Multi-rotary-wing intelligent inspection robot for overhead line

Abstract

The invention discloses a multi-rotary-wing intelligent inspection robot for an overhead line. The multi-rotary-wing intelligent inspection robot for the overhead line comprises an on-line walking module, a multi-rotary-wing flight system module, an autonomous line falling module, an on-line platform and a ground station receiving and processing platform. The on-line walking module comprises a walking frame, walking supporting wheels, walking driving wheels and a walking motor, and the inner end faces and the outer end faces of the walking supporting wheels are provided with inner guide rings and outer guide rings respectively. The multi-rotary-wing flight system module comprises a flight control equipment bin, rotary-wing arms, rotary wings, a flight motor, a cradle head, an inspection camera and a rise and fall support, and the upper portion of the flight control equipment bin is connected with the walking frame through a connecting supporting rod. The autonomous line falling module comprises left line falling camera, a right line falling camera and a multi-sensor module in the flight control equipment bin. The on-line platform is wirelessly connected with the ground station receiving and processing platform. The robot not only can inspect the electric transmission line above the line, but also can achieve on-line walking inspection of the electric transmission line by autonomously falling on or leaving the line, labor intensity and labor cost are greatly reduced, and inspection efficiency is improved.

Description

technical field [0001] The invention relates to a multi-rotor intelligent overhead line inspection technology, in particular to a multi-rotor intelligent overhead line inspection robot. Background technique [0002] The power industry is related to the development of the national economy and the normal life of the people. The power overhead line is the lifeline of modern society, especially the high-voltage and ultra-high-voltage transmission lines. [0003] High-voltage overhead lines are composed of towers, conductors, ground wires, insulators, clamps, spacers, fittings, etc. Among them, the safe and stable operation of the power transmission network that constitutes the entire transmission line is the basic prerequisite for the normal use of electric energy in the national economy and people's lives. Such and other problems occur, such as: broken strands of wires or ground wires, loose strands, discharge and flashing caused by deterioration of insulators, anti-vibration ...

AI Technical Summary

Problems solved by technology

This method transmits the operation status of the line to the ground station through the video image through the helicopter flying above the line, which can initially solve the inspection problem of the safe operation of the line, but there are also some problems, such as the helicopter can only perform single-handed inspections above the line. Angle, single-direction observation, and video imaging can only be performed at a relatively long distance. This method can only roughly measure the faults that have been damaged on the wires, ground wires, insulators, fittings and towers on the line, and cannot finely observe and Record some potential hidden dangers and problems of the line, such as the potential hidden danger of broken strands of conductor ground wires but not loose strands

At the same time, this kind of long-distance inspection can only be observed and known, and it is impossible to deal with potential or existing faults, such as dangers such as kites and plastic films hanging on the line, and the hidden dangers on the line cannot be detected only through helicopter inspections. or issue processing operations

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