Embedded robot apparatus of unmanned aerial vehicle for multi-split high-voltage wire inspection and method

Abstract

The invention discloses an embedded robot apparatus of an unmanned aerial vehicle for multi-split high-voltage wire inspection and a method. The embedded robot apparatus comprises an unmanned aerial vehicle and a grabbed wire fixation module. A mechanical gripper grabs a wire for inspection; the robot apparatus creeps on the wire; and the unmanned aerial vehicle is in a low power consumption state. With consideration of multiple split modes of a high-voltage wire, four thermal-sensing cameras and a full-color camera are arranged and a multi-split inspection mode is added; and the four thermal-sensing cameras shoot corresponding wires respectively to realize inspection in a multi-split inspection mode. When a spacer rod is collided, an obstacle avoidance function is realized; and the shooting completeness and definition during the inspection process are ensured while the obstacle avoidance is realized. According to the invention, the embedded robot apparatus can be used for inspection of a high-voltage wire in a multi-split inspection mode and thus the state of the high-voltage wire is monitored in real time; the embedded robot apparatus can adapt to various complicated inspection environments; and the apparatus works quickly with high work efficiency without being affected by the territory.

Description

technical field [0001] The invention relates to a device and method for inspecting high-voltage electric wires, in particular to a multi-split high-voltage electric wire inspection device and method for an embedded robot with an unmanned aerial vehicle. Background technique [0002] In recent years, the rapid development of my country's national economy has put forward higher and higher requirements for my country's electric power industry. Due to the large distribution points and wide area of ​​high-voltage lines, most of them are far away from cities and towns, the terrain is complex, the natural environment is harsh, and the power lines and Tower accessories exposed to the field for a long time will continue to be affected by mechanical tension, electrical flashover, and material aging, resulting in damage such as strand breakage, wear, and corrosion. Therefore, it is a heavy daily work for the power supply department to carry out regular inspections on high-voltage lines,...

AI Technical Summary

Problems solved by technology

However, there are several problems with this inspection method. The first is the battery life of the aircraft model. Since the flight attitude of the drone must be controlled all the time, the brushless motor will continue to work, which will consume a lot of power; second, the existing inspection robot is generally Only one wire can be inspected. If it encounters four-split, six-split, or eight-split wires, efficient inspection measures cannot be proposed; third, drones fly around the wires during inspections. , there is the problem of hitting the wires and damaging the wires; fourth, although a full-color camera and a thermal sensor camera are used to better observe defects, due to avoiding the occurrence of drone blades hitting the wires, The drone needs to be far away from high-voltage wires for aerial photography, so the camera distance is relatively long, and the camera cannot be intelligently focused, resulting in the inability to accurately observe the damage of the wire when shooting

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