）Direction, the unmanned plane main body（1）Surrounding be mounted on radar detedtor（4）, unmanned plane main body（1）One end peace
Equipped with wireless transceiver（5）, unmanned plane main body（1）Top picture pick-up device is installed（6）, the unmanned plane main body（1）Top
Portion both sides are mounted on lifting gear（7）, lifting gear（7）Top detecting devices is installed（12）, it is located at two liftings and fills
It sets（7）Between unmanned plane main body（1）Top be symmetrically installed with the supporting rod being vertically arranged（8）, supporting rod（8）Top one
Side is equipped with traveling wheel（10）, traveling wheel（10）Pass through driving motor（9）Driving walking.
2. according to claim 1 a kind of based on the unmanned crusing robot of intelligent overhead transmission line, which is characterized in that described
Traveling wheel（10）Including idler wheel（102）, two side plates（101）And non-slip rubber ring（103）, wherein two side plates（101）It is fixed
In idler wheel（102）Both sides, idler wheel（102）Outer wall be circumferentially socketed with non-slip rubber ring（103）, traveling wheel（10）Side it is solid
Surely there is rotation axis（11）, driving motor（9）It is fixed on supporting rod（8）Side, driving motor（9）Output shaft and rotation axis
（11）It is fixedly connected.
3. according to claim 1 a kind of based on the unmanned crusing robot of intelligent overhead transmission line, which is characterized in that described
Unmanned plane main body（1）Pass through wireless transceiver（5）It is wirelessly connected with controller, staff controls nothing on ground by controller
Man-machine traveling, when the side for reaching circuit to be checked, by traveling wheel（10）It puts on the line, utilizes driving motor（9）Driving row
Walk wheel（10）Rotation, to be moved easily, avoids flying always, has the function of power saving.
4. according to claim 1 a kind of based on the unmanned crusing robot of intelligent overhead transmission line, which is characterized in that described
Picture pick-up device（6）It can be to unmanned plane main body（1）Surrounding carries out 360 degree of observations, picture pick-up device（6）The data of shooting are passed through into nothing
Line transceiver（5）It is sent to the controller of bottom surface.
5. according to claim 1 a kind of based on the unmanned crusing robot of intelligent overhead transmission line, which is characterized in that described
Lifting gear（7）Using push-rod electric machine.
6. according to claim 1 a kind of based on the unmanned crusing robot of intelligent overhead transmission line, which is characterized in that described
Unmanned plane main body（1）Inside lithium battery is installed, lithium battery provides power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810383786.8A CN108462111A (en) | 2018-04-26 | 2018-04-26 | One kind being based on the unmanned crusing robot of intelligent overhead transmission line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810383786.8A CN108462111A (en) | 2018-04-26 | 2018-04-26 | One kind being based on the unmanned crusing robot of intelligent overhead transmission line |
Publications (1)
| Publication Number | Publication Date |
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| CN108462111A true CN108462111A (en) | 2018-08-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810383786.8A Pending CN108462111A (en) | 2018-04-26 | 2018-04-26 | One kind being based on the unmanned crusing robot of intelligent overhead transmission line |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109319107A (en) * | 2018-12-05 | 2019-02-12 | 江苏齐天铁塔制造有限公司 | Extra high voltage network steel tower intelligent patrol detection device |
| CN112928689A (en) * | 2021-01-25 | 2021-06-08 | 王瑾 | Power grid fault maintenance equipment |
| CN113237887A (en) * | 2021-04-29 | 2021-08-10 | 北京送变电有限公司 | Auxiliary device for checking and accepting conducting wire |
| CN113526345A (en) * | 2020-04-16 | 2021-10-22 | 宝凯电子企业股份有限公司 | Pulley component of fetching machine crown block and fetching machine crown block with same |
| CN114353678A (en) * | 2021-12-30 | 2022-04-15 | 海南电网有限责任公司 | Distribution network overhead line icing detection device based on range finding |
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| CN103855644A (en) * | 2014-03-14 | 2014-06-11 | 刘凯 | Multi-rotary-wing intelligent inspection robot for overhead line |
| CN104158117A (en) * | 2014-08-04 | 2014-11-19 | 国家电网公司 | Robot system for inspection of overhead power line |
| CN104269777A (en) * | 2014-10-18 | 2015-01-07 | 国家电网公司 | Patrol robot system for overhead high-voltage transmission line |
| CN107834427A (en) * | 2017-10-31 | 2018-03-23 | 成都意町工业产品设计有限公司 | A kind of power transmission line crusing robot control system and its method based on unmanned plane |
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2018
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Patent Citations (4)
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| CN103855644A (en) * | 2014-03-14 | 2014-06-11 | 刘凯 | Multi-rotary-wing intelligent inspection robot for overhead line |
| CN104158117A (en) * | 2014-08-04 | 2014-11-19 | 国家电网公司 | Robot system for inspection of overhead power line |
| CN104269777A (en) * | 2014-10-18 | 2015-01-07 | 国家电网公司 | Patrol robot system for overhead high-voltage transmission line |
| CN107834427A (en) * | 2017-10-31 | 2018-03-23 | 成都意町工业产品设计有限公司 | A kind of power transmission line crusing robot control system and its method based on unmanned plane |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109319107A (en) * | 2018-12-05 | 2019-02-12 | 江苏齐天铁塔制造有限公司 | Extra high voltage network steel tower intelligent patrol detection device |
| CN113526345A (en) * | 2020-04-16 | 2021-10-22 | 宝凯电子企业股份有限公司 | Pulley component of fetching machine crown block and fetching machine crown block with same |
| CN112928689A (en) * | 2021-01-25 | 2021-06-08 | 王瑾 | Power grid fault maintenance equipment |
| CN112928689B (en) * | 2021-01-25 | 2022-07-22 | 山东电工运检工程有限公司 | Power grid fault maintenance equipment |
| CN113237887A (en) * | 2021-04-29 | 2021-08-10 | 北京送变电有限公司 | Auxiliary device for checking and accepting conducting wire |
| CN114353678A (en) * | 2021-12-30 | 2022-04-15 | 海南电网有限责任公司 | Distribution network overhead line icing detection device based on range finding |
| CN114353678B (en) * | 2021-12-30 | 2023-10-31 | 海南电网有限责任公司 | Ranging-based power distribution network overhead line icing detection device |
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Application publication date: 20180828 |