A flyaway multi-rotor overhead power transmission line automatic inspection device

Abstract

The present invention belongs to power line inspection equipment, and particularly to an automatic inspection device that can fly and walk for overhead power transmission line inspection. The main body includes three parts: a flight mechanism, a walking mechanism, and a main body control box. The flight mechanism is composed of a six-rotor drone and an up-and-down line guide mechanism to complete the flight function; the walking mechanism is composed of a walking wheel and a clamping wheel to complete the online walking function; the main body control box is composed of a flight control module, a walking control module, an internal state perception module, an external environment monitoring module, and a wireless communication module to complete the flying and walking switching, state perception, environmental monitoring, and remote control. The characteristics of the device are that it can fly and walk, and it uses a multi-rotor as a power source to solve the problems of the inspection equipment going up and down the line and climbing over the tower head; it uses the walking wheel as a power source, and cooperates with the clamping mechanism to solve the problems of the inspection equipment automatically adapting to the sliding, climbing, protection, and crossing horizontal obstacles in the gear section; at the same time, it provides physical protection for the subsequent multi-sensor integrated inspection method of the device.

Description

Technical Field

[0001] The invention relates to the field of detection of overhead power transmission lines, and in particular to an automatic inspection device capable of flying and walking for inspecting overhead power transmission lines. Background Art

[0002] With the development of my country's power system, the construction of high-voltage and ultra-high-voltage transmission lines, and the increasing mileage of transmission lines, reliable transmission of electric energy has become a basic guarantee for my country's rapid economic development and the daily life of the people. my country's transmission lines are widely distributed, and the power department invests a lot of manpower, material and financial resources every year to conduct regular line inspections. For a long time, it has not only caused economic losses, but also wasted a lot of manpower, material and financial resources. On the other hand, high-voltage lines are often affected by wind, sun, and aging of materials, resulting in broken strands, wear and tear, and other harmful conditions, leading to serious accidents and large-scale power outages.

[0003] At present, there are four main ways to patrol the line: manual, vehicle-mounted, airborne, and robot. Among them, manual patrol is labor-intensive and has low accuracy, and manual patrol cannot reach relatively sparsely populated areas to work. Therefore, people are in urgent need of seeking feasible alternative patrol modes. Vehicle-mounted patrol can only patrol lines along traffic lines. Airborne patrol can be divided into three types: helicopters, large drones, and rotor drones. Helicopters and large drones can carry sensor equipment at the same time to carry out large-scale joint operations. However, it is difficult to carry out refined patrol close to the transmission line, and the collection cost and technical threshold are too high. Among them, helicopters are also restricted by weather and environment. Rotor drones are small in size and have high precision in patrol lines, but their load is limited and their endurance is short. Robot patrol can go deep into areas that are difficult for people to reach along the power line to lock the line for refined patrol, but robot patrol requires manual or special lifting equipment installed on the tower line for it to cross the tower, and the robot is heavy in size and the design and control system are too complicated.

[0004] Therefore, according to the existing inspection equipment for overhead transmission lines, there is an urgent need for an automatic inspection equipment that is both flexible and adaptable to various line obstacles, and can solve energy consumption problems and conduct refined inspections of transmission channels. Summary of the invention

[0005] The main purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art and to provide a flying multi-rotor overhead power transmission line automatic inspection device to solve the problems that the existing inspection devices cannot meet the requirements of flexible obstacle crossing and long-distance refined inspection.

[0006] To achieve the above object, the present invention provides the following technical solutions.

[0007] Provided is a flying multi-rotor overhead power transmission line automatic inspection device, which includes a hollow box body, which is formed by connecting two identical octahedral thin plates and a plurality of rotor arm adapters through screws, and the hollow box body is an octahedron, and the rotor arm is connected to the rotor arm adapter and can rotate around the box body to realize the opening and retraction of the rotor arm. Six rotor motors are arranged on the box body; a flight control module, a control system, an internal state sensing module, a wireless communication module, and a power module are arranged in the box body; an external environment monitoring module is arranged at the upper end of the box body; the internal state sensing module, the wireless communication module and the signal input end of the external environment monitoring module arranged in the box body are electrically connected; an electric walking mechanism in contact with the ground wire is arranged at the upper end of the box body; a clamping mechanism cooperating with the electric walking mechanism is arranged at the upper end of the box body; the electric walking mechanism, the clamping mechanism and the rotor motor are respectively connected to the output end of the control system; the wireless communication module is electrically connected to the control system; the output end of the power module is respectively connected to the control system, the wireless communication module, the internal state sensing module and the wireless communication module.

[0008] Furthermore, the flying multi-rotor automatic inspection device for overhead power transmission lines also includes an electric walking mechanism, which includes a mechanical arm arranged on one side of the ground wire and a walking wheel in contact with the ground wire, and at least two driven wheels in contact with the ground wire; the mechanical arm is provided with a walking motor, bearings, encoders, encoder adapters, walking wheel shafts, motor reducers, walking motor flanges, temperature sensors, speed sensors and angular displacement sensors; the temperature sensor, speed sensor and angular displacement sensor are electrically connected to the output end of the power module; and the walking motor is electrically connected to the control system.

[0009] Furthermore, the flying multi-rotor overhead power transmission line automatic inspection device also includes a clamping mechanism, which includes a guide rail device provided on the box body and a slider with a thread; a lead screw that cooperates with the slider; a clamping wheel that cooperates with the walking wheel; a gear installed at the end of the lead screw and a gear installed on the lifting motor shaft that cooperate with each other to form a gear set transmission. A travel switch module is installed on the guide rail device; a speed sensor and a speed sensor are installed on the clamping mechanism to detect the speed and speed of the lifting drive motor; the travel switch module and the lifting drive motor are electrically connected to the output end of the control system.

[0010] Furthermore, the flying multi-rotor overhead power transmission line automatic inspection device includes five systems: a control system, an inspection system, a navigation system, a mechanical system and a base station management system.

[0011] Furthermore, the flyaway multi-rotor overhead power transmission line automatic inspection device is characterized in that the control system, inspection system, navigation system, mechanical system and base station management system include speed sensors, altitude sensors, gyroscopes, GPS positioning modules, ultrasonic sensors, air pressure sensors, speed sensors, angular displacement sensors, pressure sensors and ranging sensors.

[0012] The beneficial effects of the present invention are as follows.

[0013] Compared with other circuit inspection equipment, the flying multi-rotor overhead power transmission line inspection device of the present invention is more intelligent, light in weight, small in size, flexible and maneuverable, can quickly hang the line, has low energy consumption, long battery life, and can pass the shock-absorbing hammer and fly over the tower line.

[0014] The invention is designed as a fly-away multi-rotor device because the rotorcraft is more maneuverable and flexible, and can quickly hang the line, reducing the possibility of manual hanging. At the same time, it can adapt to flying over various overhanging obstacles or various tower heads. The fly-away mode conversion solves the problems of short endurance and high energy consumption in the line patrol of the drone.

[0015] The reason for the online electric walking mechanism in the flying multi-rotor overhead power transmission line automatic inspection device designed by the present invention is that the line inspection equipment is hung on the line and the weight is carried by the cable, which can greatly save energy consumption and increase the navigation time during the line inspection process; at the same time, the power line is used as a guide rail to simplify the navigation system; because it is hung on the power line, the line inspection is more stable. The online electric walking mechanism has an encoder, a motor reducer, and an angular displacement sensor to enable the flying multi-rotor overhead power transmission line equipment to automatically adapt to sliding, climbing, protection, and crossing horizontal obstacles in the gear section.

[0016] The clamping mechanism in the design of the present invention can prevent the flying multi-rotor circuit inspection device from falling off the wire during the online inspection process, thereby effectively protecting the device.

[0017] The flyaway multi-rotor overhead power transmission line automatic inspection device designed by the present invention is hung on the ground wire to inspect other phase lines. The flyaway mode is changed on the ground wire to pass obstacles such as shock-absorbing hammers and tower heads. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional schematic diagram of a fly-away multi-rotor overhead power transmission line automatic inspection device of the present invention.

[0019] Figure 2 It is a three-dimensional schematic and annotated diagram of a fly-away multi-rotor overhead power transmission line automatic inspection device of the present invention.

[0020] Figure 3 , Figure 4 It is a schematic diagram of circuit signals in the present invention.

[0021] Figure 5 It is a schematic diagram of the on-line walking module mechanism of the present invention.

[0022] Figure 6 It is a schematic diagram of the lifting drive device mechanism in the present invention.

[0023] Figure 7 It is a schematic diagram of the clamping mechanism in the lifting drive device of the present invention.

[0024] Figure 8 This is a schematic diagram of the process of crossing the anti-vibration hammer when a flying six-rotor line patrol drone in the present invention is working. Figure 1 .

[0025] Fig. 9 This is a schematic diagram of the process of crossing the anti-vibration hammer when a flying six-rotor line patrol drone in the present invention is working. Figure 2 .

[0026] Fig.10 This is a schematic diagram of the process of crossing the anti-vibration hammer when a flying six-rotor line patrol drone in the present invention is working. Figure 3 .

[0027] Fig.11 , Fig.12 , Fig.13 The present invention is a schematic diagram of a flying six-rotor line inspection UAV crossing a line tower and a line clamp during operation.

[0028] Fig.14 Schematic diagram of the obstacle crossing process.

[0029] Among them: 1-box, 2-rotor motor, 3-rotor, 4-rotor shield, 5-rotor arm rotating head, 6-camera, 7-rotor arm, 8-pressure wheel, 9-pressure wheel rod, 10-driven wheel, 11-travel wheel, 12-driving wheel flange, 13-mechanical arm, 14-slider, 15-screw, 16-lifting drive motor, 17-travel wheel bearing, 18-encoder, 19-encoder receiving plate. 20-motor reducer, 21-travel wheel shaft, 22-travel drive motor, 23-gear, 24-gear, 25-lifting drive motor shaft, 26-slide rail, 27-pressure wheel, 28-positive travel switch, 29-reverse travel switch, 30-power module, 100-ground wire, 200-online travel device, 300-lifting and clamping mechanism, 400-anti-vibration hammer, 500-wire clamp; DETAILED DESCRIPTION

[0030] Specific implementation method.

[0031] In order to make the purposes, technical solutions and advantages in the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention; it is obvious that the described embodiments are part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0032] Example

[0033] The core of the present invention is to provide a flying multi-rotor automatic inspection device for overhead power transmission lines, which is used to inspect electric wires to solve the problems of heavy weight and inflexible maneuverability during line inspection in existing circuit inspection equipment, reduce the intensity of manual inspection, high energy consumption during inspection of inspection equipment, short flight time, and inability to cross tower lines.

[0034] Another core of the present invention is to provide a wire inspection device with mutually convertible flying modes.

[0035] See also Figure 2 -- Figure 7 The flying multi-rotor overhead power transmission line automatic inspection device comprises a hollow box (1), the hollow box is formed by two identical octahedral thin plates and a plurality of rotor arm adapters (5) connected by screws, and the hollow box (1) is an octahedron; the rotor arm (7) is connected to the rotor arm adapter (5) and can rotate around the box to realize the opening and retraction of the rotor arm; the box (1) is provided with 6 rotor arms (7); each rotor arm (7) is installed with a rotor motor (3); the box (1) is provided with a flight control module, a control system, an internal state sensing module, a wireless communication module, and a power supply module (30); the upper end of the box (1) is provided with an external An environmental monitoring module (6); the internal state sensing module, the wireless communication module and the signal input end of the external environment monitoring module (6) arranged in the housing (1) are electrically connected; the upper end of the housing (1) is provided with an electric walking mechanism in contact with the ground wire (100); the upper end of the housing (1) is provided with a clamping mechanism that cooperates with the electric walking mechanism; the electric walking mechanism, the clamping mechanism and the rotor motor (3) are respectively connected to the output end of the control system; the wireless communication module is electrically connected to the control system; the output end of the power supply module (30) is respectively connected to the control system wireless communication module, the internal state sensing module and the wireless communication module.

[0036] The electric walking mechanism comprises a mechanical arm (13) arranged on one side of the ground wire (100), a walking wheel (11) in contact with the ground wire (100), and at least two driven wheels (10) in contact with the ground wire; the mechanical arm (13) is provided with a walking motor (22), a bearing (17), an encoder (18), an encoder receiving plate (19), a wheel axle (21), a motor reducer (20), a walking motor flange (12), a temperature sensor, a speed sensor, and an angular displacement sensor; the temperature sensor, the speed sensor, and the angular displacement sensor are electrically connected to the output end of the power module (30); and the walking motor (22) is electrically connected to the control system.

[0037] The clamping mechanism comprises a guide rail device (26) arranged on the box body (1), a slider (14) with a thread; a lead screw (15) cooperating with the slider (14); a clamping wheel (27, 8) cooperating with the walking wheel (11); a gear (23) installed at the end of the lead screw (15) and a gear (24) installed on the lifting drive motor shaft (25) cooperate with each other to form a gear set transmission; a travel switch module is installed on the guide rail device (26); a speed sensor and a speed sensor are installed on the clamping mechanism to detect the speed and speed of the lifting drive motor; the lifting drive motor (16) of the travel switch module is electrically connected to the output end of the control system. The speed sensor and the speed sensor are electrically connected to the output end of the power module (30). The travel switch module comprises a positive travel switch (28) and a reverse travel switch (29).

[0038] According to the automatic inspection device for flying multi-rotor overhead power transmission lines, it includes an internal state sensing module, and the internal state sensing module includes the motion state recognition of the multi-rotor inspection equipment during inspection. Specifically, it includes the position detection of the multi-rotor inspection equipment during inspection, the internal current signal detection and the motion state detection of the inspection equipment itself, specifically 1. detecting the current of each drive shaft, and judging the motion state according to each detected current; 2. detecting the position state of the clamping mechanism when it reaches the limit; 3. detecting the position state of the walking wheel, and the internal state sensing module is electrically connected to the output end of the power module (30).

[0039] According to the automatic inspection device for overhead power transmission lines of flying multi-rotor type, it is characterized in that: it also includes an external environment monitoring module, and the external environment monitoring module (6) includes global environment recognition and local environment recognition; global environment recognition includes the entire line inspection process, which is composed of a GPS positioning sensor and a high-definition camera, and real-time detection of the entire line inspection process of the inspection equipment to determine the global environment of the inspection line of the inspection equipment; local environment recognition refers to the line inspection process of the inspection equipment, which specifically includes a distance sensor and an inclination sensor, and the distance sensor completes the distance measurement and positioning of the shockproof hammer and the tower line, and the inclination sensor is used to identify the slope of the current operation of the inspection equipment. The external environment monitoring module (6) is electrically connected to the output end of the power module (30).

[0040] The invention relates to an automatic inspection device for a flying multi-rotor overhead power transmission line, which is characterized by comprising five systems: a control system, an inspection system, a navigation system, a mechanical system and a base station management system.

[0041] According to the fly-away multi-rotor overhead power transmission line automatic inspection device, it is characterized by including a control system, an inspection system, a navigation system, a mechanical system and a base station management system including a speed sensor, an altitude sensor, a gyroscope, a GPS positioning module, an ultrasonic sensor, an air pressure sensor, a speed sensor, an angular displacement sensor, a pressure sensor, and a distance sensor.

[0042] like Figure 2 , Figure 3 , Figure 4 , Figure 8-Figure 14 As shown, the obstacle crossing process of the fly-away multi-rotor overhead power transmission line automatic inspection device is as follows.

[0043] S1. The fly-away multi-rotor inspection device is controlled by functional sensors such as a gyroscope for sensing flight attitude, a GPS positioning module, an ultrasonic sensor, and an air pressure sensor, and a control circuit. The device takes off from the ground and approaches the ground wire 100, and is hung on the ground wire under the guidance of the upper and lower wire guide devices; the control circuit in the control system controls the rotor motor to stop working, and then the control circuit in the control system controls the online walking motor and the clamping motor in the clamping mechanism to start working; the electric walking mechanism in the fly-away multi-rotor inspection device walks on the ground wire, and the clamping mechanism cooperates with the electric walking mechanism to clamp the wire; the global environment recognition, local environment recognition and internal state perception modules start working, and judge whether the shockproof hammer is detected or the wire tower is approached based on the high-definition camera, GPS positioning module and ranging sensor; if yes, enter S2, otherwise continue to judge online walking.

[0044] When S2 detects the anti-vibration hammer, the GPS positioning module and the distance measuring sensor feed back signals to the control system; the control system controls the clamping motor in the clamping mechanism through the control circuit according to the feedback signal, so that the slider (14) moves downward to the reverse stroke switch (29), the drive motor stops working, and the clamping wheel in the clamping mechanism drops to the lowest point; the flying multi-rotor inspection device passes through the anti-vibration hammer driven by the running wheel (11).

[0045] When the incoming line tower is detected, the GPS positioning module and the distance measuring sensor feedback signals to the control system; the control system controls the walking motor to stop working according to the feedback signal, and then the control circuit in the control system controls the clamping motor to work, and the clamping motor works to make the slider (14) move downward to the reverse stroke switch (29), and the lifting motor stops working; finally, the control circuit in the control system controls the rotor motor to start working. After that, the flying multi-rotor inspection device flies off the line tower.

[0046] S3 When the flying multi-rotor inspection device passes over the anti-vibration hammer, the GPS positioning module and the distance sensor control system send a signal, and the control system controls the lifting drive mechanism motor (16) through the control circuit according to the feedback signal; the lifting motor starts to work, and the driving slider (14) reaches the positive stroke switch (28), and the lifting drive motor stops working. The clamping wheel and the running wheel in the clamping mechanism cooperate to clamp the wire, so that the flying multi-rotor inspection device continues to inspect the circuit.

[0047] Powered by the rotor motor, the flying multi-rotor inspection equipment flies over the tower head.

[0048] S4 repeats the S1 process; the electric walking mechanism in the flying multi-rotor inspection device continues to walk on the ground line; the global environment recognition, local environment recognition and internal state perception modules start to work, and determine whether the shock-absorbing hammer is detected or the line tower is approaching based on the high-definition camera, GPS positioning module and ranging sensor.

[0049] The flyaway multi-rotor inspection device is reconnected and the S1 process is repeated.

[0050] In summary, the present invention provides a fly-away six-rotor line inspection UAV; with the help of the synergistic effect of multiple modules such as cameras and GPS, this fly-away six-rotor line inspection UAV can improve the work efficiency of the inspection line and improve the economic benefits, while reducing the cost of manual inspection and saving manpower, material and financial resources.

[0051] The above embodiments are preferred implementation modes of the present invention; however, the implementation modes of the present invention are not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principles of the present invention are equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A flyaway multi-rotor overhead power transmission line automatic inspection device, characterized in that: The invention comprises a hollow box (1), wherein the hollow box (1) is formed by connecting two identical octahedral thin plates and a plurality of rotor arm adapters (5) by screws, the hollow box (1) is in the shape of an octahedron, and at least four rotor motors (3) are arranged on the box (1); a flight control module, a control system, an internal state sensing module, a wireless communication module, and a power supply module (30) are arranged in the box (1); an external environment monitoring module (6) is arranged at the upper end of the box (1); the signal input ends of the internal state sensing module, the wireless communication module and the external environment monitoring module (6) arranged in the box (1) are electrically connected; an electric running mechanism contacting a ground wire (100) is arranged at the upper end of the box (1); a clamping mechanism cooperating with the electric running mechanism is arranged at the upper end of the box (1); the electric running mechanism, the clamping mechanism and the rotor motor (3) are respectively connected to the output end of the control system; the wireless communication module is electrically connected to the control system; the output end of the power supply module (30) is respectively connected to the control system, the internal state sensing module and the wireless communication module; The electric walking mechanism comprises a mechanical arm (13) arranged on one side of the ground wire (100), a walking wheel (11) in contact with the ground wire (100), and at least two driven wheels (10) in contact with the ground wire; a walking motor (22) is arranged on the mechanical arm (13); the walking motor (22) is electrically connected to the control system; It also includes a clamping mechanism, which includes a guide rail device (26) arranged on the box body (1), a slider (14) with a thread; a lead screw (15) that cooperates with the slider (14); a clamping wheel (27) that cooperates with the walking wheel (11); a gear installed at the end of the lead screw (15) and a gear installed on the shaft of the lifting drive motor cooperate with each other to form a gear set transmission; a travel switch module is installed on the guide rail device (26); a speed sensor and a speed sensor are installed on the clamping mechanism to detect the speed and speed of the lifting drive motor; the speed sensor and the speed sensor are electrically connected to the output end of the power module (30); the travel switch module, the lifting drive motor (16) and the output end of the control system are electrically connected; the travel switch module includes a reverse travel switch (29) and a forward travel switch (28); It also includes an internal state sensing module, which includes motion state recognition of the multi-rotor inspection equipment; specifically includes position detection of the multi-rotor inspection equipment during inspection, detection of each internal current signal, and motion state detection of the inspection equipment itself; the internal state sensing module is electrically connected to the output end of the power module (30); It also includes an external environment monitoring module, wherein the external environment monitoring module (6) includes global environment recognition and local environment recognition; the external environment monitoring module (6) is electrically connected to the output end of the power supply module (30); The obstacle crossing method of the fly-away multi-rotor overhead power transmission line automatic inspection device comprises the following steps: S1, the flying multi-rotor overhead power transmission line automatic inspection device is controlled by a gyroscope sensing flight attitude, a GPS positioning module, an ultrasonic sensor, an air pressure sensor and a control circuit to take off from the ground and approach the ground wire (100), and then guide it to hang on the ground wire; the control circuit in the control system controls the rotor motor (3) to stop working, and then the control circuit in the control system controls the online walking motor (22) and the lifting drive motor (16) in the clamping mechanism to start working; the electric walking mechanism in the flying multi-rotor overhead power transmission line automatic inspection device walks on the ground wire, and the clamping mechanism cooperates with the electric walking mechanism to clamp the wire; the global environment recognition, local environment recognition and internal state perception modules start working, and judge whether the anti-vibration hammer (400) is detected or close to the line tower according to the high-definition camera, the GPS positioning module and the distance measurement sensor; if yes, enter S2, otherwise continue to judge on the online walking; S2, when the anti-vibration hammer (400) is detected, the GPS positioning module and the distance measuring sensor feedback signals to the control system; the control system controls the lifting drive motor (16) in the clamping mechanism through the control circuit according to the feedback signal, so that the slider (14) moves downward to the reverse stroke switch (29), the lifting drive motor (16) stops working, and the clamping wheel (27) in the clamping mechanism drops to the lowest point; the flying multi-rotor overhead power transmission line automatic inspection device passes the anti-vibration hammer (400) driven by the running wheel (11); When the incoming line tower is detected, the GPS positioning module and the distance measuring sensor feed back signals to the control system; the control system controls the walking motor (22) to stop working according to the feedback signal, and then controls the lifting drive motor (16) to work by the control circuit in the control system, and the lifting drive motor (16) works to make the slider (14) move downward to the reverse stroke switch (29), and the lifting drive motor (16) stops working; finally, the control circuit in the control system controls the rotor motor (3) to start working, and then the flying multi-rotor overhead power transmission line automatic inspection device flies off the line tower; S3, when the flying multi-rotor overhead power transmission line automatic inspection device passes over the anti-vibration hammer (400), the GPS positioning module and the distance measuring sensor send a signal to the control system, and the control system controls the lifting drive motor (16) through the control circuit according to the feedback signal; the lifting drive motor (16) starts to work, and the driving slider (14) reaches the positive stroke switch (28), and the lifting drive motor (16) stops working; the clamping wheel (27) and the running wheel (11) in the clamping mechanism cooperate to clamp the wire, so that the flying multi-rotor overhead power transmission line automatic inspection device continues to inspect the circuit; The rotor motor (3) provides power, and the flyaway multi-rotor overhead power transmission line automatic inspection device flies over the tower head; S4, repeating the process of S1; the electric walking mechanism in the flying multi-rotor overhead power transmission line automatic inspection device continues to walk on the ground wire (100); the global environment recognition, local environment recognition and internal state perception modules start to work, and determine whether the anti-vibration hammer (400) is detected or close to the line tower based on the high-definition camera, GPS positioning module and ranging sensor; The flyaway multi-rotor overhead power transmission line automatic inspection device is re-hung and the S1 process is repeated.

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