JP5237472B2 - ライン検査ロボット及びシステム - Google Patents
ライン検査ロボット及びシステム Download PDFInfo
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- JP5237472B2 JP5237472B2 JP2011554284A JP2011554284A JP5237472B2 JP 5237472 B2 JP5237472 B2 JP 5237472B2 JP 2011554284 A JP2011554284 A JP 2011554284A JP 2011554284 A JP2011554284 A JP 2011554284A JP 5237472 B2 JP5237472 B2 JP 5237472B2
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- Prior art keywords
- robot
- wheels
- transmission line
- power transmission
- line inspection
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K16/00—Arrangements in connection with power supply of propulsion units in vehicles from forces of nature, e.g. sun or wind
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K16/00—Arrangements in connection with power supply of propulsion units in vehicles from forces of nature, e.g. sun or wind
- B60K2016/003—Arrangements in connection with power supply of propulsion units in vehicles from forces of nature, e.g. sun or wind solar power driven
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
- Y02T10/90—Energy harvesting concepts as power supply for auxiliaries' energy consumption, e.g. photovoltaic sun-roof
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
1.ラインに沿って分布した構造物に配置された複数の充電ステーションがロボット10のバッテリを充電することに使用可能である。ロボット10がドッキングするときに充電ステーションからのエネルギーがロボット10のバッテリに伝送されるように、充電ステーションは、電場、磁場、ソーラー、風、温度差、及び振動のような技術を使用して数週間に亘ってゆっくりとバッテリに充電する。
2.ロボット10はまたE−フィールド(電場)を使用して充電されうる。この場合、電圧を印加したフェーズからE−フィールドに容量的に結合するロボットの下に「プレート」が位置し、連続的にバッテリを充電する。
3.ロボット10は、磁場を使用して充電されうる。シールド線が構造物に設置されている場合、相電流内の不均衡によって、電流がワイヤ内を流れる。電流からの電力は、インダクタ(誘導子)又は変流器を使用して収集され、充電のためにバッテリに送られる。
4.シールド線が(片側又は両側で)絶縁されている場合、ロボット10は、シールド線絶縁体がある構造物に移動し、そして、インピーダンス又は完全短絡のいずれかで構造物にギャップをブリッジ(架橋)する。これによって電流が流されるであろう。電流及び電圧が生成されてバッテリを充電することに使用される。そして、ロボット10のバッテリが再充電を必要とするまでロボット10はその検査任務で前進し、その時点でロボット10が自身を再度充電する隣の利用可能な構造物に移動する。
Claims (11)
- 架空送電ライン検査ロボットであって、
(a)当該ロボットを制御し、情報を送信するように構成された通信及び制御システムと、
(b)広域に亘って検査を可能にするようにシールド線に沿って当該ロボットを推進させるための駆動システムと、
(c)敷設用地及び構成要素の状態を検査するように構成されたカメラと、
(d)導体の位置、植生及び近傍の構造物を測るように構成された光検知及び測距(LiDar)センサと、
(e)当該ロボットの位置及び速度を特定するように構成された全地球測位システムと、
を備え、
前記駆動システムは、センターガイドに回動式に接続された複数のバネ荷重式ホイールを含み、前記ホイールの各々は、当該ホイール各々の独立した動作を可能にするように、前記センターガイドに独立式に接続され、
当該ロボットが前記構造物を通過することを可能にするように支持構造物に備えられた迂回システムに当該ロボットが係合したときに、当該ロボットを前記迂回システム上に移動させるように、前記ホイールの各々が前記シールド線を解放し、当該ロボットが前記迂回システム上を前進すると、前記駆動システムが拡張して、前記センターガイドが前記迂回システムの中央のトラックに沿って進む一方で、前記複数のホイールの第1セットが最も外側のトラックに沿って進み、前記複数のホイールの第2セットが最も内側のトラックに沿って進むことを特徴とする架空送電ライン検査ロボット。 - センサ読み取りシステムをさらに含み、様々な場所に展開された遠隔センサからデータを収集することを特徴とする請求項1に記載の架空送電ライン検査ロボット。
- 電磁干渉検知システムをさらに含み、近傍のコロナ又はアーキング放電活動を特定することを特徴とする請求項1に記載の架空送電ライン検査ロボット。
- 前記駆動システムは、前記シールド線の両側に係合するように構成された複数のバネ荷重式ホイールを含むことを特徴とする請求項1に記載の架空送電ライン検査ロボット。
- 前記駆動システムは、前記シールド線に沿って移動するセンターガイドを含むことを特徴とする請求項1に記載の架空送電ライン検査ロボット。
- 前記駆動システムは、前記センターガイドに回動式に取り付けられた複数のホイールをさらに含むことを特徴とする請求項5に記載の架空送電ライン検査ロボット。
- エネルギーを収集し、当該ロボットを充電するためのソーラーパネルをさらに含むことを特徴とする請求項1に記載の架空送電ライン検査ロボット。
- (a)ライン検査ロボットであって、
(i)当該ロボットを制御し、情報を送信するように構成された通信及び制御システムと、
(ii)広域に亘って検査を可能にするようにシールド線に沿って当該ロボットを推進させるための駆動システムと、
(iii)敷設用地及び構成要素の状態を検査するように構成された検査システムと、を有するライン検査ロボットと、
(b)前記ロボットが構造物を通過することを可能にするように支持構造物に備えられた迂回システムであって、前記ロボットが前記シールド線を離脱し、前記構造物を通過し、そして、前記シールド線に再係合することを可能にするように複数のトラックサポートを有する迂回システムと、
を備え、
前記駆動システムは、センターガイドに回動式に接続された複数のバネ荷重式ホイールを含み、前記ホイールの各々は、当該ホイール各々の独立した動作を可能にするように、前記センターガイドに独立式に接続され、
前記ロボットが前記迂回システムに係合したときに、前記ロボットを前記迂回システム上に移動させるように、前記ホイールの各々が前記シールド線を解放し、前記ロボットが前記迂回システム上を前進すると、前記駆動システムが拡張して、前記センターガイドが前記迂回システムの中央のトラックに沿って進む一方で、前記複数のホイールの第1セットが最も外側のトラックに沿って進み、前記複数のホイールの第2セットが最も内側のトラックに沿って進むことを特徴とする架空送電ライン検査システム。 - 前記トラックサポートは、前記迂回システムの両端部で1つに結合し、前記両端部の各々で前記シールド線との接続を可能にし、前記ロボットが前記シールド線を離脱及び再係合することを可能にすることを特徴とする請求項8に記載の架空送電ライン検査システム。
- 前記検査システムは、
(a)敷設用地及び構成要素の状態を検査するように構成されたカメラと、
(b)導体の位置、植生及び近傍の構造物を測るように構成された光検知及び測距(LiDar)センサと、を含むことを特徴とする請求項8に記載の架空送電ライン検査システム。 - 前記ロボットが前記迂回システムを離脱して前記シールド線に再係合するときに、前記駆動システムは、前記ホイールの第1セット、前記ホイールの第2セット、及び、センターガイドが前記シールド線に沿って進むように縮小することを特徴とする請求項8に記載の架空送電ライン検査システム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US30304610P | 2010-02-10 | 2010-02-10 | |
US61/303,046 | 2010-02-10 | ||
PCT/US2011/024318 WO2011100409A1 (en) | 2010-02-10 | 2011-02-10 | Line inspection robot and system |
Publications (2)
Publication Number | Publication Date |
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JP2012516785A JP2012516785A (ja) | 2012-07-26 |
JP5237472B2 true JP5237472B2 (ja) | 2013-07-17 |
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Application Number | Title | Priority Date | Filing Date |
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JP2011554284A Expired - Fee Related JP5237472B2 (ja) | 2010-02-10 | 2011-02-10 | ライン検査ロボット及びシステム |
Country Status (7)
Country | Link |
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US (1) | US8666553B2 (ja) |
EP (1) | EP2533950A1 (ja) |
JP (1) | JP5237472B2 (ja) |
CN (1) | CN102317040A (ja) |
AU (1) | AU2011202227A1 (ja) |
WO (1) | WO2011100409A1 (ja) |
ZA (1) | ZA201103349B (ja) |
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WO2011100409A1 (en) | 2011-08-18 |
JP2012516785A (ja) | 2012-07-26 |
ZA201103349B (en) | 2012-11-28 |
CN102317040A (zh) | 2012-01-11 |
AU2011202227A1 (en) | 2011-08-25 |
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