JP6845528B2 - Self-propelled transmission line inspection device and wire mounting device for self-propelled transmission line inspection device - Google Patents
Self-propelled transmission line inspection device and wire mounting device for self-propelled transmission line inspection device Download PDFInfo
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Description
本発明は、活線状態の送電線の現況を測定可能とする自走式送電線点検装置および自走式送電線点検装置用電線装着装置に関する。 The present invention relates to a self-propelled transmission line inspection device and a wire mounting device for a self-propelled transmission line inspection device that can measure the current state of a live transmission line.
発電所で発電された電力は送電線により需要家の元に輸送される。送電線は電力を輸送するための電力線と、電力線を雷の直撃から守るためのグランドワイヤで構成される。鉄塔間等に張架された送電線は、落雷や腐食による素線の劣化が進むと断線のリスクが増え、断線してしまうと大規模停電を引き起こし、社会に多大な損害を与える恐れがある。そこで、電力会社は送電線の断線を未然に防止すべく、定期的な点検を行っている。 The electricity generated at the power plant is transported to consumers by transmission lines. The transmission line consists of a power line for transporting power and a ground wire for protecting the power line from direct lightning strikes. The transmission line stretched between steel towers increases the risk of disconnection if the wire deteriorates due to lightning strikes or corrosion, and if it disconnects, it may cause a large-scale power outage and cause great damage to society. .. Therefore, electric power companies carry out regular inspections to prevent disconnection of transmission lines.
送電線には高電圧・大電流が通っているため、従来、電力会社は送電線の点検に際し、送電を停止させた上で点検作業に移っていた。しかしながら、送電を停止させるためには代替の電力ルートを確保する必要があり、点検計画から点検実施・安全確認・復旧まで多大な時間と労力がかかっていた。また、点検作業は大きい重量の点検ロボットを送電鉄塔の上まで運んで行っていたため、危険を伴う作業となっていた。 Since high voltage and large current pass through the transmission line, the electric power company has conventionally moved to the inspection work after stopping the transmission when inspecting the transmission line. However, in order to stop power transmission, it was necessary to secure an alternative power route, and it took a lot of time and effort from inspection planning to inspection implementation, safety confirmation, and restoration. In addition, the inspection work was dangerous because a heavy inspection robot was carried to the top of the transmission tower.
そこで、特許文献１には、送電を停止させることなく送電線を活線のまま点検する自走式送電線点検装置が開示されている。この自走式送電線点検装置は、駆動輪により送電線上を自走しながらセンサで送電線を画像撮影し、画像データを保存するものである。 Therefore, Patent Document 1 discloses a self-propelled power transmission line inspection device that inspects a power transmission line as a live line without stopping power transmission. This self-propelled power transmission line inspection device takes an image of the power transmission line with a sensor while self-propelling on the power transmission line by a drive wheel, and saves the image data.
また、同じく送電線を活線のまま点検する自走式送電線点検装置として、特許文献２には、電線上を転動する導体からなる１対の車輪と、該電線に電気的に導通される導電性ケースと、該ケース内から電線を撮像するカメラと、前記車輪を駆動するモータと、前記モータ及びカメラを無線制御するテレコントローラと、電源とを備え、前記ケースによりカメラ、テレコントローラ等の電子機器を電波障害から保護すると共に、軽量化して電線の落ち込み量を小さくし、電線間の耐電圧距離を確保するようにした自走式送電線点検装置が開示されている。 Further, as a self-propelled transmission line inspection device that inspects a transmission line as it is, Patent Document 2 describes a pair of wheels made of a conductor that rolls on an electric wire and electrically conducted to the electric wire. A conductive case, a camera that captures an electric wire from inside the case, a motor that drives the wheels, a telecontroller that wirelessly controls the motor and the camera, and a power supply. A self-propelled power transmission line inspection device is disclosed that protects electronic devices from electric wires, reduces the weight of the electric wires, reduces the amount of electric wires that fall, and secures the withstand voltage distance between the electric wires.
ところで、特許文献３には、複数の揚力源を有する飛行体であって、複数の揚力源の作動を制御してホバリング状態を維持する静止制御機能と、飛行体への直接入力を検出し、入力に応じた飛行体の移動を実現するように複数の揚力源の作動を制御する移動制御機能と、を備え、人が飛行体に接触するだけで飛行体の移動を操作することができる搬送装置が開示されている。 By the way, Patent Document 3 describes a stationary control function for a flying object having a plurality of lift sources and controlling the operation of the plurality of lift sources to maintain a hovering state, and detecting a direct input to the flying object. It is equipped with a movement control function that controls the operation of multiple lift sources so as to realize the movement of the flying object according to the input, and the movement of the flying object can be operated only by a person touching the flying object. The device is disclosed.
活線状態の送電線においては、作業者が自走式送電線点検装置を送電線上に設置する際に感電の危険性があることから、重厚長大な機構を設ける必要があった。例えば特許文献１の装置では、別途送電線と鉄塔間に絶縁材料からなる移送ケーブルを設置し、自走式送電線点検装置に移送ケーブル上を経由して送電線まで自走させていた。また、例えば特許文献２の装置では、絶縁性のパイプ、ロープおよびボルト等により構成される点検装置着脱装置で吊り下げて送電線上に設置していた。このように、活線状態の送電線上に自走式送電線点検装置を設置することには、多大な労力を要していた。 In a live transmission line, there is a risk of electric shock when a worker installs a self-propelled transmission line inspection device on the transmission line, so it is necessary to provide a heavy and long mechanism. For example, in the device of Patent Document 1, a transfer cable made of an insulating material is separately installed between the transmission line and the steel tower, and the self-propelled transmission line inspection device is self-propelled to the transmission line via the transfer cable. Further, for example, in the device of Patent Document 2, the device is suspended on a power transmission line by an inspection device attachment / detachment device composed of insulating pipes, ropes, bolts, and the like. As described above, it takes a lot of labor to install the self-propelled power transmission line inspection device on the live power transmission line.
また、停電で行う従来の自走式送電線点検装置は、質量が例えば約２０ｋｇ以上と重く、活線状態で使用する装置の場合、例えば９０ｋｇにも及び、鉄塔を登って運搬し、送電線上に設置することは作業員には多大な負担となっていた。 In addition, the conventional self-propelled power transmission line inspection device performed in the event of a power failure has a heavy mass of, for example, about 20 kg or more, and in the case of a device used in a live-line state, it weighs, for example, 90 kg. It was a heavy burden on the workers to install it in.
そこで、本発明は、重厚長大な機構を設けること無く、安全かつ容易に送電線への着脱ができ、活線状態で送電線の点検を行うことができる自走式送電線点検装置および電線装着装置を提供することを目的とする。 Therefore, the present invention provides a self-propelled power transmission line inspection device and an electric wire that can be safely and easily attached to and detached from the power transmission line without providing a heavy and long mechanism, and can inspect the power transmission line in a live state. The purpose is to provide the device.
発明者は、無人航空機型点検装置を無線電波操作により飛行させることにより送電線上に着脱させることを当初検討したが、送電線付近には約１０〜１０００ｋＶの高電圧による強い電磁界の影響により、無人航空機型点検装置の無線電波操作が不能になるという課題に直面した。また、無人航空機型点検装置が送電線に衝突した場合には、送電線を傷つけたり、飛び散った破片等により作業者がけがをしたりする恐れがあるという安全性の課題もあった。 The inventor initially considered attaching and detaching an unmanned aerial vehicle type inspection device onto a power transmission line by flying it by radio wave operation, but due to the influence of a strong electromagnetic field due to a high voltage of about 10 to 1000 kV near the power transmission line, We faced the problem that the radio wave operation of the unmanned aerial vehicle type inspection device became impossible. Further, when the unmanned aerial vehicle type inspection device collides with the power transmission line, there is a safety problem that the power transmission line may be damaged or the worker may be injured by scattered debris or the like.
そこで、発明者は、試行錯誤の末、自走式送電線点検装置に揚力発生部を設けると共に、絶縁棒を着脱自在に連結する連結機構を設けることにより、自走式送電線点検装置を送電線上に設置することを可能とした。すなわち、本発明は以下の技術手段から構成される。 Therefore, after trial and error, the inventor transmits the self-propelled power transmission line inspection device by providing a lift generating unit in the self-propelled power transmission line inspection device and providing a connecting mechanism for detachably connecting the insulating rods. It is possible to install it on the line. That is, the present invention is composed of the following technical means.
第１の発明は、複数の回転翼を有し、揚力を発生させる揚力発生部と、送電線に装着可能な車輪を備える走行部と、送電線の現況を測定する測定装置を備える測定部と、測定部からの測定データを記憶する記憶装置を備え、揚力発生部、走行部および測定部を制御する制御部と、操作端末からの指令を受信する受信部と、本体部とを備える自走式送電線点検装置であって、前記揚力発生部が、揚力を発生させる揚力発生モードを有すること、前記制御部が、前記操作端末からの光無線指令に基づき前記揚力発生モードを開始および終了可能であること、前記揚力発生部または前記本体部が、絶縁棒と着脱自在に連結される連結機構を備えることを特徴とする自走式送電線点検装置である。
第２の発明は、第１の発明において、前記操作端末が、可視光または赤外光により光無線指令を送信することを特徴とする。
第３の発明は、第１または２の発明において、前記操作端末が、レーザ光により光無線指令を送信することを特徴とする。
第４の発明は、第１ないし３のいずれかの発明において、前記揚力発生部が、前記自走式送電線点検装置の重量を−１０〜２ｋｇｆとする揚力を発生させることを特徴とする。
The first invention includes a lift generating unit having a plurality of rotor blades and generating lift, a traveling unit having wheels that can be attached to the transmission line, and a measuring unit including a measuring device for measuring the current state of the transmission line. A self-propelled unit including a storage device for storing measurement data from the measurement unit, a control unit for controlling the lift generating unit, the traveling unit, and the measuring unit, a receiving unit for receiving a command from an operation terminal, and a main body unit. In the type transmission line inspection device, the lift generating unit has a lift generating mode for generating lift, and the control unit can start and end the lift generating mode based on an optical radio command from the operating terminal. The self-propelled power transmission line inspection device is characterized in that the lift generating portion or the main body portion is provided with a connecting mechanism that is detachably connected to an insulating rod.
The second invention is characterized in that, in the first invention, the operating terminal transmits an optical radio command by visible light or infrared light.
A third invention is characterized in that, in the first or second invention, the operating terminal transmits an optical radio command by laser light.
A fourth aspect of the invention is characterized in that, in any one of the first to third inventions, the lift generating unit generates a lift having a weight of the self-propelled power transmission line inspection device of −10 to 2 kgf.
第５の発明は、第１ないし４のいずれかの発明において、さらに、前記車輪の下方に位置し、前記送電線を支点として重量が平衡するように配置された偶数個のバランサ部材を備えることを特徴とする。
第６の発明は、第５の発明において、前記バランサ部材に前記回転翼が配置されることを特徴とする。
第７の発明は、第１ないし６のいずれかの発明において、前記揚力発生部が、前記連結機構を備え、前記絶縁棒に連結された状態で前記本体部から脱離可能であることを特徴とする。
第８の発明は、第１ないし６のいずれかの発明において、前記本体部が、前記連結機構を備え、前記連結機構が、前記絶縁棒と係合する係合部材を備えることを特徴とする。
第９の発明は、第８の発明の自走式送電線点検装置が備える係合部材と係合する係合部を備える絶縁棒であって、前記受信部に光無線指令を送信する送光窓と、光ファイバーが配設された支持棒と、光ファイバーと接続された操作端末とを備えることを特徴とする。
The fifth invention further comprises, in any one of the first to fourth inventions, an even number of balancer members located below the wheels and arranged so that the weights are balanced with the transmission line as a fulcrum. It is characterized by.
The sixth invention is characterized in that, in the fifth invention, the rotary blade is arranged on the balancer member.
A seventh invention is characterized in that, in any one of the first to sixth inventions, the lift generating portion is provided with the connecting mechanism and can be detached from the main body portion in a state of being connected to the insulating rod. And.
An eighth invention is characterized in that, in any one of the first to sixth inventions, the main body portion includes the connecting mechanism, and the connecting mechanism includes an engaging member that engages with the insulating rod. ..
A ninth aspect of the invention, I insulating rod der to Ru with an engaging section that engages with the engaging member provided in the self-propelled power line inspection apparatus of the eighth invention, transmits an optical wireless command to the receiving unit It is characterized by including a light transmitting window, a support rod on which an optical fiber is arranged, and an operation terminal connected to the optical fiber.
第１０の発明は、第５の発明において、前記車輪は、送電線の長さ方向に配置された複数の車輪からなり、前記バランサ部材を支持するバランサ支持部材と、前記バランサ支持部材を送電線の長さ方向に揺動可能とする回転軸と、を備えることを特徴とする。
第１１の発明は、第１０の発明において、前記測定部が、前記バランサ支持部材と独立して設けられていることを特徴とする。
第１２の発明は、第１０または１１の発明において、前記回転軸より走行方向側に位置する部分と前記回転軸より走行方向と反対側に位置する部分の重量比が、４５：５５〜５５：４５であることを特徴とする。
A tenth aspect of the present invention is the tenth aspect of the present invention, wherein the wheel comprises a plurality of wheels arranged in the length direction of the transmission line, and the balancer support member for supporting the balancer member and the balancer support member for the transmission line. It is characterized by including a rotating shaft capable of swinging in the length direction of the wheel.
The eleventh invention is characterized in that, in the tenth invention, the measuring unit is provided independently of the balancer support member.
In the twelfth invention, in the tenth or eleventh invention, the weight ratio of the portion located on the traveling direction side of the rotating shaft and the portion located on the opposite side of the rotating shaft from the traveling direction is 45:55 to 55: It is characterized by being 45.
第１３の発明は、自走式送電線点検装置用電線装着装置であって、複数の回転翼を有し、揚力を発生させる揚力発生部と、前記揚力発生部と連結する絶縁棒と、前記絶縁棒の先端部または先端部近傍に設けられ、自走式送電線点検装置と着脱自在に連結される連結機構と、前記連結機構による連結および非連結を操作する連結操作部と、を備えることを特徴とする自走式送電線点検装置用電線装着装置である。
第１４の発明は、第１３の発明の自走式送電線点検装置用電線装着装置が備える連結機構と連結される連結部材を備えることを特徴とする自走式送電線点検装置。
A thirteenth invention is an electric wire mounting device for a self-propelled power transmission line inspection device, which has a plurality of rotary blades, a lift generating portion for generating lift, an insulating rod connected to the lift generating portion, and the above. It is provided with a connecting mechanism provided at or near the tip of the insulating rod and detachably connected to the self-propelled power transmission line inspection device, and a connecting operation unit for operating connection and non-connection by the connecting mechanism. It is an electric wire mounting device for a self-propelled power transmission line inspection device.
A fourteenth invention is a self-propelled power transmission line inspection device, which comprises a connecting member to be connected to a connection mechanism included in the electric wire mounting device for the self-propelled power transmission line inspection device of the thirteenth invention.
第１５の発明は、揚力を発生させる複数の回転翼を有し、送電線の長さ方向に配置された複数の車輪を備える走行部と、送電線の現況を測定する測定装置を備える測定部と、測定部からの測定データを記憶する記憶装置を備え、走行部および測定部を制御する制御部と、操作端末からの指令を受信する受信部と、本体部とを備える自走式送電線点検装置であって、前記車輪の下方に位置し、前記送電線を支点として重量が平衡するように配置された偶数個のバランサ部材と、前記バランサ部材を支持するバランサ支持部材と、前記バランサ支持部材を送電線の長さ方向に揺動可能とする回転軸と、を備えること、前記本体部が、絶縁棒と着脱自在に連結される連結機構を備えることを特徴とする自走式送電線点検装置である。 The fifteenth invention is a measuring unit including a traveling unit having a plurality of rotary blades for generating lift and having a plurality of wheels arranged in the length direction of the transmission line, and a measuring device for measuring the current state of the transmission line. A self-propelled power transmission line including a storage device for storing measurement data from the measurement unit, a control unit for controlling the traveling unit and the measurement unit, a receiving unit for receiving a command from an operation terminal, and a main body unit. An inspection device, which is an even number of balancer members located below the wheels and arranged so that the weights are balanced with the transmission line as a fulcrum, a balancer support member for supporting the balancer member, and the balancer support. A self-propelled power transmission line including a rotating shaft that allows a member to swing in the length direction of the power transmission line, and a connection mechanism in which the main body is detachably connected to an insulating rod. It is an inspection device.
本発明によれば、重厚長大な機構を設けること無く、安全かつ容易に送電線への着脱ができ、活線状態で送電線の点検を行うことができる自走式送電線点検装置および自走式送電線点検装置用電線装着装置を提供することが可能となる。 According to the present invention, a self-propelled transmission line inspection device and a self-propelled transmission line inspection device that can be safely and easily attached to and detached from the transmission line and can inspect the transmission line in a live state without providing a heavy and long mechanism. It becomes possible to provide a wire mounting device for a type transmission line inspection device.
［第一実施形態例］
［構成］
第一実施形態例に係る自走式送電線点検装置１は、絶縁棒を着脱自在に連結し、揚力発生部に揚力を発生させて重量を軽減させることにより、作業者が絶縁棒を容易に操作して送電線への脱着を可能とするものである。また、光無線通信により、送電線による強い電磁界の下でも遠隔操作を可能とするものである。以下、自走式送電線点検装置１の構成を説明する。
[Example of the first embodiment]
[Constitution]
In the self-propelled power transmission line inspection device 1 according to the first embodiment, the insulating rods are detachably connected to each other, and lift is generated in the lift generating portion to reduce the weight, so that the operator can easily connect the insulating rods. It can be operated to attach / detach to / from the transmission line. In addition, optical wireless communication enables remote control even under a strong electromagnetic field generated by a transmission line. Hereinafter, the configuration of the self-propelled power transmission line inspection device 1 will be described.
図１〜３を参照しながら自走式送電線点検装置１について説明する。自走式送電線点検装置１は、点検ロボット１００と、点検ロボット１００の上部に設けられ、点検ロボット１００の下部にバッテリを有する揚力発生部２００とを主な構成要素とする。 The self-propelled power transmission line inspection device 1 will be described with reference to FIGS. 1 to 3. The self-propelled power transmission line inspection device 1 mainly includes an inspection robot 100 and a lift generating unit 200 provided above the inspection robot 100 and having a battery below the inspection robot 100.
［点検ロボット１００］
点検ロボット１００は、本体部１１０と、走行部１２０と、測定部１３０と、制御部１４０と、操作部１５０とを主な構成要素としている。
[Inspection robot 100]
The inspection robot 100 has a main body 110, a traveling unit 120, a measuring unit 130, a control unit 140, and an operating unit 150 as main components.
［本体部１１０］
本体部１１０は、後述する処理装置や記憶装置などの装置を収納し、活線状態の電力線の近傍で発生する強い電磁界から各装置を保護するための箱体である。本体部１１０は、導電性を付与するため、例えばアルミ等の金属材料からなり、電子部品やモータ等の動力系統が収納されている電磁遮蔽容器と同電位に電気接続されている。なお、本体部１１０は、軽量化を図るために導電性樹脂により構成してもよい。
[Main body 110]
The main body 110 is a box body that houses devices such as a processing device and a storage device, which will be described later, and protects each device from a strong electromagnetic field generated in the vicinity of a live power line. The main body 110 is made of a metal material such as aluminum to impart conductivity, and is electrically connected to the same potential as an electromagnetic shielding container in which a power system such as an electronic component or a motor is housed. The main body 110 may be made of a conductive resin in order to reduce the weight.
［走行部１２０］
走行部１２０は、図２に示すように、２個のプーリ１２１と、２組のアーム１２２と、モータ１２３とを備え、送電線Ｗ上を自走するための機構である。
[Running unit 120]
As shown in FIG. 2, the traveling unit 120 includes two pulleys 121, two sets of arms 122, and a motor 123, and is a mechanism for self-propelling on the transmission line W.
プーリ１２１ａ，１２１ｂは、それぞれの中心に軸部１２１１ａ，１２１１ｂを備えるＶプーリであり（図１参照）、本体部１１０の底部の前後に設けられている。プーリ１２１ａの軸部１２１１ａは２本のアーム１２２ａに両面から支持され、プーリ１２１ｂの軸部１２１１ｂは２本のアーム１２２ｂに両面から支持されている（図２参照）。プーリ１２１ａ，１２１ｂは、図示しないギア、シャフト、およびベルト等で構成される駆動伝達機構を介してモータ１２３の動力を受けて回転駆動し、車輪として機能する。 The pulleys 121a and 121b are V pulleys having shaft portions 1211a and 1211b at their centers (see FIG. 1), and are provided before and after the bottom portion of the main body portion 110. The shaft portion 1211a of the pulley 121a is supported by two arms 122a from both sides, and the shaft portion 1211b of the pulley 121b is supported by two arms 122b from both sides (see FIG. 2). The pulleys 121a and 121b are rotationally driven by receiving the power of the motor 123 via a drive transmission mechanism composed of a gear, a shaft, a belt and the like (not shown), and function as wheels.
プーリ１２１ａ，１２１ｂは、それぞれの周面にＶ字溝１２１２ａ，１２１２ｂを備え、Ｖ字溝１２１２ａ，１２１２ｂの谷部に送電線Ｗを案内し、嵌まり込ませることが可能となっており（図１参照）、点検ロボット１００の姿勢が傾いても送電線Ｗから滑落しないようになっている。 The pulleys 121a and 121b are provided with V-shaped grooves 1212a and 1212b on their respective peripheral surfaces, and the transmission line W can be guided and fitted into the valleys of the V-shaped grooves 1212a and 1212b (Fig.). 1), even if the posture of the inspection robot 100 is tilted, it does not slide down from the transmission line W.
プーリ１２１は、活線状態の送電線Ｗとの接触・非接触による放電を防ぐため、属材料や導電性樹脂材料等で構成されるが、軽量化や滑り防止の観点からは、導電性のカーボン粉を混入したウレタン樹脂材料で構成されることが好ましい。また、ＡＢＳ等の樹脂材料にすべり止め材として市販のシリコーン充填剤を塗布することで構成してもよい。
プーリ１２１には、図示しないロータリエンコーダが設けられており、後述する制御部１４０の処理装置によって回転数が計測され、走行距離や走行速度が算出される。
The pulley 121 is made of a genus material, a conductive resin material, or the like in order to prevent discharge due to contact or non-contact with the live transmission line W. However, from the viewpoint of weight reduction and slip prevention, the pulley 121 is conductive. It is preferably composed of a urethane resin material mixed with carbon powder. Further, it may be configured by applying a commercially available silicone filler as a non-slip material to a resin material such as ABS.
The pulley 121 is provided with a rotary encoder (not shown), and the number of rotations is measured by a processing device of the control unit 140, which will be described later, to calculate the mileage and the traveling speed.
モータ１２３は、本体部１１０内に設置され、プーリ１２１を駆動するための動力を生成するものであり、メンテナンスフリーの観点からは、摩耗部品のないモータ（例えばブラシレスモータ）が用いられることが好ましい。モータ１２３の回転動作は、後述する制御部１４０の処理装置によって制御される。 The motor 123 is installed in the main body 110 to generate power for driving the pulley 121, and from the viewpoint of maintenance-free, it is preferable to use a motor without wear parts (for example, a brushless motor). .. The rotational operation of the motor 123 is controlled by a processing device of the control unit 140, which will be described later.
［測定部１３０］
測定部１３０は、図１に示すように、撮像装置１３１と、２個のミラー１３２と、２本のアーム１３３とを備え、送電線Ｗの現況を測定するための測定系を構成する。
[Measuring unit 130]
As shown in FIG. 1, the measuring unit 130 includes an imaging device 131, two mirrors 132, and two arms 133, and constitutes a measuring system for measuring the current state of the transmission line W.
撮像装置１３１は、送電線Ｗの外周を連続して撮像するためのデジタルカメラであり、例えばＣＣＤビデオカメラで構成される。撮像装置１３１は、本体部１１０の底部に対物面１３１Ａを下方に向けて設けられており（図２参照）、送電線Ｗを上方から見た像、および、後述する２個のミラー１３２の反射によって送電線Ｗを斜め下方の２方から見た像を撮像する。すなわち、撮像装置１３１の対物面１３１Ａには、３方向から見た送電線Ｗの像が映し出されるため、送電線Ｗの外周全周を同時に撮像することができる。対物面１３１Ａに紫外線フィルタを装着し、破損箇所の識別性を高めてもよい。 The image pickup apparatus 131 is a digital camera for continuously taking an image of the outer circumference of the transmission line W, and is composed of, for example, a CCD video camera. The image pickup apparatus 131 is provided on the bottom of the main body 110 with the objective surface 131A facing downward (see FIG. 2), an image of the transmission line W viewed from above, and reflections of the two mirrors 132 described later. The image of the transmission line W viewed from two diagonally lower directions is imaged. That is, since the image of the power transmission line W viewed from three directions is projected on the objective surface 131A of the image pickup device 131, the entire outer circumference of the power transmission line W can be imaged at the same time. An ultraviolet filter may be attached to the objective surface 131A to improve the distinguishability of the damaged portion.
アーム１３３ａ，１３３ｂは、本体部１１０の底部に下方に向けて延設された伸縮調整可能な棒状物であり、それぞれの先端付近にミラー１３２ａ，１３２ｂが設けられており、点検時にミラー１３２ａ，１３２ｂを送電線Ｗの斜め下方に保持する。アーム１３３の伸縮は、例えばテレスコピックパイプ等の機構により行われる。 The arms 133a and 133b are rod-shaped objects whose expansion and contraction can be adjusted downward extending downward from the bottom of the main body 110, and mirrors 132a and 132b are provided near their respective tips, and the mirrors 132a and 132b are provided at the time of inspection. Is held diagonally below the transmission line W. The expansion and contraction of the arm 133 is performed by a mechanism such as a telescopic pipe.
ミラー１３２ａ，１３２ｂは、反射面の法線方向が互いに交差するよう反射面を斜め上方に向け、角度調節可能に設けられている。ミラー１３２ａ，１３２ｂの位置は、送電線Ｗの外周全周を３方向から満遍なく観察する観点からは、例えば、撮像装置１３１の対物面１３１Ａから送電線Ｗに下した垂線と、ミラー１３２ａ，１３２ｂから送電線Ｗに下した２つ垂線のうち、任意の２本の垂線のなす角が１２０°となるように設定されることが好ましい（図１の一点鎖線参照）。
なお、ミラー１３２ａ，１３２ｂの代わりに１または２個の撮像装置を設けて、送電線Ｗの外周を様々な角度から撮像してもよい。
The mirrors 132a and 132b are provided so that the reflection surfaces are directed obliquely upward so that the normal directions of the reflection surfaces intersect each other, and the angles can be adjusted. From the viewpoint of observing the entire circumference of the transmission line W evenly from three directions, the positions of the mirrors 132a and 132b are, for example, from the perpendicular line drawn from the objective surface 131A of the image pickup apparatus 131 to the transmission line W and from the mirrors 132a and 132b. Of the two perpendicular lines drawn on the transmission line W, it is preferable that the angle formed by any two perpendicular lines is set to 120 ° (see the one-point chain line in FIG. 1).
In addition, one or two imaging devices may be provided instead of the mirrors 132a and 132b to image the outer circumference of the transmission line W from various angles.
撮像装置１３１で撮像した映像は、後述する制御部１４０により、経過時間や走行地点・走行速度等のデータを示す文字表示と合成処理等され、後述する記憶装置に保存される。
なお、測定部１３０は例示の光学的な測定装置に限らず、Ｘ線、レーザ、超音波を用いた測定装置を用いてもよい。
The image captured by the image pickup device 131 is subjected to character display and synthesis processing indicating data such as elapsed time, running point, running speed, etc. by the control unit 140 described later, and stored in a storage device described later.
The measuring unit 130 is not limited to the illustrated optical measuring device, and a measuring device using X-rays, a laser, or an ultrasonic wave may be used.
［制御部１４０］
制御部１４０は、図１に示すように、処理装置１４１と、記憶装置１４２と、センサ群とを主な構成要素とする。
処理装置１４１は、コンピュータを備えて構成されており、モータ１２３、撮像装置１３１等の装置の制御等を行う。
[Control unit 140]
As shown in FIG. 1, the control unit 140 includes a processing device 141, a storage device 142, and a sensor group as main components.
The processing device 141 is configured to include a computer, and controls devices such as a motor 123 and an image pickup device 131.
記憶装置１４２は、送電線Ｗの点検中に取得した走行距離、走行速度、測定部１３０で測定した画像等のデータを記憶する。記憶装置１４２は、電磁界、振動および落下等への耐性および軽量化の観点からフラッシュメモリ型の装置が好ましい。 The storage device 142 stores data such as a mileage, a traveling speed, and an image measured by the measuring unit 130 acquired during the inspection of the transmission line W. The storage device 142 is preferably a flash memory type device from the viewpoint of resistance to electromagnetic fields, vibration, dropping, etc. and weight reduction.
図示しないセンサ群は、例えば多軸センサ（３軸加速度センサ、３軸ジャイロセンサ、および／または３軸地磁気センサ）と、圧力センサとを備えて構成され、処置装置２４２で信号処理・分析され、後述する揚力モード時の姿勢制御等に用いられる。なお、送電線が活線状態にあると様々ノイズが発生するため、各センサが正常に機能するかを事前に検証しておくことが好ましい。 The sensor group (not shown) includes, for example, a multi-axis sensor (3-axis acceleration sensor, 3-axis gyro sensor, and / or 3-axis geomagnetic sensor) and a pressure sensor, and is signal-processed and analyzed by the treatment device 242. It is used for posture control and the like in the lifting mode, which will be described later. Since various noises are generated when the transmission line is in a live state, it is preferable to verify in advance whether each sensor functions normally.
［操作部１５０］
操作部１５０は、図２に示すように、電源スイッチ１５１と、非常停止ボタン１５２とを主な構成要素とし、自走式送電線点検装置１の動作の指令を手動で行うためのものである。なお、後述の操作端末５４０によっても、電源のＯＮ／ＯＦＦ操作は可能である。
[Operation unit 150]
As shown in FIG. 2, the operation unit 150 has a power switch 151 and an emergency stop button 152 as main components, and is for manually instructing the operation of the self-propelled power transmission line inspection device 1. .. The power ON / OFF operation can also be performed by the operation terminal 540 described later.
電源スイッチ１５１は、本体部１１０に設けられた通電の開始および停止を行う機械式のスイッチである。非常停止ボタン１５２は、本体部１１０に設けられた通電を強制的に停止するための機械式のスイッチである。
なお、操作部１５０、電源スイッチ１５１および非常停止ボタン１５２の位置は、例示の本体部１１０に限られない。
The power switch 151 is a mechanical switch provided on the main body 110 that starts and stops energization. The emergency stop button 152 is a mechanical switch provided on the main body 110 for forcibly stopping the energization.
The positions of the operation unit 150, the power switch 151, and the emergency stop button 152 are not limited to the illustrated main body 110.
［揚力発生部２００］
揚力発生部２００は、図１に示すように、ケース２１１と、４本のフレーム２１２と、連結機構２１３と、４個の回転翼２２１と、４個のモータ２２２と、２本の棒状部材２３１と、２個のバッテリ２３２と、受信部２５３とを主な構成要素とする。
[Lift generator 200]
As shown in FIG. 1, the lift generating unit 200 includes a case 211, four frames 212, a connecting mechanism 213, four rotor blades 221 and four motors 222, and two rod-shaped members 231. The main components are the two batteries 232 and the receiving unit 253.
ケース２１１は、点検ロボット１００の本体部１１０の上部に設けられ、本体部１１０同様、後述するセンサ群やセンサ信号を処理する処理回路等の装置を収納し、強い電磁界から各装置を保護する箱体である。ケース２１１は、上面から見たときに略正方形状の立方体であり、ケース２１１の材質は本体部１１０と同様である。 The case 211 is provided above the main body 110 of the inspection robot 100, and like the main body 110, houses devices such as a sensor group and a processing circuit for processing sensor signals, which will be described later, and protects each device from a strong electromagnetic field. It is a box body. The case 211 is a cube having a substantially square shape when viewed from the upper surface, and the material of the case 211 is the same as that of the main body 110.
フレーム２１２ａ〜２１２ｄは、ケース２１１の側面上部の４つの角に放射状に設けられている棒体である（図３参照）。詳細には、フレーム２１２ａ〜２１２ｄは、ケース２１１の中心軸Ｃ０を中心として等間隔（９０°間隔）に設けられている。フレーム２１２ａ〜２１２ｄは、点検ロボット１００および揚力発生部２００の本体部１１０，２１１から回転翼２２１を離し、回転翼２２１の回転によって下方に生じる風が本体部１１０，２１０にぶつかって揚力が低下することを防止する。 The frames 212a to 212d are rods radially provided at the four corners of the upper side surface of the case 211 (see FIG. 3). Specifically, the frames 212a to 212d are provided at equal intervals (90 ° intervals) about the central axis C0 of the case 211. The frames 212a to 212d separate the rotary blades 221 from the main bodies 110 and 211 of the inspection robot 100 and the lift generating unit 200, and the wind generated downward by the rotation of the rotary blades 221 hits the main bodies 110 and 210 to reduce the lift. To prevent that.
回転翼２２１ａ〜２２１ｄは、１つの回転軸に対して対向する２枚の羽を備え、回転することによって揚力を発生する。回転翼２２１の羽の枚数は、自走式送電線点検装置１の重量と必要な揚力・回転翼の回転数等のバランスを考慮して適宜設定することができ、例えば３枚以上であってもよい。 The rotary blades 221a to 221d are provided with two blades facing each other with respect to one rotation axis, and generate lift by rotating. The number of blades of the rotary blade 221 can be appropriately set in consideration of the balance between the weight of the self-propelled power transmission line inspection device 1 and the required lift, the rotation speed of the rotary blade, etc., for example, 3 or more. May be good.
回転翼２２１ａ〜２２１ｄの揚力は、自走式送電線点検装置１の質量を差し引いた、例えば約−２〜１０ｋｇｆの揚力である。ここで、総揚力が２０〜３０ｋｇｆのマルチコプターも既に実現されているが、総揚力が大きくなると取り扱いが困難になることから、質量が１０ｋｇｆ以下の範囲となるような装置設計をすることが好ましい。例えば、ＤＪＩ社の６０１０モータは２３０ｇと軽量であるが、１ローターあたり１８００〜２５００ｇのペイロードを積載することができる。
揚力発生モードの自走式送電線点検装置１の重量と回転翼２２１ａ〜２２１ｄの総揚力の和は、重力方向を正として、例えば、−３〜３ｋｇｆとすることが好ましく、−２〜２ｋｇｆとすることがより好ましく、−１〜１ｋｇｆとすることがさらに好ましく、実質０とすることがさらに好ましい。これにより、揚力発生モードの自走式送電線点検装置１を、軽い力で移動させることができる。
なお、絶縁棒５００の重量を加味した自走式送電線点検装置１の重量と回転翼２２１ａ〜２２１ｄの総揚力の和が、上記各数値となるような構成としてもよい。
The lift of the rotary blades 221a to 221d is, for example, about -2 to 10 kgf, which is obtained by subtracting the mass of the self-propelled transmission line inspection device 1. Here, a multicopter having a total lift of 20 to 30 kgf has already been realized, but since handling becomes difficult when the total lift becomes large, it is preferable to design the device so that the mass is in the range of 10 kgf or less. .. For example, DJI's 6010 motor is as light as 230g, but can carry a payload of 1800-2500g per rotor.
The sum of the weight of the self-propelled power transmission line inspection device 1 in the lift generation mode and the total lift of the rotor blades 221a to 221d is preferably, for example, -3 to 3 kgf, preferably -2 to 2 kgf, with the direction of gravity as positive. It is more preferably -1 to 1 kgf, and even more preferably substantially 0. As a result, the self-propelled power transmission line inspection device 1 in the lift generation mode can be moved with a light force.
The sum of the weight of the self-propelled power transmission line inspection device 1 in consideration of the weight of the insulating rod 500 and the total lift of the rotary blades 221a to 221d may be the above-mentioned numerical values.
連結機構２１３は、揚力発生部２００のケース２１１の上部に設けられ、後述する絶縁棒５００を着脱自在に連結させるための機構である。本実施形態例においては、連結機構２１３は、リング状の係合部材を備える機械式機構であり、絶縁棒５００の係合部５１０と係合されることで、連結が可能となっている。 The connecting mechanism 213 is provided on the upper part of the case 211 of the lift generating unit 200, and is a mechanism for detachably connecting the insulating rod 500 described later. In the present embodiment, the connecting mechanism 213 is a mechanical mechanism including a ring-shaped engaging member, and can be connected by being engaged with the engaging portion 510 of the insulating rod 500.
なお、連結機構２１３は、例示の機械式機構に限られず、例えば操作端末５４０からの光無線指令やセンサによる絶縁棒５００の接近の検知により開閉し、絶縁棒５００と連結可能とする電気式機構としてもよい。また、連結機構２１３は、例示のケース２１１の上部に限られず、作業性を考慮して、ケース２１１の側面や点検ロボット１００の本体部１１０に設けてもよく、複数個設けてもよい。 The connecting mechanism 213 is not limited to the illustrated mechanical mechanism, and is an electric mechanism that opens and closes by detecting the approach of the insulating rod 500 by an optical radio command from the operation terminal 540 or a sensor, and can be connected to the insulating rod 500. May be. Further, the connecting mechanism 213 is not limited to the upper portion of the illustrated case 211, and may be provided on the side surface of the case 211 or the main body 110 of the inspection robot 100 in consideration of workability, or a plurality of connecting mechanisms 213 may be provided.
回転翼２２１ａ〜２２１ｄは、それぞれフレーム２１２ａ〜２１２ｄの先端付近の上方に設けられている。これにより、回転翼２２１ａ〜２２１ｄの回転軸Ｃ１〜Ｃ４は、Ｃ０を中心として等間隔（９０°間隔）である回転対称の位置関係となっている（図３参照）。 The rotary blades 221a to 221d are provided above the vicinity of the tips of the frames 212a to 212d, respectively. As a result, the rotation axes C1 to C4 of the rotor blades 221a to 221d have a rotationally symmetric positional relationship at equal intervals (90 ° intervals) about C0 (see FIG. 3).
上記Ｃ０〜Ｃ４の位置関係により、揚力発生モード時に回転翼２２１の回転の反作用によって揚力発生部２００がＣ０周りに回転することが防止される。すなわち、Ｃ０に対して対向する２個の回転翼２２１ａ，２２１ｃが正方向に回転して反作用により生じるＣ０周りのトルクをキャンセルし、２個の回転翼２２１ｂ，２２１ｄが逆方向に回転して反作用により生じるＣ０周りのトルクをキャンセルしている。 Due to the positional relationship between C0 and C4, the lift generating portion 200 is prevented from rotating around C0 due to the reaction of the rotation of the rotary blade 221 in the lift generating mode. That is, the two rotors 221a and 221c facing C0 rotate in the forward direction to cancel the torque around C0 generated by the reaction, and the two rotors 221b and 221d rotate in the opposite directions to react. The torque around C0 generated by this is canceled.
なお、回転翼２２１の個数は例示の４個に限られず、３個または５個以上であってもよいが、偶数個（例えば、６個または８個）であることが好ましい。偶数個であれば、正方向に回転する回転翼と逆方向に回転する回転翼を同数個ずつ設けることができるので、トルクを打ち消すための制御が容易となるからである。偶数個の回転翼を設ける場合も、ケース２１１の中心軸に関して等間隔で回転対称に配置し、回転方向が正方向と逆方向の回転翼を交互に配置することが好ましい。 The number of rotary blades 221 is not limited to the four illustrated, and may be three or five or more, but an even number (for example, six or eight) is preferable. This is because if the number is an even number, the same number of rotor blades rotating in the forward direction and the same number of rotor blades rotating in the opposite direction can be provided, so that the control for canceling the torque becomes easy. Even when an even number of rotor blades are provided, it is preferable that the rotor blades are arranged symmetrically at equal intervals with respect to the central axis of the case 211, and the rotor blades whose rotation directions are in the forward direction and the reverse direction are alternately arranged.
モータ２２２ａ〜２２２ｄは、回転翼２２１ａ〜２２１ｄに回転の動力を与えるものであり、回転時の振動を少なくして送電線Ｗをぶれなく撮影する観点からは、例えば可動部品の接触のないブラシレスモータが用いられる。モータ２２２ａ〜２２２ｄは、それぞれフレーム２１２ａ〜２１２ｄの先端付近に設けられており、シャフトを介して回転翼２２１ａ〜２２１ｄの中心に接合されている。 The motors 222a to 222d give rotational power to the rotary blades 221a to 221d, and from the viewpoint of reducing vibration during rotation and photographing the transmission line W without blurring, for example, a brushless motor without contact with moving parts. Is used. The motors 222a to 222d are provided near the tips of the frames 212a to 212d, respectively, and are joined to the center of the rotary blades 221a to 221d via a shaft.
なお、回転翼２２１ａ〜２２１ｄおよびモータ２２２ａ〜２２２ｄは、例示のようにケース２１１の上方に限られず、ケース２１１の下方にあってもよく、フレーム２１２ａ〜２１２ｄをケース２１１の下半部に設けてもよい。また、回転翼２２１ａ〜２２１ｄおよびモータ２２２ａ〜２２２ｄは、後述するバッテリ２３２に設けてもよい。 The rotor blades 221a to 221d and the motors 222a to 222d are not limited to the upper part of the case 211 as illustrated, but may be below the case 211, and the frames 212a to 212d are provided in the lower half of the case 211. May be good. Further, the rotor blades 221a to 221d and the motors 222a to 222d may be provided in the battery 232 described later.
２本の棒状部材２３１および２個のバッテリ２３２は、いわゆる「やじろべえ」の構成をなし、シンプルな構造による姿勢制御を可能としている。
棒状部材２３１ａ，２３１ｂは、図１に示すように、ケース２１１の左右側面から下方に向けて設けられた略円弧または略楕円弧状の棒体であり、それぞれ先端にバッテリ２３２ａ，２３２ｂが設けられている。棒状部材２３１ａ，２３１ｂは、バッテリ２３２ａ，２３２ｂの重量を支える強靱性を有し、導電性を有する材料（例えば、炭素繊維強化された導電性樹脂）からなる。
The two rod-shaped members 231 and the two batteries 232 have a so-called "weeble" configuration, and can control the attitude with a simple structure.
As shown in FIG. 1, the rod-shaped members 231a and 231b are substantially arc or substantially elliptical arc-shaped rods provided downward from the left and right side surfaces of the case 211, and batteries 232a and 232b are provided at their tips, respectively. There is. The rod-shaped members 231a and 231b are made of a tough and conductive material (for example, a carbon fiber reinforced conductive resin) that supports the weight of the batteries 232a and 232b.
バッテリ２３２ａ，２３２ｂは、点検ロボット１００および揚力発生部２００の電源供給の役割の他、やじろべえの一対のバランサを構成している。別途のバランサを必要としないめ、自走式送電線点検装置１の簡素化および軽量化に貢献している。バッテリ２３２ａ，２３２ｂは、重量の平衡の観点から、実質同質量であり、プーリ１２１に対して対称に配置されている。また、バッテリ２３２は、例示の２個に限られず、複数個であってもよく、この場合、対称配置の観点から、偶数個とすることが好ましい。また、バッテリ２３２は、点検ロボット１００と揚力発生部２００とで別系統のものを設けてもよい（後述の第二実施形態例参照）。 The batteries 232a and 232b form a pair of weeble balancers in addition to serving as a power supply for the inspection robot 100 and the lift generating unit 200. Since a separate balancer is not required, it contributes to the simplification and weight reduction of the self-propelled power transmission line inspection device 1. The batteries 232a and 232b have substantially the same mass from the viewpoint of weight balance, and are arranged symmetrically with respect to the pulley 121. Further, the number of batteries 232 is not limited to the two illustrated, and may be a plurality of batteries. In this case, an even number of batteries 232 is preferable from the viewpoint of symmetrical arrangement. Further, the battery 232 may be provided with a separate system for the inspection robot 100 and the lift generating unit 200 (see the second embodiment described later).
図４を参照しながら、自走式送電線点検装置１の姿勢制御について説明する。
図４に示す矢印Ｇ１，Ｇ２，Ｇ３は、それぞれ、バッテリ２３２ａ，２３２ｂと自走式送電線点検装置１のバッテリ２３２ａ，２３２ｂを除いた部分に加わる重力を示し、矢印Ｇは重力Ｇ１，Ｇ２，Ｇ３の合成重力を示す。同図のように、自走式送電線点検装置１が左に傾くと、合成重力Ｇは支点である送電線Ｗよりも右に移動し、送電線Ｗ周りに右回転のモーメントを発生させる。この右回転のモーメントにより、自走式送電線点検装置１は元の姿勢に戻ろうとし、慣性力によって右に傾く。そうすると今度は送電線Ｗ周りに左回転のモーメントが発生し、自走式送電線点検装置１は再び元の姿勢に戻ろうとする。このように、自走式送電線点検装置１は左右に振り子のように振れることで姿勢制御をする（実際には、送電線Ｗとプーリ１２１の摩擦力によって振れは徐々に減衰していく）。以上のやじろべえの振り子の原理により、自走式送電線点検装置１は、姿勢制御をしている。
The attitude control of the self-propelled power transmission line inspection device 1 will be described with reference to FIG.
The arrows G1, G2, and G3 shown in FIG. 4 indicate the gravity applied to the portions of the self-propelled transmission line inspection device 1 excluding the batteries 232a and 232b, respectively, and the arrows G indicate the gravity G1, G2, respectively. The synthetic gravity of G3 is shown. As shown in the figure, when the self-propelled power transmission line inspection device 1 is tilted to the left, the combined gravity G moves to the right of the power transmission line W, which is a fulcrum, and generates a right-handed rotation moment around the power transmission line W. Due to this clockwise rotation moment, the self-propelled transmission line inspection device 1 tries to return to its original posture and tilts to the right due to the inertial force. Then, a counterclockwise rotation moment is generated around the transmission line W, and the self-propelled transmission line inspection device 1 tries to return to the original posture again. In this way, the self-propelled power transmission line inspection device 1 controls the attitude by swinging left and right like a pendulum (actually, the swing is gradually attenuated by the frictional force between the power transmission line W and the pulley 121). .. Based on the above-mentioned principle of the pendulum of Yajirobe, the self-propelled power transmission line inspection device 1 controls the attitude.
やじろべえの振り子の安定性の観点からは、合成重心は支点となる送電線Ｗより下方に位置すること、および／または、バッテリ２３２の重量比率を高めることが好ましい。
なお、やじろべえの振り子の状態から、さらに左右の振れを少なくして垂直姿勢を安定させるため、棒状部材２３１ａ，２３１ｂを可動とし、左右に送り出して重心位置を変える制御を行ってもよい。すなわち、自走式送電線点検装置１の送電線Ｗ周りに発生する回転モーメントを調整することにより、垂直姿勢復帰に必要な回転モーメントを得ながらも、回転速度を落として垂直姿勢復帰時における慣性力を減らす制御をしてもよい。
From the viewpoint of the stability of the pendulum of the Weeble, it is preferable that the synthetic center of gravity is located below the transmission line W as a fulcrum and / or the weight ratio of the battery 232 is increased.
In addition, in order to further reduce the left-right swing and stabilize the vertical posture from the state of the pendulum of the weeble, the rod-shaped members 231a and 231b may be movable and sent out to the left and right to change the position of the center of gravity. That is, by adjusting the rotational moment generated around the transmission line W of the self-propelled transmission line inspection device 1, the rotational speed is reduced and the inertia at the time of returning to the vertical posture is obtained while obtaining the rotational moment required for returning to the vertical posture. You may control to reduce the force.
受信部２５３は、ケース２１１に設けられ、後述する操作端末５４０から送信された通信光（例えば、可視光または赤外光）を受信する受光窓（図示せず）を備えている。受信部２５３は、後述する絶縁棒５００に設けられた送光窓と通信を行うことを可能とするため、少なくとも連結機構２１３の近辺に一つ設ける必要があるが、複数設けてもよい。通信光は、電磁界の影響をより受けにくくする観点から、可視光線より波長の長い光またはレーザ光を用いることが好ましい。 The receiving unit 253 is provided in the case 211 and includes a light receiving window (not shown) for receiving communication light (for example, visible light or infrared light) transmitted from the operation terminal 540 described later. In order to enable communication with the light transmitting window provided on the insulating rod 500, which will be described later, it is necessary to provide at least one receiving unit 253 in the vicinity of the connecting mechanism 213, but a plurality of receiving units 253 may be provided. As the communication light, it is preferable to use light having a wavelength longer than that of visible light or laser light from the viewpoint of making it less susceptible to the influence of electromagnetic fields.
［絶縁棒５００］
絶縁棒５００は、作業者が連結機構２１３を介して自走式送電線点検装置１と連結させ、揚力発生モードの自走式送電線点検装置１を送電線Ｗに着脱するための棒体であり、鉄塔の作業箇所から送電線Ｗまでの距離に応じた長さ（例えば２〜１２ｍ）を有する。絶縁棒５００の各部材は、活線状態の送電線Ｗに対する安全性を確保する観点から、高電圧（例えば約６０ｋＶ）に対する高絶縁性を有する樹脂材料やゴム材料で主に構成されている。
[Insulation rod 500]
The insulating rod 500 is a rod body for an operator to connect to the self-propelled power transmission line inspection device 1 via a connecting mechanism 213 and to attach / detach the self-propelled power transmission line inspection device 1 in the lift generation mode to / from the power transmission line W. Yes, it has a length (for example, 2 to 12 m) according to the distance from the work place of the steel tower to the transmission line W. Each member of the insulating rod 500 is mainly composed of a resin material or a rubber material having a high insulating property against a high voltage (for example, about 60 kV) from the viewpoint of ensuring the safety of the transmission line W in a live state.
図５に、絶縁棒５００の一例を示す。絶縁棒５００は、係合部５１０と、ハンドル部５２０と、支持部５３０と、操作端末５４０とを主な構成要素としている。
係合部５１０は、連結機構２１３と係合して自走式送電線点検装置１を掴持する部位であり、例えばＣ字形の係合部材５１１，５１２を備えている。係合部５１０には、操作端末５４０からの通信光を出射する送光窓（図示せず）が設けられている。送光窓は、係合部５１０と連結機構２１３が係合した状態において、受信部２５３の受光窓と対向する位置に設けられている。ここで、送光窓と受信部２５３の受光窓とは、互いに面接触する仕様としていてもよいし、非接触の状態（間隔を空けた状態）で光通信をする仕様としてもよい。
FIG. 5 shows an example of the insulating rod 500. The insulating rod 500 mainly includes an engaging portion 510, a handle portion 520, a support portion 530, and an operation terminal 540.
The engaging portion 510 is a portion that engages with the connecting mechanism 213 to grip the self-propelled power transmission line inspection device 1, and includes, for example, C-shaped engaging members 511 and 512. The engaging portion 510 is provided with a light transmitting window (not shown) that emits communication light from the operation terminal 540. The light transmitting window is provided at a position facing the light receiving window of the receiving unit 253 in a state where the engaging portion 510 and the connecting mechanism 213 are engaged. Here, the light transmitting window and the light receiving window of the receiving unit 253 may be specified to be in surface contact with each other, or may be specified to perform optical communication in a non-contact state (a state in which they are spaced apart).
係合部材５１１，５１２の端部同士には間隔が空けられており、連結機構２１３の係合部材を出し入れするための開口部５１３を形成している。係合部材５１２は、伝達棒５３２に引かれることで可動して開口部５１３を開閉する。連結機構２１３の係合部材を係合部材５１１，５１２で挟むことにより、絶縁棒５００と連結機構２１３を係合することができる。
なお、係合部５１０は、例示の機構に限られず、例えばフック状の係合部材で構成されていてもよく、非可動の部材で構成されてもよい。
The ends of the engaging members 511 and 512 are spaced apart from each other to form an opening 513 for inserting and removing the engaging member of the connecting mechanism 213. The engaging member 512 is moved by being pulled by the transmission rod 532 to open and close the opening 513. By sandwiching the engaging member of the connecting mechanism 213 between the engaging members 511 and 512, the insulating rod 500 and the connecting mechanism 213 can be engaged with each other.
The engaging portion 510 is not limited to the illustrated mechanism, and may be composed of, for example, a hook-shaped engaging member or a non-movable member.
ハンドル部５２０は、グリップ５２１と、レバー機構５２２とを備えている。
レバー機構５２２は、レバー部材５２３と支持部材５２４とを備え、レバー部材５２３を作業者が握ることによって、支持部材５２４に支持された点を支点とする梃子の作用により伝達棒５３２を引いて係合部材５１２を動かすことができる。
The handle portion 520 includes a grip 521 and a lever mechanism 522.
The lever mechanism 522 includes a lever member 523 and a support member 524, and when the operator grips the lever member 523, the transmission rod 532 is pulled and engaged by the action of a lever having a point supported by the support member 524 as a fulcrum. The joint member 512 can be moved.
支持部５３０は、支持棒５３１と、伝達棒５３２とを備える。
支持棒５３１は、ハンドル部５２０と係合部５１０とを連結する絶縁材からなる棒状部材である。支持棒５３１には、操作端末５４０に接続された光ファイバー（図示せず）が配設されている。支持部５３０は、作業性および携帯性の観点から、例えばピンロック等の機構により長さを可変としてもよい。
The support portion 530 includes a support rod 531 and a transmission rod 532.
The support rod 531 is a rod-shaped member made of an insulating material that connects the handle portion 520 and the engaging portion 510. An optical fiber (not shown) connected to the operation terminal 540 is arranged on the support rod 531. From the viewpoint of workability and portability, the support portion 530 may have a variable length by a mechanism such as a pin lock.
操作端末５４０は、作業者が自走式送電線点検装置１に後述する揚力発生モードの開始／停止、点検の開始／停止等の各種動作の指令を、図示しない光ファイバーを介して受信部２５３に指令を送信するための電子機器（コントローラ）である。 The operation terminal 540 sends commands to the self-propelled power transmission line inspection device 1 for various operations such as start / stop of lift generation mode and start / stop of inspection, which will be described later, to the receiving unit 253 via an optical fiber (not shown). It is an electronic device (controller) for transmitting commands.
作業者が操作端末５４０を操作すると、操作端末５４０に接続された図示しない光ファイバーが通信光を誘導し、係合部５１０に設けられた図示しない送光窓から通信光を発信させる。送光窓から発信された通信光は、受信部２５３の受光窓で受信され、制御部１４０で処理され、自走式送電線点検装置１の各種動作のトリガーとなる。
操作端末５４０には、非常停止ボタンを設けてもよい。非常停止ボタンを押すと自走式送電線点検装置１は係合部５１０に係合された状態のまま墜落する。非常停止ボタンは、係合部５１０と連結機構２１３が非係合状態の場合は押せず、非常停止ボタンを押すと係合部５１０と連結機構２１３の係合がロックされる仕様とすることが好ましい。
When the operator operates the operation terminal 540, an optical fiber (not shown) connected to the operation terminal 540 guides the communication light, and the communication light is transmitted from a light transmission window (not shown) provided in the engaging portion 510. The communication light transmitted from the light transmitting window is received by the light receiving window of the receiving unit 253, processed by the control unit 140, and triggers various operations of the self-propelled power transmission line inspection device 1.
The operation terminal 540 may be provided with an emergency stop button. When the emergency stop button is pressed, the self-propelled power transmission line inspection device 1 crashes while being engaged with the engaging portion 510. The emergency stop button may not be pressed when the engaging portion 510 and the connecting mechanism 213 are not engaged, and the engagement between the engaging portion 510 and the connecting mechanism 213 may be locked when the emergency stop button is pressed. preferable.
上述した絶縁棒５００と連結機構２１３の連結は、絶縁棒５００側が動いて連結機構２１３と係合するものであるが、連結機構２１３側が動いて絶縁棒５００と係合するものであってもよい。この場合、例えば絶縁棒５００の係合部を非可動の部材で構成し、連結機構２１３が前述の電気式機構により開閉動作して絶縁棒５００の係合部と係合する機構とすることが開示される。 In the connection between the insulating rod 500 and the connecting mechanism 213 described above, the insulating rod 500 side moves and engages with the connecting mechanism 213, but the connecting mechanism 213 side may move and engage with the insulating rod 500. .. In this case, for example, the engaging portion of the insulating rod 500 may be composed of a non-movable member, and the connecting mechanism 213 may be opened and closed by the above-mentioned electric mechanism to engage with the engaging portion of the insulating rod 500. Will be disclosed.
なお、絶縁棒５００は、例示の構成に限られず、電気工事用の公知の絶縁操作棒（ホットスティック）を利用することもできる。この場合、操作端末５４０を、絶縁棒とは別体の操作端末（リモコン端末）により構成する。 The insulating rod 500 is not limited to the illustrated configuration, and a known insulating operation rod (hot stick) for electrical work can also be used. In this case, the operation terminal 540 is configured by an operation terminal (remote control terminal) separate from the insulating rod.
［使用態様］
送電線Ｗへの脱着作業は、鉄塔ごとに二人一組の２組の作業者（作業者（Ａ，Ｂ）および作業者（Ｃ，Ｄ））により、次の手順で行う（下記（１）〜（４）は図６を参照）。
（１）作業者Ａは、絶縁棒５００を持って鉄塔の所定の位置まで登る。作業者Ｂは、自走式送電線点検装置１を背負って運搬し、鉄塔を登って作業者Ａよりも絶縁棒５００の長さに相当する分だけ低い位置まで登る。
作業者Ａは、絶縁棒５００を作業者Ｂに向けて下ろし、係合部５１０を作業者Ｂの付近に位置させる。続いて、作業者Ｂは、連結機構２１３を開口部５１３に入れ、作業者Ａは、レバー部材５２３を握って係合部５１０と連結機構２１３を係合させる。これにより、絶縁棒５００と自走式送電線点検装置１が連結する。続いて、作業者Ｂは、自走式送電線点検装置１を手で掴んだまま手動で（または作業者Ａの操作端末５４０の光無線指令により）揚力発生モードを開始させる。
[Usage]
The work of attaching and detaching to the transmission line W is carried out by two sets of workers (workers (A, B) and workers (C, D)), one set for each tower, according to the following procedure ((1) below. )-(4) see FIG. 6).
(1) Worker A holds the insulating rod 500 and climbs to a predetermined position on the steel tower. Worker B carries the self-propelled power transmission line inspection device 1 on his back, climbs the steel tower, and climbs to a position lower than that of worker A by the length of the insulating rod 500.
The worker A lowers the insulating rod 500 toward the worker B, and positions the engaging portion 510 in the vicinity of the worker B. Subsequently, the worker B inserts the connecting mechanism 213 into the opening 513, and the worker A grips the lever member 523 to engage the engaging portion 510 and the connecting mechanism 213. As a result, the insulating rod 500 and the self-propelled power transmission line inspection device 1 are connected. Subsequently, the worker B manually (or by the optical radio command of the operation terminal 540 of the worker A) starts the lift generation mode while holding the self-propelled power transmission line inspection device 1 by hand.
（２）自走式送電線点検装置１が揚力発生モードになると、自走式送電線点検装置１の重量と揚力発生部２００の揚力の和は、好ましくは−２〜２ｋｇｆとなり、より好ましくは−１〜１ｋｇｆとなり、さらに好ましくは、実質０となる。これにより、作業者Ａは、軽い力で絶縁棒５００を操作して、自走式送電線点検装置１を軽々と持ち上げることができる。 (2) When the self-propelled power transmission line inspection device 1 is in the lift generation mode, the sum of the weight of the self-propelled power transmission line inspection device 1 and the lift of the lift generation unit 200 is preferably -2 to 2 kgf, more preferably. It is -1 to 1 kgf, more preferably substantially 0. As a result, the worker A can operate the insulating rod 500 with a light force to easily lift the self-propelled power transmission line inspection device 1.
（３）作業者Ｂは、自走式送電線点検装置１を離し、作業者Ａは、絶縁棒５００を上方にスウィングして、自走式送電線点検装置を送電線Ｗ上に装着する。 (3) The worker B releases the self-propelled power transmission line inspection device 1, and the worker A swings the insulating rod 500 upward to mount the self-propelled power transmission line inspection device on the power transmission line W.
（４）作業者Ａは、操作端末５４０の光無線指令により自走式送電線点検装置１の揚力発生モードを停止する。続いて、作業者Ａは、絶縁棒５００を操作して係合部５１０と連結機構２１３の係合を解除し、操作端末５４０で点検開始の光無線指令を送信すると、自走式送電線点検装置１は送電線Ｗ上を自走および点検を開始する。 (4) The worker A stops the lift generation mode of the self-propelled power transmission line inspection device 1 by the optical radio command of the operation terminal 540. Subsequently, the operator A operates the insulating rod 500 to disengage the engaging portion 510 and the connecting mechanism 213, and transmits an optical radio command to start the inspection at the operation terminal 540, and then the self-propelled power transmission line inspection. The device 1 starts self-propelled and inspected on the transmission line W.
（５）自走式送電線点検装置１の行き先の鉄塔には、作業者Ｃが絶縁棒５００および操作端末を持って所定の位置まで登って待機しており、作業者Ｄが作業者Ｃよりも絶縁棒５００の長さに相当する分だけ低い位置まで登って待機している。
自走式送電線点検装置１が行き先の鉄塔に到着すると、作業員Ｃは、絶縁棒５００の係合部５１０を自走式送電線点検装置１に近づけ、操作端末５４０から点検停止の光無線指令を発信し、自走式送電線点検装置１の自走および点検を停止させる。
(5) At the steel tower at the destination of the self-propelled power transmission line inspection device 1, worker C climbs up to a predetermined position with an insulating rod 500 and an operation terminal and stands by, and worker D is from worker C. Also climbs to a lower position corresponding to the length of the insulating rod 500 and stands by.
When the self-propelled power transmission line inspection device 1 arrives at the destination tower, the worker C brings the engaging portion 510 of the insulating rod 500 closer to the self-propelled power transmission line inspection device 1, and the operation terminal 540 stops the inspection. A command is sent to stop the self-propelled transmission line inspection device 1 self-propelled and inspected.
（６）作業員Ｃは、絶縁棒５００を操作して係合部５１０と連結機構２１３を係合させる。続いて、作業員Ｃは、操作端末により自走式送電線点検装置１を揚力発生モードとし、絶縁棒５００を操作して自走式送電線点検装置１を送電線Ｗから取り外す。続いて、作業員Ｃは、絶縁棒５００を下方にスウィングして自走式送電線点検装置１を下にいる作業員Ｄの元まで移動させる。 (6) The worker C operates the insulating rod 500 to engage the engaging portion 510 with the connecting mechanism 213. Subsequently, the worker C sets the self-propelled transmission line inspection device 1 in the lift generation mode by the operation terminal, operates the insulating rod 500, and removes the self-propelled transmission line inspection device 1 from the transmission line W. Subsequently, the worker C swings the insulating rod 500 downward to move the self-propelled power transmission line inspection device 1 to the lower worker D.
（７）作業員Ｄは、自走式送電線点検装置１を受け取り、手動または作業員Ｃの操作端末の光無線指令により揚力発生モードを停止する。続いて、作業員Ｃが係合部５１０と連結機構２１３の係合を解除することで自走式送電線点検装置１が絶縁棒５００から切り離される。他の送電線の点検を実施しない場合は、作業員Ｄは、自走式送電線点検装置１を回収して点検を終了する。 (7) The worker D receives the self-propelled power transmission line inspection device 1 and stops the lift generation mode manually or by an optical radio command of the operation terminal of the worker C. Subsequently, the worker C disengages the engaging portion 510 and the connecting mechanism 213, so that the self-propelled power transmission line inspection device 1 is disconnected from the insulating rod 500. When the inspection of other transmission lines is not carried out, the worker D collects the self-propelled transmission line inspection device 1 and completes the inspection.
以上に説明した本実施形態例の自走式送電線点検装置１によれば、活線状態で送電線の点検を行うことができ、別途の重厚長大な装置（移送ケーブルや吊り下げるための装置など）を必要とすることなく安全かつ容易に送電線への着脱が可能となる。
また、自走式送電線点検装置１が径間中央で停止した場合でも遠隔操作で送電線Ｗから降ろすことが可能である（この場合、必要に応じて送電を停止する。）。
本実施形態例では採用していないが、送電線Ｗの弛度（たるみ具合、はり具合）が大きく自走式送電線点検装置１がプーリ（車輪）の動力で送電線Ｗを登れない場合に揚力発生部の揚力で推進を扶助する制御をしてもよい。これとは異なり、回転翼を逆回転させてプーリ（車輪）を送電線Ｗに押し付けることで、プーリ（車輪）と送電線Ｗの摩擦抵抗を増やして送電線Ｗを登りやすくする制御をしてもよい。
According to the self-propelled transmission line inspection device 1 of the present embodiment described above, the transmission line can be inspected in the live line state, and a separate heavy and long device (transfer cable or device for suspending) can be inspected. It can be safely and easily attached to and detached from the power transmission line without the need for (such as).
Further, even if the self-propelled power transmission line inspection device 1 is stopped at the center of the span, it can be removed from the power transmission line W by remote control (in this case, power transmission is stopped if necessary).
Although not adopted in this embodiment, when the slackness (sagging condition, beaming condition) of the transmission line W is large and the self-propelled transmission line inspection device 1 cannot climb the transmission line W by the power of the pulley (wheel). Control may be performed to assist propulsion by the lift of the lift generating portion. Unlike this, by rotating the rotary blade in the reverse direction and pressing the pulley (wheel) against the transmission line W, the frictional resistance between the pulley (wheel) and the transmission line W is increased to make it easier to climb the transmission line W. May be good.
［第二実施形態例］
第二実施形態例に係る自走式送電線点検装置２は、揚力発生部が点検ロボットの本体部から脱離可能とし、点検ロボット単独で自走して送電線を点検するものである。
以下、自走式送電線点検装置２の構成を説明する。以下では、相違点を中心に説明し、共通する構成については第一実施形態例と同一の符号を付し、説明を割愛する。
[Example of the second embodiment]
In the self-propelled power transmission line inspection device 2 according to the second embodiment, the lift generating unit can be detached from the main body of the inspection robot, and the inspection robot alone self-propells to inspect the power transmission line.
Hereinafter, the configuration of the self-propelled power transmission line inspection device 2 will be described. In the following, the differences will be mainly described, and the common configurations will be designated by the same reference numerals as those in the first embodiment, and the description thereof will be omitted.
［構成］
図７〜９を参照しながら自走式送電線点検装置２について説明する。自走式送電線点検装置２は、点検ロボット３００と、点検ロボット上部に脱離可能に設けられた揚力発生部４００とを主な構成要素とする。自走式送電線点検装置２は、点検ロボット３００用の２個のバッテリ２３２が２個の棒状部材３６１により本体部１１０に取り付けられ、揚力発生部４００用バッテリがケース２１１内に設けられている点、および、揚力発生部４００と本体部１１０とを着脱自在とする着脱機構を備える点で、第一実施形態例の自走式送電線点検装置１と主に相違する。
[Constitution]
The self-propelled power transmission line inspection device 2 will be described with reference to FIGS. 7 to 9. The self-propelled power transmission line inspection device 2 mainly includes an inspection robot 300 and a lift generating unit 400 detachably provided on the upper part of the inspection robot. In the self-propelled power transmission line inspection device 2, two batteries 232 for the inspection robot 300 are attached to the main body 110 by two rod-shaped members 361, and a battery for the lift generating portion 400 is provided in the case 211. It is mainly different from the self-propelled power transmission line inspection device 1 of the first embodiment in that it is provided with a detachable mechanism for detaching the lift generating portion 400 and the main body 110.
棒状部材３６１ａ，３６１ｂは、本体部１１０の底部の左右から下方に向けて延設された折れ線形の棒体である。棒状部材３６１ａ，３６１ｂの折れ線は、先端部の間隔を広くして自走式送電線点検装置２を送電線Ｗに着脱する際に、送電線Ｗと干渉することを防ぐため、本体部１１０側の底部から斜め下方に向けて延び、所定の位置で折れ曲がって互いに平行に下方に延びる形状となっている。棒状部材３６１ａ，３６１ｂの先端には、第一実施形態例の棒状部材２３１ａ，２３１ｂと同様に、それぞれバッテリ２３２ａ，２３２ｂが設けられ、やじろべえの構成をなしている。 The rod-shaped members 361a and 361b are bent-linear rods extending downward from the left and right sides of the bottom of the main body 110. The broken wire of the rod-shaped members 361a and 361b is on the main body 110 side in order to prevent interference with the transmission line W when the self-propelled transmission line inspection device 2 is attached to and detached from the transmission line W by widening the distance between the tip portions. It has a shape that extends diagonally downward from the bottom of the cable, bends at a predetermined position, and extends downward in parallel with each other. Like the rod-shaped members 231a and 231b of the first embodiment, batteries 232a and 232b are provided at the tips of the rod-shaped members 361a and 361b, respectively, and form a weeble structure.
図示しない着脱機構は、本体部１１０の上面および揚力発生部４００のケース２１１の下面に設けられ、両者の連結／非連結を手動または自動で切り替えるための機構である。着脱機構は、例えば、操作端末の光無線指令により自動で開閉動作する電気式のロック機構と係合部材により構成することができる。着脱機構は、詳細には、ケース２１１側に設けた係合部材と係脱自在に開閉する本体部１１０側の係合機構を備える。揚力発生部４００を本体部１１０上面に載置し、操作端末５４０によりロックの光無線指令を送信すると、本体部１１０側のロック機構が閉じてケース２１１側の係合部材と係合し、揚力発生部４００と本体部１１０を連結させる。操作端末によりアンロックの光無線指令を行うと、本体部１１０側のロック機構が開いてケース２１１側の係合部材との係合を解除し、揚力発生部４００を本体部１１０から脱離可能とする。 The attachment / detachment mechanism (not shown) is provided on the upper surface of the main body 110 and the lower surface of the case 211 of the lift generating unit 400, and is a mechanism for manually or automatically switching the connection / non-connection between the two. The attachment / detachment mechanism can be composed of, for example, an electric lock mechanism and an engaging member that automatically open / close according to an optical radio command of the operation terminal. Specifically, the attachment / detachment mechanism includes an engagement mechanism on the main body 110 side that opens and closes freely with the engagement member provided on the case 211 side. When the lift generating unit 400 is placed on the upper surface of the main body 110 and the optical radio command of the lock is transmitted by the operation terminal 540, the lock mechanism on the main body 110 side closes and engages with the engaging member on the case 211 side to lift the lift. The generating unit 400 and the main body 110 are connected. When an unlocking optical radio command is issued by the operation terminal, the lock mechanism on the main body 110 side opens to release the engagement with the engaging member on the case 211 side, and the lift generating part 400 can be detached from the main body 110. And.
なお、着脱機構は、例示の電気式のロック機構に限られず、絶縁棒５００を操作して機械的に連結／非連結を切り替える機構であってもよい。 The attachment / detachment mechanism is not limited to the illustrated electric lock mechanism, and may be a mechanism for mechanically switching connection / non-connection by operating the insulating rod 500.
［使用態様］
自走式送電線点検装置２の使用態様は、自走式送電線点検装置１の使用態様に対して、送電線Ｗへの着脱時を異にする。自走式送電線点検装置２は、送電線Ｗへの装着時、図１０のように、揚力発生部４００が連結機構２１３を介して絶縁棒５００に連結された状態で本体部１１０から離脱された状態となる。
以下、自走式送電線点検装置２の送電線Ｗへの着脱時において、第一実施形態例との相違部分を中心に説明する。
[Usage]
The usage mode of the self-propelled power transmission line inspection device 2 is different from the usage mode of the self-propelled power transmission line inspection device 1 at the time of attachment / detachment to / from the power transmission line W. When the self-propelled power transmission line inspection device 2 is attached to the power transmission line W, as shown in FIG. 10, the self-propelled power transmission line inspection device 2 is detached from the main body 110 in a state where the lift generating unit 400 is connected to the insulating rod 500 via the connecting mechanism 213. It will be in a state of being.
Hereinafter, differences from the first embodiment will be mainly described when the self-propelled power transmission line inspection device 2 is attached to and detached from the power transmission line W.
（１）送電線Ｗへの装着
送電線Ｗへの装着前、作業者Ｂは、あらかじめ、揚力発生部４００を本体部１１０に連結させておく。第一実施形態例と同様にして、絶縁棒５００を操作して自走式送電線点検装置２を送電線Ｗに装着した後、作業者Ａは、自走式送電線点検装置２を揚力発生モードにしたまま、かつ、揚力発生部４００に絶縁棒５００を連結させたまま、操作端末の光無線指令により着脱機構をアンロックにして揚力発生部４００を本体部１１０から切り離す。
(1) Mounting on the power transmission line W Before mounting on the power transmission line W, the worker B connects the lift generating unit 400 to the main body 110 in advance. In the same manner as in the first embodiment, after operating the insulating rod 500 to attach the self-propelled power transmission line inspection device 2 to the power transmission line W, the worker A generates lift for the self-propelled power transmission line inspection device 2. While in the mode and with the insulating rod 500 connected to the lift generating unit 400, the attachment / detachment mechanism is unlocked by the optical radio command of the operation terminal to disconnect the lift generating unit 400 from the main body 110.
続いて、作業者Ａは、絶縁棒５００を下方にスウィングして作業者Ｂの元へ揚力発生部４００を移動させる。作業者Ｂは、揚力発生部４００を受け取り、手動または作業者Ａの操作端末の光無線指令により揚力発生部４００の揚力発生モードを停止させる。続いて、作業者Ａは絶縁棒５００を操作して揚力発生部４００を絶縁棒５００から切り離し、作業者Ｂが揚力発生部４００を回収する。 Subsequently, the worker A swings the insulating rod 500 downward to move the lift generating unit 400 to the worker B. The worker B receives the lift generation unit 400 and stops the lift generation mode of the lift generation unit 400 manually or by an optical radio command of the operation terminal of the worker A. Subsequently, the worker A operates the insulating rod 500 to separate the lift generating unit 400 from the insulating rod 500, and the worker B collects the lift generating unit 400.
（２）送電線Ｗからの取り外し
第一実施形態例と同様に作業者Ｃ，Ｄは鉄塔を所定の位置まで登って待機しておく。ここで、作業者Ｄは、作業者Ｂが回収した揚力発生部４００、または、別途準備した揚力発生部４００をあらかじめ持っている。作業者Ｃが作業者Ｄに向けて下ろした絶縁棒５００には、揚力発生部４００を連結されている。
(2) Removal from the transmission line W As in the first embodiment, the workers C and D climb the steel tower to a predetermined position and stand by. Here, the worker D has a lift generating unit 400 collected by the worker B or a lift generating unit 400 prepared separately in advance. A lift generating unit 400 is connected to the insulating rod 500 that the worker C lowers toward the worker D.
点検ロボット３００が作業者Ｃの近くに到達すると、作業者Ｃの操作端末５４０の光無線指令または作業者Ｄの手動の操作により揚力発生部４００を揚力発生モードとし、絶縁棒５００を上方にスウィングして揚力発生部４００を点検ロボット３００の元へ移動させる。これと前後して、点検ロボット３００は操作端末５４０の光無線指令により自走および点検を停止される。続いて、作業者Ｃは、絶縁棒５００を操作して揚力発生部４００を点検ロボット３００上に載置し、操作端末５４０の光無線指令により着脱機構をロックさせ、揚力発生部４００を本体部１１０に連結させる。 When the inspection robot 300 reaches the vicinity of the worker C, the lift generating unit 400 is set to the lift generating mode by the optical radio command of the operating terminal 540 of the worker C or the manual operation of the worker D, and the insulating rod 500 is swung upward. Then, the lift generating unit 400 is moved to the inspection robot 300. Around this time, the inspection robot 300 is stopped from self-propelling and inspection by the optical radio command of the operation terminal 540. Subsequently, the operator C operates the insulating rod 500 to place the lift generating unit 400 on the inspection robot 300, locks the attachment / detachment mechanism by the optical radio command of the operation terminal 540, and sets the lift generating unit 400 to the main body. Connect to 110.
続いて、作業者Ｃは、操作端末５４０の光無線指令により、揚力発生部４００を揚力発生モードとし、絶縁棒５００を操作して自走式送電線点検装置２を送電線Ｗから取り外す。他の送電線の点検を実施しない場合は、作業員Ｄは、自走式送電線点検装置１を回収して点検を終了する。 Subsequently, the operator C sets the lift generating unit 400 to the lift generating mode by the optical radio command of the operation terminal 540, operates the insulating rod 500, and removes the self-propelled power transmission line inspection device 2 from the power transmission line W. When the inspection of other transmission lines is not carried out, the worker D collects the self-propelled transmission line inspection device 1 and completes the inspection.
本実施形態例の自走式送電線点検装置２によれば、第一実施形態例と比べ軽量な状態で点検ロボット３００が自走するため、自走速度を速くすることができ、点検時間を短縮することが可能である。また、回転翼を有する揚力発生部４００が切り離された状態で自走するため、風の影響を受けにくく走行中の姿勢が安定する。 According to the self-propelled power transmission line inspection device 2 of the present embodiment, since the inspection robot 300 is self-propelled in a state of being lighter than that of the first embodiment, the self-propelled speed can be increased and the inspection time can be shortened. It can be shortened. Further, since the lift generating portion 400 having the rotor blades is self-propelled in a separated state, it is not easily affected by the wind and the posture during traveling is stable.
［第三実施形態例］
第三実施形態例では、絶縁棒と揚力発生部とを有する電線装着装置６００により、揚力発生部を有しない自走式送電線点検装置３を送電線に装着する。
以下、第三実施形態に係る自走式送電線点検装置３および電線装着装置６００の構成を説明する。以下では、説明の便宜のため、第一実施形態例との相違点を中心に説明する。
[Example of Third Embodiment]
In the third embodiment, the self-propelled power transmission line inspection device 3 having no lift generating part is mounted on the power transmission line by the electric wire mounting device 600 having the insulating rod and the lift generating part.
Hereinafter, the configurations of the self-propelled power transmission line inspection device 3 and the electric wire mounting device 600 according to the third embodiment will be described. Hereinafter, for convenience of explanation, the differences from the first embodiment will be mainly described.
まず、自走式送電線点検装置３の構成について説明する。図１１は、第三実施形態に係る自走式送電線点検装置３の正面図であり、図１２は、第三実施形態に係る自走式送電線点検装置３の側面図であり、図１３は、第三実施形態に係る自走式送電線点検装置３の平面図である。 First, the configuration of the self-propelled power transmission line inspection device 3 will be described. FIG. 11 is a front view of the self-propelled power transmission line inspection device 3 according to the third embodiment, and FIG. 12 is a side view of the self-propelled power transmission line inspection device 3 according to the third embodiment. Is a plan view of the self-propelled power transmission line inspection device 3 according to the third embodiment.
図１１〜１３に示すように、自走式送電線点検装置３は、前後に並んだ前輪（前方のプーリ）１２１ａおよび後輪（後方のプーリ）１２１ｂが、一対のビーム３２２ａ，３２２ｂにより左右から挟持されている。水平方向に平行して延びる一対のビーム３２２ａ，３２２ｂは、図１２に示す回転軸１６０を介して、本体部３１０と連結している。ビーム３２２ａの両端部付近には、プーリ１２１ａ，１２１ｂを駆動するためのモータ１２３ａ，１２３ｂが取り付けられている。
本体部３１０は、図１１に示すように、車輪１２１ａ，１２１ｂの上方および左右側方を囲むコの字形の部材であり、その先端には制御部１４０と、バランサ１４３と、一対のバッテリ２３２ａ，２３２ｂとが連結されている。また、本体部３１０の上部には、後述する電線装着装置６００を連結するための連結機構２１３を備える。本体部３１０の内側には、撮像装置１３１が配置されている（なお、ミラー１３２は図示省略する。）。
As shown in FIGS. 11 to 13, in the self-propelled power transmission line inspection device 3, the front wheels (front pulley) 121a and the rear wheels (rear pulley) 121b arranged in the front and rear are arranged from the left and right by a pair of beams 322a and 322b. It is sandwiched. The pair of beams 322a and 322b extending in parallel in the horizontal direction are connected to the main body 310 via the rotation shaft 160 shown in FIG. Motors 123a and 123b for driving pulleys 121a and 121b are attached to the vicinity of both ends of the beam 322a.
As shown in FIG. 11, the main body 310 is a U-shaped member that surrounds the upper side and the left and right sides of the wheels 121a and 121b, and at the tip thereof, a control unit 140, a balancer 143, and a pair of batteries 232a. 232b is connected. Further, a connecting mechanism 213 for connecting the electric wire mounting device 600, which will be described later, is provided on the upper portion of the main body 310. An imaging device 131 is arranged inside the main body 310 (note that the mirror 132 is not shown).
モータ１２３ａ，１２３ｂ、撮像装置１３１、ミラー１３２および制御部１４０は、第一実施形態と同様であるので説明を割愛する。バランサ１４３は、モータ１２３ａ，１２３ｂおよび制御部１４０と反対側に設けられたおもりであり、本体部３１０の両端の重量バランスを均衡させる（送電線Ｗを支点として重量を平衡させる）作用を奏している。より詳細には、バッテリ２３２ａおよび２３２ｂも同一重量であり、バッテリ２３２ａおよび２３２ｂ並びに制御部１４０およびバランサ１４３が、バランサ部材として作用する。
本実施形態に係る自走式送電線点検装置３は、バランサ部材を送電線の長さ方向（車輪１２１ａ，１２１ｂの並び方向）に沿って揺動させる揺動機構を備えている。すなわち、ビーム３２２ａ，３２２ｂを貫通する回転軸１６０が、本体部３１０の左腕３１１および右腕３１２の間を架橋しており、送電線の勾配が変化すると、一対のビーム３２２ａ，３２２ｂと左腕３１１および右腕３１２が構成する角度が変化するようになっている。
The motors 123a and 123b, the image pickup apparatus 131, the mirror 132, and the control unit 140 are the same as those in the first embodiment, and thus the description thereof will be omitted. The balancer 143 is a weight provided on the side opposite to the motors 123a and 123b and the control unit 140, and acts to balance the weight balance at both ends of the main body unit 310 (balance the weight with the transmission line W as a fulcrum). There is. More specifically, the batteries 232a and 232b also have the same weight, and the batteries 232a and 232b and the control unit 140 and the balancer 143 act as balancer members.
The self-propelled power transmission line inspection device 3 according to the present embodiment includes a swing mechanism that swings the balancer member along the length direction of the power transmission line (the direction in which the wheels 121a and 121b are arranged). That is, the rotating shaft 160 penetrating the beams 322a and 322b bridges between the left arm 311 and the right arm 312 of the main body 310, and when the gradient of the transmission line changes, the pair of beams 322a, 322b and the left arm 311 and the right arm The angle formed by the 312 changes.
図１４は、本実施形態に係る自走式送電線点検装置３の動作を説明するための図である。例えば、図１４（Ａ）に示す例では、自走式送電線点検装置３の進行方向における送電線が勾配している。このような場合でも、自走式送電線点検装置３は、回転軸１６０を中心に、本体部３１０および一対のビーム３２２ａ，３２２ｂは、送電線の勾配に合わせて揺動する。
すなわち、本実施形態に係る自走式送電線点検装置３では、図１４（Ｂ）に示すように、車輪１２１ａ，１２１ｂの並び方向である軸Ｘと、上述のバランサ部材と、それらを支持するバランサ支持部材である本体部３１０とを結ぶ軸Ｙとが回転軸１６０で交差しており、回転軸１６０を中心に軸Ｘおよび軸Ｙがピッチ方向に揺動する。これにより、本実施形態に係る自走式送電線点検装置３では、車輪１２１ａ，１２１ｂの並び方向である軸Ｘが送電線の勾配と略平行とすることができるとともに、バッテリ２３２ａ，２３２ｂと本体部３１０とを結ぶ軸Ｙを鉛直方向のままとできる。換言すれば、本体部３１０および付属部品の荷重が鉛直方向に車輪１２１ａと１２１ｂとにかかることとなる。
FIG. 14 is a diagram for explaining the operation of the self-propelled power transmission line inspection device 3 according to the present embodiment. For example, in the example shown in FIG. 14A, the transmission line in the traveling direction of the self-propelled transmission line inspection device 3 is inclined. Even in such a case, in the self-propelled power transmission line inspection device 3, the main body 310 and the pair of beams 322a and 322b swing around the rotation shaft 160 according to the gradient of the power transmission line.
That is, in the self-propelled power transmission line inspection device 3 according to the present embodiment, as shown in FIG. 14 (B), the shaft X which is the arrangement direction of the wheels 121a and 121b, the balancer member described above, and the above-mentioned balancer members are supported. The axis Y connecting the main body 310, which is a balancer support member, intersects with the rotation axis 160, and the axis X and the axis Y swing around the rotation axis 160 in the pitch direction. As a result, in the self-propelled power transmission line inspection device 3 according to the present embodiment, the axis X in the alignment direction of the wheels 121a and 121b can be made substantially parallel to the gradient of the power transmission line, and the batteries 232a and 232b and the main body can be made substantially parallel. The axis Y connecting the portion 310 can be left in the vertical direction. In other words, the load of the main body 310 and the accessory parts is applied to the wheels 121a and 121b in the vertical direction.
また、本実施形態では、車輪１２１ａと１２１ｂとの間の位置であって、回転軸１６０よりも走行方向側に位置する部分と回転軸１６０より走行方向と反対側に位置する部分の重量比が４５：５５〜５５：４５となる位置に回転軸１６０が設けられている。これにより、自走式送電線点検装置３の重心を車輪１２１ａと１２１ｂとの間の中心位置とすることができ、本体部３１０およびバッテリ２３２ａ，２３２ｂの重みを、前輪１２１ａと後輪１２１ｂとに略均等にかけることができる。その結果、走行歩行前方の送電線が上り勾配している場合でも、前輪１２１ａと後輪１２１ｂとに、送電線との間で同程度の摩擦係数の摩擦を生じさせることができ、自走式送電線点検装置３の前方への推進力を高めることができる。 Further, in the present embodiment, the weight ratio of the portion between the wheels 121a and 121b, which is located on the traveling direction side of the rotating shaft 160 and the portion located on the opposite side of the rotating shaft 160 in the traveling direction, is The rotation shaft 160 is provided at a position at 45:55 to 55:45. As a result, the center of gravity of the self-propelled power transmission line inspection device 3 can be set to the center position between the wheels 121a and 121b, and the weights of the main body 310 and the batteries 232a and 232b are set to the front wheels 121a and the rear wheels 121b. It can be applied almost evenly. As a result, even when the power transmission line in front of the traveling walk is sloped uphill, the front wheels 121a and the rear wheels 121b can generate friction with the same friction coefficient between the front wheels 121a and the rear wheels 121b, and the self-propelled type. The forward propulsion force of the transmission line inspection device 3 can be increased.
一方、図１５は、揺動機構を有しない自走式送電線点検装置の動作を説明するための図である。図１５（Ａ）に示すように、揺動機構を有しない自走式送電線点検装置では、車輪を連結するビームと本体部とは固定されており、揺動自在になっていない。すなわち、揺動機構を有しない自走式送電線点検装置では、図１５（Ｂ）に示すように、車輪の並び方向に沿う軸Ｘと、バランサ部材とバランサ支持部材とを結ぶ軸Ｙとが略直角に固定されている。そのため、自走式送電線点検装置３の進行方向前方の送電線が傾斜している場合に、自走式送電線点検装置３の重心を、前輪と車輪とを結ぶ線の中心位置とすることができず、前輪と後輪とにかかる荷重が偏ってしまう。例えば、図１５（Ａ）に示す例では、前輪にかかる荷重が大きくなり、後輪にかかる荷重が小さくなり、後輪が送電線Ｗから浮いてしまっている。このような場合、後輪と送電線との間の摩擦力は低下してしまい、両輪で前方に推進できないため、進行歩行前方の送電線が上り勾配している場合に、自走式送電線点検装置の前方への推進力が低下してしまう場合があった。 On the other hand, FIG. 15 is a diagram for explaining the operation of the self-propelled power transmission line inspection device having no swing mechanism. As shown in FIG. 15A, in the self-propelled power transmission line inspection device having no swing mechanism, the beam connecting the wheels and the main body are fixed and are not swingable. That is, in the self-propelled power transmission line inspection device having no swing mechanism, as shown in FIG. 15B, the axis X along the wheel arrangement direction and the axis Y connecting the balancer member and the balancer support member are It is fixed at a substantially right angle. Therefore, when the power transmission line in front of the self-propelled power transmission line inspection device 3 in the traveling direction is inclined, the center of gravity of the self-propelled power transmission line inspection device 3 should be the center position of the line connecting the front wheels and the wheels. The load applied to the front wheels and the rear wheels is biased. For example, in the example shown in FIG. 15A, the load applied to the front wheels is large, the load applied to the rear wheels is small, and the rear wheels are floating from the transmission line W. In such a case, the frictional force between the rear wheels and the transmission line is reduced, and both wheels cannot propel forward. Therefore, when the transmission line in front of the traveling walk is uphill, the self-propelled transmission line In some cases, the forward propulsion force of the inspection device was reduced.
以下に、傾斜した送電線における、第三実施形態に係る自走式送電線点検装置３と、揺動機構を有しない自走式送電線点検装置との走行速度を比べた試験結果について説明する。図１６（Ａ）は、揺動機構を有しない自走式送電線点検装置の走行試験結果を示す図であり、図１６（Ｂ）は、第三実施形態に係る自走式送電線点検装置３の走行試験結果を示す図である。なお、グラフの縦軸が走行速度を示し、グラフの横軸が往復回数（走行距離）を示す。
図１６に示す試験例では、３０°に傾斜した１０メートルの送電線を、揺動機構を有しない自走式送電線点検装置および第三実施形態に係る自走式送電線点検装置３に走行させ、上り勾配時、および下り勾配時のそれぞれにおいて走行時間（走行速度）を計測した。各装置の重量は、いずれも約１０ｋｇである。なお、本試験例では、送電線の長さは１０メートルのため往復回数１回が２０メートルに相当する。
The test results comparing the traveling speeds of the self-propelled transmission line inspection device 3 according to the third embodiment and the self-propelled transmission line inspection device having no swing mechanism in the inclined transmission line will be described below. .. FIG. 16A is a diagram showing a running test result of a self-propelled transmission line inspection device having no swing mechanism, and FIG. 16B is a diagram showing a running test result of the self-propelled transmission line inspection device according to the third embodiment. It is a figure which shows the running test result of 3. The vertical axis of the graph indicates the traveling speed, and the horizontal axis of the graph indicates the number of round trips (mileage).
In the test example shown in FIG. 16, a 10-meter transmission line inclined at 30 ° is driven by a self-propelled transmission line inspection device having no swing mechanism and a self-propelled transmission line inspection device 3 according to the third embodiment. The running time (running speed) was measured at each of the uphill slope and the downhill slope. The weight of each device is about 10 kg. In this test example, since the length of the transmission line is 10 meters, one round trip corresponds to 20 meters.
図１６（Ａ）に示すように、上り勾配時において、揺動機構を有しない自走式送電線点検装置では、前輪と後輪とにかかる荷重が偏るため、走行速度は時速１ｋｍよりも遅くなった。これに対して、図１６（Ｂ）に示す第三実施形態例に係る自走式送電線点検装置３では、重心が前輪１２１ａと後輪１２１ｂとの間の中心位置とすることができ、前輪１２１ａと後輪１２１ｂとにかかる荷重が略均等となるため、走行速度は時速１ｋｍよりも速くなった。さらに、図１６（Ａ）に示すように、揺動機構を有しない自走式送電線点検装置では、走行時の速度が一定でなく、自走式送電線点検装置を安定に走行させることは困難であった。これに対して、図１６（Ｂ）に示すように、第三実施形態例に係る自走式送電線点検装置３では、揺動機構を有しない自走式送電線点検装置と比べて、略一定の速度で走行することができており、自走式送電線点検装置３を安定的に走行できることが確認された。 As shown in FIG. 16 (A), in the self-propelled power transmission line inspection device having no swing mechanism when the slope is uphill, the load applied to the front wheels and the rear wheels is uneven, so that the traveling speed is slower than 1 km / h. became. On the other hand, in the self-propelled power transmission line inspection device 3 according to the third embodiment shown in FIG. 16B, the center of gravity can be set to the central position between the front wheels 121a and the rear wheels 121b, and the front wheels can be located. Since the loads applied to the 121a and the rear wheels 121b are substantially equal, the traveling speed is faster than 1 km / h. Further, as shown in FIG. 16A, in the self-propelled transmission line inspection device having no swing mechanism, the speed during traveling is not constant, and the self-propelled transmission line inspection device can be stably traveled. It was difficult. On the other hand, as shown in FIG. 16B, the self-propelled power transmission line inspection device 3 according to the third embodiment is substantially different from the self-propelled power transmission line inspection device having no swing mechanism. It was confirmed that the vehicle was able to travel at a constant speed and that the self-propelled power transmission line inspection device 3 could be stably traveled.
次に、第三実施形態例に係る電線装着装置６００について説明する。図１７は、第三実施形態に係る電線装着装置６００を説明するための図である。図１７に示すように、第三実施形態例に係る電線装着装置６００は、複数の回転翼を有し揚力を発生させる揚力発生部６１０と、揚力発生部６１０と連結する絶縁棒６２０とを備える。以下に、電線装着装置６００の各構成について説明する。 Next, the electric wire mounting device 600 according to the third embodiment will be described. FIG. 17 is a diagram for explaining the electric wire mounting device 600 according to the third embodiment. As shown in FIG. 17, the electric wire mounting device 600 according to the third embodiment includes a lift generating unit 610 having a plurality of rotor blades and generating lift, and an insulating rod 620 connected to the lift generating unit 610. .. Each configuration of the electric wire mounting device 600 will be described below.
揚力発生部６１０は、絶縁棒６２０と連結しており、電線装着装置６００を用いて自走式送電線点検装置３を送電線に装着する場合に、発生させた揚力により、作業者に加わる自走式送電線点検装置３の質量を軽減させることができる。揚力発生部６１０は、２個の回転翼を有し、第一実施形態例の揚力発生部２００と同様に動作することができる。 The lift generating unit 610 is connected to the insulating rod 620, and when the self-propelled power transmission line inspection device 3 is mounted on the power transmission line by using the electric wire mounting device 600, the lift generated by the lift force is applied to the operator. The mass of the traveling transmission line inspection device 3 can be reduced. The lift generating unit 610 has two rotor blades and can operate in the same manner as the lift generating unit 200 of the first embodiment.
絶縁棒６２０は、第一実施形態に係る絶縁棒５００と同様に、高絶縁性の材料から構成され、鉄塔の作業箇所から送電線Ｗまでの距離に応じた長さ（例えば２〜１２ｍ）を有する棒体である。図１７に示すように、絶縁棒６２０は、連結部６３０および連結操作部６４０を有している。連結部６３０は、絶縁棒６２０の先端部または先端部近傍に設けられ自走式送電線点検装置３と着脱自在に連結される部材であり、例えば開閉式のフックなどが挙げられる。連結操作部６４０は、連結部６３０と自走式送電線点検装置３との連結および非連結を作業者が操作するための部材であり、例えば連結部６３０の開閉を制御するレバーなどが挙げられる。 The insulating rod 620 is made of a highly insulating material like the insulating rod 500 according to the first embodiment, and has a length (for example, 2 to 12 m) according to the distance from the work location of the steel tower to the transmission line W. It is a rod body to have. As shown in FIG. 17, the insulating rod 620 has a connecting portion 630 and a connecting operation portion 640. The connecting portion 630 is a member provided at the tip end portion or the vicinity of the tip end portion of the insulating rod 620 and is detachably connected to the self-propelled power transmission line inspection device 3, and examples thereof include an opening / closing hook. The connection operation unit 640 is a member for an operator to operate the connection and non-connection of the connection unit 630 and the self-propelled power transmission line inspection device 3, and examples thereof include a lever for controlling the opening and closing of the connection unit 630. ..
図１８は、本実施形態にかかる電線装着装置６００と自走式送電線点検装置３との装着方法を説明するための図である。図１８（Ａ）に示すように、第三実施形態に係る自走式送電線点検装置３は下部が開口しており、自走式送電線点検装置３を送電線の上まで移動させた後、図１８（Ｂ）に示すように、自走式送電線点検装置３をそのまま下ろすことで、自走式送電線点検装置３を送電線に装着させることができる。 FIG. 18 is a diagram for explaining a mounting method of the electric wire mounting device 600 and the self-propelled power transmission line inspection device 3 according to the present embodiment. As shown in FIG. 18A, the self-propelled power transmission line inspection device 3 according to the third embodiment has an open lower portion, and after the self-propelled power transmission line inspection device 3 is moved to the top of the power transmission line. As shown in FIG. 18B, the self-propelled power transmission line inspection device 3 can be attached to the power transmission line by lowering the self-propelled power transmission line inspection device 3 as it is.
そのため、作業者は、以下のように、第三実施形態例に係る自走式送電線点検装置３および電線装着装置６００を使用することができる。すなわち、第一実施形態例に係る自走式送電線点検装置１および絶縁棒５００と同様に、図６に示すように、鉄塔に登った作業者Ａは、電線装着装置６００を作業者Ｂに向けて下ろし、連結部６３０を作業者Ｂの付近に位置させる。続いて、作業者Ｂは、自走式送電線点検装置３の連結機構２１３の開口部に電線装着装置６００の連結部６３０を引掛け、作業者Ａは、電線装着装置６００の連結操作部６４０を操作して連結部６３０と自走式送電線点検装置３の連結機構２１３とを係合させる。これにより、電線装着装置６００と自走式送電線点検装置３が連結する。続いて、作業者Ｂは、電線装着装置６００を手動で（または作業者Ａの操作端末の光無線指令により）、電線装着装置６００の揚力発生モードを開始させる。 Therefore, the operator can use the self-propelled power transmission line inspection device 3 and the electric wire mounting device 600 according to the third embodiment as follows. That is, as shown in FIG. 6, the worker A who climbs the steel tower attaches the electric wire mounting device 600 to the worker B, similarly to the self-propelled power transmission line inspection device 1 and the insulating rod 500 according to the first embodiment. It is lowered toward the operator, and the connecting portion 630 is positioned near the worker B. Subsequently, the worker B hooks the connecting portion 630 of the electric wire mounting device 600 to the opening of the connecting mechanism 213 of the self-propelled transmission line inspection device 3, and the worker A hooks the connecting portion 640 of the electric wire mounting device 600. Is operated to engage the connecting portion 630 with the connecting mechanism 213 of the self-propelled power transmission line inspection device 3. As a result, the electric wire mounting device 600 and the self-propelled power transmission line inspection device 3 are connected. Subsequently, the worker B manually starts the electric wire mounting device 600 (or by an optical radio command of the operation terminal of the worker A) to start the lift generation mode of the electric wire mounting device 600.
作業者Ｂは、自走式送電線点検装置３を離し、作業者Ａは、電線装着装置６００を上方にスウィングして、自走式送電線点検装置３を送電線Ｗ上に装着する。このとき、作業者Ａは、自走式送電線点検装置３を送電線Ｗの上まで移動させ、その後、そのまま下ろすことで、自走式送電線点検装置３を送電線Ｗに装着させることができる。作業者Ａは、操作端末の光無線指令により自走式送電線点検装置３の揚力発生モードを停止する。続いて、作業者Ａは、電線装着装置６００の連結操作部６４０を操作して連結部６３０と連結機構２１３との係合を解除し、操作端末で点検開始の光無線指令を送信する。これにより、自走式送電線点検装置３は送電線Ｗ上を自走および点検を開始する。なお、自走式送電線点検装置３を送電線Ｗから外す場合も、第一実施形態例と同様のため、説明は割愛する。 The worker B releases the self-propelled power transmission line inspection device 3, and the worker A swings the electric wire mounting device 600 upward to mount the self-propelled power transmission line inspection device 3 on the power transmission line W. At this time, the worker A can attach the self-propelled power transmission line inspection device 3 to the power transmission line W by moving the self-propelled power transmission line inspection device 3 to the top of the power transmission line W and then lowering the self-propelled power transmission line inspection device 3 as it is. it can. The worker A stops the lift generation mode of the self-propelled power transmission line inspection device 3 by the optical radio command of the operation terminal. Subsequently, the operator A operates the connection operation unit 640 of the electric wire mounting device 600 to disengage the connection unit 630 and the connection mechanism 213, and transmits an optical radio command for starting inspection at the operation terminal. As a result, the self-propelled transmission line inspection device 3 starts self-propelling and inspection on the transmission line W. The case where the self-propelled power transmission line inspection device 3 is removed from the power transmission line W is the same as in the first embodiment, and thus the description thereof is omitted.
一方、図１９は、第三実施形態に係る電線装着装置６００を用いて、従来の自走式送電線点検装置を装着する方法を説明する図である。図１９（Ａ）に示すように、従来の自走式送電線点検装置は、車輪の下部を本体部が覆い、本体部の左右一方の側面が開口している。そのため、従来の自走式送電線点検装置では、送電線の上まで移動させた後、自走式送電線点検装置をそのまま下ろして、自走式送電線点検装置を送電線Ｗに装着することはできず、作業者は、図１９（Ａ）に示す矢印方向に自走式送電線点検装置を振って送電線を躱した後に、図１９（Ｂ）に示すように、開口している側面側から自走式送電線点検装置を送電線までスライドさせ、自走式送電線点検装置を装着する必要があった。 On the other hand, FIG. 19 is a diagram illustrating a method of mounting a conventional self-propelled power transmission line inspection device by using the electric wire mounting device 600 according to the third embodiment. As shown in FIG. 19A, in the conventional self-propelled power transmission line inspection device, the lower part of the wheel is covered with the main body portion, and one of the left and right side surfaces of the main body portion is open. Therefore, in the conventional self-propelled transmission line inspection device, after moving to the top of the transmission line, the self-propelled transmission line inspection device is lowered as it is, and the self-propelled transmission line inspection device is attached to the transmission line W. The operator shakes the self-propelled power transmission line inspection device in the direction of the arrow shown in FIG. 19 (A) to hesitate the power transmission line, and then, as shown in FIG. 19 (B), the open side surface. It was necessary to slide the self-propelled transmission line inspection device from the side to the transmission line and install the self-propelled transmission line inspection device.
これに対して、本実施形態に係る自走式送電線点検装置３では、下部が開口しており、自走式送電線点検装置３を送電線の上まで移動させた後、自走式送電線点検装置３をそのまま下ろすことで、自走式送電線点検装置３を送電線に装着させることができるため、自走式送電線点検装置３を送電線に装着させる作業者の労力を軽減することができる。 On the other hand, in the self-propelled transmission line inspection device 3 according to the present embodiment, the lower portion is open, and after moving the self-propelled transmission line inspection device 3 to the top of the transmission line, the self-propelled transmission is sent. By lowering the electric wire inspection device 3 as it is, the self-propelled transmission line inspection device 3 can be attached to the transmission line, so that the labor of the operator who attaches the self-propelled transmission line inspection device 3 to the transmission line is reduced. be able to.
以上のように、第三実施形態に係る自走式送電線点検装置３では、回転軸１６０を中心に、本体部３１０および一対のビーム３２２ａ，３２２ｂが、送電線Ｗの勾配に合わせて揺動するため、送電線Ｗが勾配している場合もバッテリ２３２ａ，２３２ｂと本体部３１０とを結ぶ軸Ｙを鉛直方向のままとでき、バッテリ２３２ａ，２３２ｂと本体部３１０との荷重が鉛直方向に車輪１２１ａと１２１ｂとにかけることができる。さらに、本実施形態では、車輪１２１ａと１２１ｂとの間の位置であって、回転軸１６０よりも走行方向側に位置する部分と回転軸１６０より走行方向と反対側に位置する部分の重量比が４５：５５〜５５：４５となる位置に回転軸１６０が設けられているため、自走式送電線点検装置３の重心を車輪１２１ａと１２１ｂとの間の中心位置とすることができ、送電線が傾斜している場合も、重心が前輪１２１ａと後輪１２１ｂとの間の中心位置となり、前輪１２１ａと後輪１２１ｂとに略均等に荷重がかかるため、進行方向前方の送電線が上り勾配である場合に、前方への推進力を高めることができる。 As described above, in the self-propelled power transmission line inspection device 3 according to the third embodiment, the main body 310 and the pair of beams 322a and 322b swing around the rotation shaft 160 according to the gradient of the power transmission line W. Therefore, even when the transmission line W is sloped, the axis Y connecting the batteries 232a and 232b and the main body 310 can be left in the vertical direction, and the load between the batteries 232a and 232b and the main body 310 is the wheels in the vertical direction. It can be applied to 121a and 121b. Further, in the present embodiment, the weight ratio of the portion between the wheels 121a and 121b, which is located on the traveling direction side of the rotating shaft 160 and the portion located on the opposite side of the rotating shaft 160 in the traveling direction, is Since the rotating shaft 160 is provided at a position of 45:55 to 55:45, the center of gravity of the self-propelled transmission line inspection device 3 can be set as the central position between the wheels 121a and 121b, and the transmission line can be set. Is inclined, the center of gravity is at the center position between the front wheels 121a and the rear wheels 121b, and the front wheels 121a and the rear wheels 121b are loaded substantially evenly. In some cases, forward propulsion can be increased.
また、第三実施形態では、電線装着装置６００が揚力発生部を備えることで、自走式送電線点検装置３を送電線Ｗに装着する作業者の労力を軽減することができる。特に、第一実施形態例および第二実施形態例では複数の自走式送電線点検装置１，２がそれぞれ揚力発生部を有する必要があったが、第三実施形態例では一本の電線装着装置６００に揚力発生部を取り付けるだけで、複数の自走式送電線点検装置３に対して使用することができるため、送電線の点検にかかるコストを削減することもできる。 Further, in the third embodiment, since the electric wire mounting device 600 includes the lift generating unit, it is possible to reduce the labor of the operator who mounts the self-propelled power transmission line inspection device 3 on the power transmission line W. In particular, in the first embodiment and the second embodiment, it is necessary for the plurality of self-propelled power transmission line inspection devices 1 and 2 to have lift generating parts, respectively, but in the third embodiment, one electric wire is attached. Since it can be used for a plurality of self-propelled power transmission line inspection devices 3 only by attaching a lift generating unit to the device 600, it is possible to reduce the cost for inspection of the power transmission line.
以上、本発明の好ましい実施形態例について説明したが、本発明の技術的範囲は上記実施形態の記載に限定されるものではない。上記実施形態例には様々な変更・改良を加えることが可能であり、そのような変更または改良を加えた形態のものも本発明の技術的範囲に含まれる。 Although the preferred embodiment of the present invention has been described above, the technical scope of the present invention is not limited to the description of the above embodiment. Various changes / improvements can be made to the above-described embodiment, and those in which such changes / improvements have been made are also included in the technical scope of the present invention.
たとえば、上述した第三実施形態例では、撮像装置１３１を本体部３１０の内側に配置する構成を例示したが、この構成に限定されず、たとえば、図２０に示すように、撮像装置１３１をビーム３２２ａ，３２２ｂに連結させる構成とすることができる。たとえば、図２０に示す例では、ビーム３２２ａと延伸部３２３とが連結しており、延伸部３２３に撮像装置１３１を固定することで、延伸部３２３を介してビーム３２２ａと撮像装置１３１とが連結している。このように、撮像装置１３１とビーム３２２ａ，３２２ｂとを連結することで、たとえば、図１４に示すように、送電線Ｗが勾配している場合でも、ビーム３２２ａ，３２２ｂが送電線Ｗの勾配に合わせて傾き、さらに撮像装置１３１がビーム３２２ａ，３２２ｂと連動して傾くため、送電線Ｗを一定の角度（撮像装置１３１の撮像面が送電線Ｗの側面と対向する角度）から撮像することが可能となり、送電線Ｗの点検精度を高めることができる。 For example, in the above-described third embodiment, the configuration in which the image pickup apparatus 131 is arranged inside the main body 310 is illustrated, but the present invention is not limited to this configuration, and for example, as shown in FIG. 20, the image pickup apparatus 131 is beamed. It can be configured to be connected to 322a and 322b. For example, in the example shown in FIG. 20, the beam 322a and the stretching portion 323 are connected, and by fixing the imaging device 131 to the stretching portion 323, the beam 322a and the imaging device 131 are connected via the stretching portion 323. doing. By connecting the image pickup apparatus 131 and the beams 322a and 322b in this way, for example, as shown in FIG. 14, even when the transmission line W is gradient, the beams 322a and 322b have a gradient of the transmission line W. Since the image pickup device 131 is tilted in conjunction with the beams 322a and 322b, the transmission line W can be imaged from a certain angle (the angle at which the image pickup surface of the image pickup device 131 faces the side surface of the transmission line W). This makes it possible to improve the inspection accuracy of the transmission line W.
また、上述した実施形態では、揚力発生部２００，４００，６１０を、図１〜３に示すように、４個の回転翼２２１ａ〜２２１ｄが同一水平面上で正方形を形成するように（４個の回転翼２２１ａ〜２２１ｄを結ぶ線が正方形となるように）配置する構成を例示したが、この構成に限定されず、たとえば、２個の回転翼２２１ａ，２２１ｂを鉛直方向（上下）に配列する構成としてもよいし、あるいは、３個の回転翼２２１ａ〜２２１ｃを同一水平面上で正三角形を形成するように（回転翼２２１ａ〜２２１ｃの位置を結ぶ線が正三角形となるように）配置する構成としてもよい。 Further, in the above-described embodiment, the lift generating units 200, 400, and 610 are formed so that the four rotor blades 221a to 221d form a square on the same horizontal plane as shown in FIGS. An example of a configuration in which the rotor blades 221a to 221d are arranged so that the lines connecting them are square) is illustrated, but the configuration is not limited to this configuration, and for example, two rotor blades 221a and 221b are arranged in the vertical direction (up and down). Or, as a configuration in which the three rotors 221a to 221c are arranged so as to form a regular triangle on the same horizontal plane (so that the line connecting the positions of the rotors 221a to 221c becomes a regular triangle). May be good.
たとえば、２個の回転翼２２１ａ，２２１ｂを鉛直方向に配列させて揚力発生部を構成した場合の飛行試験では、当該揚力発生部のモータの電圧が４４．４Ｖ（バッテリの残容量が９５％以上）、揚力発生部本体の重みが２６８０ｇである場合において、モータの出力を１００％とした場合には、５．５ｋｇの重りを付加した状態であっても揚力を発生する（離陸する）ことが分かった。 For example, in a flight test in which two rotor blades 221a and 221b are arranged in the vertical direction to form a lift generating part, the voltage of the motor of the lift generating part is 44.4V (the remaining capacity of the battery is 95% or more). ), When the weight of the lift generating part main body is 2680 g and the output of the motor is 100%, lift can be generated (takes off) even when a weight of 5.5 kg is added. Do you get it.
１，２，３ 自走式送電線点検装置
１００，３００ 点検ロボット
１１０ 本体部
１１１ ケース
１１２ 取手
１２０ 走行部
１２１ プーリ
１２２ アーム
１２３ モータ
１３０ 測定部
１３１ 撮像装置（カメラ）
１３２ ミラー
１３３ アーム
１４０ 制御部
１４１ 処理装置
１４２ 記憶装置
１４３ バランサ
１５０ 操作部
１５１ 電源スイッチ
１５２ 非常停止ボタン
１６０ 回転軸
２００，４００ 揚力発生部
２１１ ケース
２１２ フレーム
２１３ 連結機構
２２１ 回転翼
２２２ モータ
２３１，３６１ 棒状部材
２３２ バッテリ
２５３ 受信部
３１０ 本体部
３１１ 右腕
３１２ 左腕
３２２ ビーム
５００ 絶縁棒
５１０ 係合部
５１１，５１２ 係合部材
５１３ 開口部
５２０ ハンドル部
５２１ グリップ
５２２ レバー機構
５２３ レバー部材
５２４ 支持部材
５３０ 支持部
５３１ 支持棒
５３２ 伝達棒
５４０ 操作端末
６００ 電線装着装置
６１０ 揚力発生部
６２０ 絶縁棒
６３０ 連結部
６４０ 連結操作部
Ｃ０ 中心軸
Ｇ，Ｇ１〜Ｇ３ 重心に加わる重力
Ｗ 送電線
1,2,3 Self-propelled power transmission line inspection device 100,300 Inspection robot 110 Main body 111 Case 112 Handle 120 Traveling section 121 Pulley 122 Arm 123 Motor 130 Measuring section 131 Imaging device (camera)
132 Mirror 133 Arm 140 Control unit 141 Processing device 142 Storage device 143 Balancer 150 Operation unit 151 Power switch 152 Emergency stop button 160 Rotation shaft 200,400 Lift generator 211 Case 212 Frame 213 Coupling mechanism 221 Rotorcraft 222 Motor 231,361 Rod Member 232 Battery 253 Receiver 310 Main body 311 Right arm 312 Left arm 322 Beam 500 Insulation rod 510 Engagement part 511, 512 Engagement member 513 Opening 520 Handle part 521 Grip 522 Lever mechanism 523 Lever member 524 Support member 530 Support part 531 Support Rod 532 Transmission rod 540 Operation terminal 600 Electric wire mounting device 610 Lift generation unit 620 Insulation rod 630 Connection unit 640 Connection operation unit C0 Central axis G, G1 to G3 Gravity W transmission line applied to the center of gravity
Claims (14)
送電線に装着可能な車輪を備える走行部と、
送電線の現況を測定する測定装置を備える測定部と、
測定部からの測定データを記憶する記憶装置を備え、揚力発生部、走行部および測定部を制御する制御部と、
操作端末からの光無線指令を受信する受信部と、
本体部とを備える自走式送電線点検装置であって、
前記揚力発生部が、揚力を発生させる揚力発生モードを有すること、
前記制御部が、前記操作端末からの光無線指令に基づき前記揚力発生モードを開始および終了可能であること、
前記揚力発生部または前記本体部が、絶縁棒と着脱自在に連結される連結機構を備えることを特徴とする自走式送電線点検装置。 A lift generator that has multiple rotor blades and generates lift,
A traveling unit with wheels that can be attached to power lines,
A measuring unit equipped with a measuring device that measures the current state of transmission lines,
A control unit that is equipped with a storage device that stores measurement data from the measurement unit and controls the lift generation unit, traveling unit, and measurement unit.
A receiver that receives optical radio commands from the operation terminal,
It is a self-propelled power transmission line inspection device equipped with a main body.
The lift generating unit has a lift generating mode for generating lift.
The control unit can start and end the lift generation mode based on an optical radio command from the operation terminal.
A self-propelled power transmission line inspection device comprising a connecting mechanism in which the lift generating portion or the main body portion is detachably connected to an insulating rod.
前記連結機構が、前記絶縁棒と係合する係合部材を備えることを特徴とする請求項１ないし６のいずれかに記載の自走式送電線点検装置。 The main body includes the connecting mechanism.
The self-propelled power transmission line inspection device according to any one of claims 1 to 6, wherein the connecting mechanism includes an engaging member that engages with the insulating rod.
前記バランサ部材を支持するバランサ支持部材と、
前記バランサ支持部材を送電線の長さ方向に揺動可能とする回転軸と、を備えることを特徴とする請求項５に記載の自走式送電線点検装置。 The wheels consist of a plurality of wheels arranged in the length direction of the transmission line.
A balancer support member that supports the balancer member and
The self-propelled power transmission line inspection device according to claim 5, further comprising a rotating shaft that allows the balancer support member to swing in the length direction of the power transmission line.
複数の回転翼を有し、揚力を発生させる揚力発生部と、
前記揚力発生部と連結する絶縁棒と、
前記絶縁棒の先端部または先端部近傍に設けられ、自走式送電線点検装置と着脱自在に連結される連結部と、
前記連結部による連結および非連結を操作する連結操作部と、
を備えることを特徴とする自走式送電線点検装置用電線装着装置。 It is an electric wire mounting device for self-propelled power transmission line inspection equipment.
A lift generator that has multiple rotor blades and generates lift,
An insulating rod connected to the lift generating portion and
A connecting portion provided at or near the tip of the insulating rod and detachably connected to the self-propelled power transmission line inspection device.
A connecting operation unit that operates connection and non-connection by the connection unit, and
A wire mounting device for a self-propelled power transmission line inspection device, which is characterized by being equipped with.
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| CN109896012A (en) * | 2019-04-22 | 2019-06-18 | 华北电力大学（保定） | Double-deck more rotor power transmission line inspection devices |
| CN110887462A (en) * | 2019-11-28 | 2020-03-17 | 深圳供电局有限公司 | Unmanned aerial vehicle inspection method and system and power transmission line inspection method and system |
| JP7119032B2 (en) * | 2020-07-20 | 2022-08-16 | ヤマハ発動機株式会社 | Overhead line maintenance work system |
| KR102351537B1 (en) * | 2020-09-15 | 2022-01-14 | 한전케이디엔주식회사 | Downward opgw checking for drone |
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