CN111431084A - Conductor broken strand repairing method based on snakelike wire climbing robot - Google Patents
Conductor broken strand repairing method based on snakelike wire climbing robot Download PDFInfo
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- CN111431084A CN111431084A CN202010235064.5A CN202010235064A CN111431084A CN 111431084 A CN111431084 A CN 111431084A CN 202010235064 A CN202010235064 A CN 202010235064A CN 111431084 A CN111431084 A CN 111431084A
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- snakelike
- wire
- climbing robot
- robot
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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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- 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
- H02G1/14—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for joining or terminating cables
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Abstract
The invention discloses a broken wire repairing method based on a snakelike wire climbing robot, which comprises the steps that firstly, the snakelike wire climbing robot is wound on an insulating rod in advance, and automatically climbs to a lead wire and a ground wire of an inspected power transmission line through remote control operation on site; the snakelike climbing robot transmits data to a background monitoring center through a 4G communication module; the background monitoring center sends a starting control command, and the robot body processor drives the robot to crawl along the power transmission line after receiving the operation command; in the walking process, the detection device continuously detects the condition of the front obstacle, and the photographed image is transmitted to the background monitoring center in real time through a 4G public network; backstage staff twines the restoration disconnected strand part through the steerable circle guide ring that opens and shuts that sets up at snakelike line machine people head mount according to the disconnected strand condition of wire that meets. The invention replaces manual work to carry out approaching inspection, finds the broken strand condition of the lead in time, repairs in time, reduces the risk of manual operation and improves the efficiency.
Description
Technical Field
The invention belongs to the technical field of high-voltage power transmission, and particularly relates to a broken wire repairing method based on a snakelike wire climbing robot.
Background
Because the distribution points of the power transmission line are multi-faceted and wide, the terrain is complex, the natural environment is severe, the power line and the tower accessories are exposed in the field for a long time, and damages such as strand breakage, abrasion, corrosion and the like are generated due to the influence of continuous mechanical tension, electrical flashover and material aging, and the power transmission line and the tower accessories need to be repaired or replaced in time. Therefore, the power transmission line must be regularly inspected, and the operation condition of the power transmission line, the change condition of the surrounding environment of the line and a certain area of the line can be mastered and known at any time, so that the hidden danger can be timely found and eliminated, the occurrence of accidents can be prevented, and the power supply safety can be ensured.
The method is always a difficult problem in finding broken strands of wires and repairing the broken strands on the wires, the traditional personnel are limited by broken strand data when the wires are on the line (25% of the broken strands cannot be on-line for operation), and a brand-new technical means is urgently needed for carrying out the method.
Disclosure of Invention
The invention aims to provide a broken wire repairing method based on a snakelike wire climbing robot, which aims to solve the technical problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme: a broken wire repairing method based on a snakelike wire climbing robot comprises the following steps:
s1: the snakelike wire climbing robot is wound on the insulating rod in advance, and automatically climbs to the lead wire and the ground wire of the power transmission line to be inspected through remote control operation on site; the snakelike climbing robot transmits data to a background monitoring center through a 4G communication module;
s2: the background monitoring center sends a starting control command, and the robot body processor drives the robot to crawl along the power transmission line after receiving the operation command; in the walking process, the detection device continuously detects the condition of a front obstacle, the high-definition camera shoots a line at the same time, and the shot image is transmitted to the background monitoring center in real time through a 4G public network;
s3: background workers judge whether to repair the conductor according to the strand breakage condition of the conductor;
s4: if judge and need to restore, through setting up at the steerable circle guide ring that opens and shuts of snakelike line machine people head carry to set up the aluminium hank silk at an opening part that circle guide ring opened and shut, climb line machine people around the wire motion through snakelike, twine and restore disconnected strand part.
As a preferred technical scheme, the snakelike wire climbing robot comprises a section unit module, a section unit driving micro motor, a section unit walking wheel, a two-dimensional rotating camera, a climbing tentacle and a circle guide ring.
As a preferable technical scheme, a snake head and a snake tail of the snake-shaped climbing robot are respectively provided with a photoelectric distance measuring sensor.
As a preferable technical scheme of the invention, the snakelike climbing robot moves around a wire in an Archimedes spiral manner and can freely advance or retreat.
As a preferred technical solution of the present invention, the background monitoring center includes a PC and a background management and control software.
Compared with the prior art, the invention has the following beneficial effects: the invention replaces the manual work to carry out the approaching inspection and patrol, finds the strand breaking condition on the lead in time, and carries out the repair in time, and replaces the manual work to carry out the repair operation by the snakelike wire climbing robot, thereby effectively reducing the risks of the human body such as high-altitude falling or electric shock, circuit tripping and the like, and further generating huge social benefit and economic benefit.
Drawings
Fig. 1 is a working state diagram of the snakelike wire climbing robot in the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
With reference to fig. 1, the present invention provides the following examples: a broken wire repairing method based on a snakelike wire climbing robot comprises the following steps:
s1: the snakelike wire climbing robot is wound on the insulating rod in advance, and automatically climbs to the lead wire and the ground wire of the power transmission line to be inspected through remote control operation on site; the snakelike climbing robot transmits data to a background monitoring center through a 4G communication module;
s2: the background monitoring center sends a starting control command, and the robot body processor drives the robot to crawl along the power transmission line after receiving the operation command; in the walking process, the detection device continuously detects the condition of a front obstacle, the high-definition camera shoots a line at the same time, and the shot image is transmitted to the background monitoring center in real time through a 4G public network;
s3: background workers judge whether to repair the conductor according to the strand breakage condition of the conductor;
s4: if judge and need to restore, through setting up at the steerable circle guide ring that opens and shuts of snakelike line machine people head carry to set up the aluminium hank silk at an opening part that circle guide ring opened and shut, climb line machine people around the wire motion through snakelike, twine and restore disconnected strand part.
The needs further explain that the snakelike line robot that climbs includes festival unit module, festival unit drive micromotor, festival unit walking wheel, the rotatory camera of two-dimentional, the climbing tentacle, the circle guide ring, snakelike line robot that climbs passes through the little motor drive festival unit of festival unit drive and walks the motion along transmission line, and the snake head and the snake tail at snakelike line robot that climbs are provided with photoelectric distance measuring sensor respectively, when snakelike line robot that climbs the walking in-process, meet typical obstacle like stockbridge damper, suspension clamp, when strain clamp, through the robot head, the relative distance with self is detected to the photoelectric distance measuring sensor of afterbody installation. The processor controls the deflection swing angles of the head and the tail to automatically avoid the obstacle.
It needs to be further explained that the snakelike wire climbing robot does Archimedes spiral line motion around the lead under the driving of the section unit driving micro motor, and can freely advance or retreat, so that the aluminum stranded wires on the circular guide ring at the snake head part of the snakelike wire climbing robot can be wound on the power transmission line, and the purpose of repairing broken strands is achieved.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (5)
1. A wire broken strand repairing method based on a snakelike wire climbing robot is characterized by comprising the following steps: the method comprises the following steps:
s1: the snakelike wire climbing robot is wound on the insulating rod in advance, and automatically climbs to the lead wire and the ground wire of the power transmission line to be inspected through remote control operation on site; the snakelike climbing robot transmits data to a background monitoring center through a 4G communication module;
s2: the background monitoring center sends a starting control command, and the robot body processor drives the robot to crawl along the power transmission line after receiving the operation command; in the walking process, the detection device continuously detects the condition of a front obstacle, the high-definition camera shoots a line at the same time, and the shot image is transmitted to the background monitoring center in real time through a 4G public network;
s3: background workers judge whether to repair the conductor according to the strand breakage condition of the conductor;
s4: if judge and need to restore, through setting up at the steerable circle guide ring that opens and shuts of snakelike line machine people head carry to set up the aluminium hank silk at an opening part that circle guide ring opened and shut, climb line machine people around the wire motion through snakelike, twine and restore disconnected strand part.
2. The method for repairing broken strands of conducting wires based on the snakelike wire climbing robot as claimed in claim 1, wherein the method comprises the following steps: the snakelike wire climbing robot comprises a section unit module, a section unit driving micro motor, a section unit walking wheel, a two-dimensional rotating camera, a climbing tentacle and a circle guide ring.
3. The method for repairing broken strands of conducting wires based on the snakelike wire climbing robot as claimed in claim 2, wherein: the snake head and the snake tail of the snake-shaped crawling robot are respectively provided with a photoelectric distance measuring sensor.
4. The method for repairing broken strands of conducting wires based on the snake-shaped climbing robot as claimed in claim 3, wherein: the snakelike wire climbing robot moves around the wire in an Archimedes spiral line and can freely advance or retreat.
5. The method for repairing broken strands of conducting wires based on the snakelike wire climbing robot as claimed in claim 1, wherein the method comprises the following steps: the background monitoring center comprises a PC and background management and control software.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010235064.5A CN111431084A (en) | 2020-03-29 | 2020-03-29 | Conductor broken strand repairing method based on snakelike wire climbing robot |
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| CN202010235064.5A CN111431084A (en) | 2020-03-29 | 2020-03-29 | Conductor broken strand repairing method based on snakelike wire climbing robot |
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| CN111431084A true CN111431084A (en) | 2020-07-17 |
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| CN202010235064.5A Pending CN111431084A (en) | 2020-03-29 | 2020-03-29 | Conductor broken strand repairing method based on snakelike wire climbing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112152144A (en) * | 2020-09-21 | 2020-12-29 | 石河子大学 | Flying snake high-voltage transmission line maintenance robot system and control method |
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| CN108808542A (en) * | 2017-05-05 | 2018-11-13 | 中国科学院沈阳自动化研究所 | A kind of broken strand of power transmission line repair robot mechanism |
| CN109659857A (en) * | 2018-12-26 | 2019-04-19 | 福建（泉州）哈工大工程技术研究院 | Wrapping wire method based on robot at preformed armor rods repairing broken strand of power transmission line |
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2020
- 2020-03-29 CN CN202010235064.5A patent/CN111431084A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016192850A (en) * | 2015-03-31 | 2016-11-10 | 中国電力株式会社 | Conduit line and construction method for the same |
| CN107689599A (en) * | 2016-08-04 | 2018-02-13 | 山东大学 | Snakelike wound form inspection robot mechanical structure and its obstacle-detouring method |
| CN108808542A (en) * | 2017-05-05 | 2018-11-13 | 中国科学院沈阳自动化研究所 | A kind of broken strand of power transmission line repair robot mechanism |
| CN207409918U (en) * | 2017-06-30 | 2018-05-25 | 国网上海市电力公司 | A kind of intelligent patrol detection device of transmission line of electricity |
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| CN112152144A (en) * | 2020-09-21 | 2020-12-29 | 石河子大学 | Flying snake high-voltage transmission line maintenance robot system and control method |
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Application publication date: 20200717 |