Arm extending type braking multi-CCD full-angle route inspecting robot

Abstract

The invention discloses an arm extending type braking multi-CCD full-angle route inspecting robot, comprising an on-line walk vehicle body part and an automatic control part. A drive wheel is providedwith a tightening brake device; the vehicle body is provided with a two-degree freedom rotation infrared camera device and a double-track extension mechanism; the double-track extension mechanism comprises a fixed perpendicular short-focus lens extension mechanism and a rotatable oblique long-focus lens extension mechanism; and the fixed perpendicular short-focus lens and the rotatable oblique long-focus lens are respectively provided with an automatic focusing mechanism. The automatic control part comprises a plurality of control modules to control the plurality of electric motors; the eachelectric motor is provided with a feedback element of a photoelectric encoder; and the plurality of the control modules are connected with each other by a CAN bus, to realize the closed loop feedbackcontrol of the plurality of the electric motors. When automatically walking on a ground wire of a high-voltage power transmission line, the robot has the functions of climbing, braking, arm extendingand multi-angle observing, automatic focusing and the like, and can be applicable to visual fault detection for a ground wire, a lead wire, a pole tower, ironware and the like, in the high-voltage overhead power transmission line.

Description

technical field [0001] The invention relates to an automatic inspection device for power transmission lines, in particular to an outrigger brake function multi-CCD all-angle line inspection robot. Background technique [0002] High-voltage transmission lines are the lifeline of modern industrial society and people's lives. The long-distance characteristics of electric energy transmission and the complex field environment in which they are located can easily lead to damage to equipment components such as wires, fittings, clamps, and insulator strings. People need to find and repair it in time, otherwise, under the combined effect of continuous alternating mechanical load, electrical flash off, material aging and natural disasters, it will cause more serious power outage accidents and hidden dangers to personal life safety, thus affecting the normal operation of the national economy. operation, and even bring huge economic losses. Therefore, it is of great significance to ens...

AI Technical Summary

Problems solved by technology

[0006] Cannot cross obstacles, cannot climb big slopes (slope angle > 30 degrees), so ground line inspection cannot be carried out between poles and towers with large height differences in mountainous areas; cannot automatically adjust the focus to change the size of the aperture, and cannot realize wires, poles and towers other than the ground line , metal fittings and other inspection objects detection

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