A transmission line surveying vehicle

Abstract

The present invention relates to the field of line survey technology, and specifically to a transmission line surveying and mapping vehicle. The surveying and mapping vehicle includes a crawler for the surveying and mapping vehicle to travel, and an airbag is arranged on the outer surface of the crawler, and the interior of the airbag is filled with compressed gas. On hard ground, the airbag can provide a buffer force to reduce the degree of damage to the ground caused by the crawler; on swamp ground, since the swamp ground is relatively smooth, the smooth ground will reduce the friction between the surveying and mapping vehicle and the ground, resulting in the surveying and mapping vehicle being unable to travel normally on the ground. Therefore, the present invention arranges a plurality of airbags on the crawler, and the plurality of airbags constitute the anti-skid ribs of the crawler, which can increase the friction between the crawler and the ground, thereby increasing the gripping ability of the surveying and mapping vehicle. In addition, the airbag can increase the contact area between the surveying and mapping vehicle and the swamp ground, thereby reducing the pressure of the surveying and mapping vehicle on the swamp ground, thereby facilitating the movement of the surveying and mapping vehicle on the swamp ground.

Description

Technical Field

[0001] The invention relates to the technical field of line survey, and in particular to a transmission line surveying and mapping vehicle. Background Art

[0002] Field survey has always been a key link in the design of power transmission lines and a decisive factor in whether the project can be successfully implemented. The existing survey methods mainly include manual on-site survey, drone survey, and auxiliary vehicle surveying.

[0003] Manual on-site survey is currently the most commonly used method. Personnel carry GPS, rangefinders, cameras and other equipment to measure key points along the route and photograph terrain and objects. This method is widely used and has high accuracy but consumes huge manpower and material resources. There are often obstacles such as lakes and swamps that are difficult for a single person to cross. Some key points are even located in the middle of ponds, posing a huge challenge to surveying and mapping personnel.

[0004] Drone surveys are usually used as an auxiliary means of manual on-site surveys. In areas where flight is allowed, it is easy to obtain regional coordinates and surrounding environment. However, due to tree obstruction and insufficient flight stability, it is difficult to measure the actual ground elevation. The existing drones on the market have a high risk of low-altitude flight, and their obstacle avoidance capabilities are far from sufficient to travel through the forest.

[0005] Surveying with a mapping vehicle is one of the current trends in the reform of surveying and mapping methods. Through remote control by personnel, a light and fast vehicle is controlled, carrying GPS, rangefinder, camera and other measuring equipment for on-site measurement. At the same time, the vehicle is in contact with the ground, and the ground elevation with high accuracy can be obtained in real time.

[0006] The existing mapping and surveying vehicles have low obstacle-crossing capabilities, which reduces the application scope of the mapping and surveying vehicles. Summary of the invention

[0007] In order to solve the above technical problems, the present invention provides a transmission line mapping vehicle, which can improve the obstacle surmounting capability of the mapping vehicle, thereby increasing the application scope of the mapping vehicle.

[0008] To achieve the above object, the present invention adopts the following technical solutions:

[0009] A transmission line mapping trolley comprises a crawler for walking, an air bag is arranged on the outer side of the crawler, and the interior of the air bag is filled with compressed gas.

[0010] Furthermore, a guide assembly is provided inside the airbag to make the inflation direction of the airbag point to the contact surface with the ground.

[0011] Further preferably, the guide assembly includes a guide cylinder arranged along the bulging direction inside the airbag, a spring fixed inside the guide cylinder and arranged along the guiding direction of the guide cylinder, a guide rod whose bottom end is connected to the spring and arranged along the guiding direction of the guide cylinder, and the top end of the guide rod is connected to the inner wall of the airbag.

[0012] Furthermore, the crawler is also provided with retaining blocks, and the airbag is located between adjacent retaining blocks;

[0013] When the airbag is in a bulging state, the height of the airbag along the bulging direction is greater than the height of the retaining block.

[0014] Further preferably, a concave slideway is provided on the side of the retaining block;

[0015] The outer wall of the airbag is provided with a slide rail, and the slide rail and the slideway form a detachable sliding fit;

[0016] A positioning member is also arranged between the airbag and the track, and the positioning member includes a dovetail groove and a dovetail strip arranged along the length direction of the dovetail groove; the dovetail strip and the dovetail groove are matched in shape, and the dovetail strip and the dovetail groove constitute a detachable structure.

[0017] More preferably, the projection of the portion of the airbag in the inflated state extending above the retaining blocks on the track is located between the two retaining blocks.

[0018] Furthermore, the mapping vehicle further comprises a walking device, and a power mechanism for driving the walking device to walk;

[0019] The crawler belt is arranged on the walking device along the circumferential direction.

[0020] Further, the power mechanism includes a workbench for carrying the surveying and mapping instrument, a driving gear provided on the traveling device for rotating, and a driving motor for driving the driving gear to rotate;

[0021] The walking device is located on both sides of the workbench, and the inner side surface of the crawler on the walking device is provided with teeth, and the teeth are meshed with the driving gear.

[0022] Furthermore, a buoyancy plate with a hollow interior is provided at the lower end of the workbench; and the power mechanism also includes a blower connected to the interior of the buoyancy plate.

[0023] Further preferably, a main arm is pitch-hinged on the workbench, and a secondary arm is pitch-hinged on the main arm;

[0024] The surveying and mapping instrument includes a camera, a GPS, and a scanner arranged on the auxiliary arm;

[0025] The surveying and mapping vehicle also includes a controller and a wireless transmitter; a pressure sensor is arranged at a position inside the airbag corresponding to the teeth; the camera, GPS, scanner, wireless transmitter and drive motor are all electrically connected to the controller.

[0026] The beneficial effects of the present invention are as follows:

[0027] (1) The present invention arranges airbags on the track, which has the following three functions: First, on hard ground, the airbags can provide cushioning force to reduce the degree of damage to the ground caused by the track; Second, on swamp ground, since the swamp ground is relatively smooth, the smooth ground will reduce the friction between the track and the ground, resulting in the surveying and mapping vehicle being unable to travel normally on the ground. Therefore, the present invention arranges multiple airbags on the track, and the multiple airbags constitute the anti-skid ribs of the track, which can increase the friction between the track and the ground, thereby increasing the grip of the surveying and mapping vehicle. In addition, the airbags can increase the contact area between the surveying and mapping vehicle and the swamp ground, thereby reducing the pressure of the surveying and mapping vehicle on the swamp ground, thereby facilitating the movement of the surveying and mapping vehicle on the swamp ground; Third, the airbags of the present invention can be fully expanded in water, thereby increasing the buoyancy of the surveying and mapping vehicle and facilitating the movement of the surveying and mapping vehicle in water.

[0028] (2) When the surveying vehicle is traveling on the swampy ground, the airbag of the present invention extends to the outside of the retaining block, so that the airbag can directly contact the swampy ground and avoid direct contact between the retaining block and the swampy ground, thereby preventing the surveying vehicle from sinking into the swampy ground.

[0029] (3) The guide tube, guide rod and spring of the present invention cooperate with each other to ensure that the direction of the airbag swelling points to the contact surface, so that the multiple airbags form anti-skid ribs for gripping the ground.

[0030] (4) When the airbag of the present invention is in an inflated state, the projection of the portion extending above the retaining blocks on the track is located between the two retaining blocks, which can prevent the airbag from being located between the retaining blocks and the ground, thereby preventing the airbag and the retaining blocks from being damaged due to mutual squeezing.

[0031] (5) The airbags of the present invention are detachably fixed on the crawler track. When one of the airbags is damaged, only the damaged airbag needs to be replaced without replacing the entire crawler track, thereby reducing the maintenance cost of the surveying and mapping vehicle.

[0032] (6) The camera, GPS and scanner of the present invention cooperate with each other to simultaneously obtain the coordinates, elevation and surrounding environment information of the route, thereby improving the surveying and mapping efficiency of the present invention.

[0033] (7) The main arm and the auxiliary arm of the present invention cooperate with each other to install a camera and a scanner. The main arm and the auxiliary arm of the present invention both constitute an articulated structure, which can increase the coverage of the image collected by the camera and the scanner. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is the overall structure diagram of the present invention;

[0035] Figure 2 For the present invention Figure 1 The structural diagram without the traveling device;

[0036] Figure 3 It is a structural diagram of the airbag, the retaining block and the crawler track of the present invention;

[0037] Figure 4 It is a partial structural diagram of the crawler without airbag of the present invention;

[0038] Figure 5 is a structural diagram of the airbag of the present invention;

[0039] Fig. 6A The state diagram of the airbag of the present invention on a hard road surface;

[0040] Figure 6B A state diagram of the air bag of the present invention on a swampy road;

[0041] Figure 6C It is a state diagram of the air bag of the present invention in water.

[0042] The meanings of the symbols in the figure are as follows:

[0043] 1- walking device 11- crawler 111- retaining block 111a- slideway 112- teeth

[0044] 113-airbag 1131-dovetail strip

[0045] 1132-spring 1133-guide cylinder 1134-guide rod 1135-slide rail 1136-pressure sensor

[0046] 114-Dovetail groove

[0047] 12-driving gear 13-inducing gear 14-road wheel 15-traction wheel

[0048] 2-working table 21-driving motor 22-main arm 22a-first rotating motor 23-auxiliary arm

[0049] 23a- second rotating motor 231- camera 232- GPS 233- scanner 24- blower

[0050] 26- Wireless transmitter 27- Controller 271- Display screen 272- Socket

[0051] 28-Solar panels 29-Buoyancy panels DETAILED DESCRIPTION

[0052] The following is a clear and complete description of the technical solution of the present invention in combination with the embodiments and the accompanying drawings. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] A transmission line mapping vehicle, such as Figure 1 As shown, the surveying and mapping vehicle includes a workbench 2 and walking devices 1 located on both sides of the workbench 2.

[0054] like Figure 1 As shown, the surface of the walking device 1 is provided with a track 11 along the circumferential direction, and the outer side of the track 11 is provided with a protruding retaining block 111 with an arched top. Figure 3 As shown, a gap is provided between adjacent retaining blocks 111 along the length direction of the retaining blocks 111, and an airbag 113 is provided in the length direction of the gap. A guide cylinder 1133 is fixed in the airbag 113 along the bulging direction, a spring 1132 is fixed inside the guide cylinder 1133, a guide rod 1134 is connected to the spring 1132, the top end of the guide rod 1134 extends to the outside of the guide cylinder 1133, and the top end of the guide rod 1134 is connected to the inner wall of the airbag 113, as shown in FIG. Figure 5 As shown, a pressure sensor 1136 is installed at the bottom of the guide cylinder 1133, and the bottom end of the spring 1132 is fixed on the pressure sensor 1136. A concave slide 111a is provided on the side of the retaining block 111, and a slide rail 1135 is provided on the outer wall of the airbag 113. The slide rail 1135 and the slide 111a form a detachable sliding fit. A positioning member is also provided between the airbag 113 and the track 11, and the positioning member is used to prevent the airbag 113 installed between the two retaining blocks 111 from falling. The positioning member includes a dovetail groove 114, and a dovetail strip 1131 fixed to the lower end of the airbag 113 is provided along the length direction of the dovetail groove 114; the dovetail strip 1131 and the dovetail groove 114 are matched in shape, and the dovetail strip 1131 and the dovetail groove 114 form a detachable structure. The length of the dovetail strip 1131 is greater than the length of the airbag 113, and the two ends of the dovetail strip 1131 are located outside the airbag 113. When the dovetail strip 1131 reaches the predetermined position, the two ends of the dovetail strip 1131 are fixed to the inside of the dovetail groove 114 by bolts, forming a detachable connection by the bolts.

[0055] like Figure 1As shown, the side of the traveling device 1 is rotatably mounted with a driving gear 12, an induction gear 13, a road wheel 14 and a towing wheel 15. The driving gear 12 passes through the traveling device 1, and the inner side of the crawler track 11 is provided with teeth 112, and the teeth 112 and the driving gear 12 mesh with each other, and the teeth 112 also mesh with the induction gear 13. Each traveling device 1 has four sets of road wheels 14, and the road wheels 14 are located at the lower part of the traveling device 1, and the road wheels 14 fit with the inner side of the crawler track 11. Each traveling device 1 has two sets of towing wheels 15, and the towing wheels 15 are located at the upper part of the traveling device 1, and the towing wheels 15 fit with the inner side of the crawler track 11.

[0056] like Figure 2 As shown, a buoyancy plate 29 is provided at the lower end of the workbench 2, and a blower 24 is fixed at the upper end of the workbench 2, and the blower 24 is connected to the buoyancy plate 29. A main arm 22 is also pitch-hinged at the upper end of the workbench 2, and a secondary arm 23 is pitch-hinged at the top of the main arm 22. A first rotating motor 22a for driving the main arm 22 to rotate is fixed on the workbench 2, and a second rotating motor 23a for driving the secondary arm 23 to rotate is fixed on the main arm 22. A camera 231 and a GPS 232 are fixed on the upper end surface of the secondary arm 23, and a scanner 233 is fixed on the front end surface of the secondary arm 23. A controller 27 is also fixed on the upper end surface of the workbench 2, and a display screen 271 and a socket 272 are provided on the controller 27. A solar panel 28 is fixed on the upper end surface of the controller 27, and a wireless transmitter 26 is provided on one side of the controller 27. The first rotating motor 22a, the second rotating motor 23a, the controller 27, the camera 231, the GPS 232, the scanner 233, the wireless transmitter 26 and the driving motor 21 are all electrically connected to the controller 27. The model of the controller 27 is STC89C52, and the model of the wireless transmitter 26 is KB3030-K.

[0057] like Fig. 6A As shown, when the surveying and mapping vehicle travels on a hard road surface, the airbag 113 is compressed. At this time, the airbag 113 and the arched retaining block 111 jointly bear the pressure of the entire surveying and mapping vehicle, which can prevent the hard retaining block 111 from damaging the road surface.

[0058] like Figure 6B As shown, on a muddy or swampy road with poor geology, the road support force is insufficient and the airbag 113 is not completely compressed. At this time, the presence of the airbag 113 increases the friction between the track 11 and the road surface, making it easier for the surveying and mapping vehicle to move on the road surface.

[0059] like Figure 6C As shown, when the surveying and mapping vehicle moves in the water, the airbag 113 is fully expanded, and the airbag 113 and the buoyancy plate 29 cooperate with each other to provide buoyancy for the entire surveying and mapping vehicle.

[0060] When the mapping vehicle is moving, the camera 231 and the scanner 233 will take pictures of the power transmission lines along the way and transmit the data to the controller 27. The controller 27 processes the data and transmits the processed data to the remote staff through the wireless transmitter 26.

Claims

1. A transmission line mapping vehicle, the mapping vehicle comprising a crawler (11) for traveling, characterized in that: An air bag (113) is provided on the outer side of the crawler (11), and the interior of the air bag (113) is filled with compressed gas; A guide component is provided inside the airbag (113) for making the inflation direction of the airbag (113) point to the contact surface with the ground; The guide assembly comprises a guide cylinder (1133) disposed in the airbag (113) along a bulging direction, a spring (1132) fixed inside the guide cylinder (1133) and disposed along a guiding direction of the guide cylinder (1133), a guide rod (1134) having a bottom end connected to the spring (1132) and disposed along a guiding direction of the guide cylinder (1133), and a top end of the guide rod (1134) connected to an inner wall of the airbag (113); A pressure sensor (1136) is installed at the bottom of the guide cylinder (1133), and the bottom end of the spring (1132) is fixed on the pressure sensor (1136); The crawler (11) is further provided with retaining blocks (111), and the airbags (113) are located between adjacent retaining blocks (111); When the airbag (113) is in a bulging state, the height of the airbag (113) along the bulging direction is greater than the height of the retaining block (111); A concave slideway (111a) is provided on the side of the retaining block (111); The outer wall of the airbag (113) is provided with a slide rail (1135), and the slide rail (1135) and the slideway (111a) form a detachable sliding fit.

2. The transmission line mapping vehicle according to claim 1, characterized in that: A positioning member is also provided between the airbag (113) and the crawler track (11), the positioning member comprising a dovetail groove (114), and a dovetail bar (1131) provided along the length direction of the dovetail groove (114) and fixed to the lower end of the airbag (113); the dovetail bar (1131) and the dovetail groove (114) are matched in shape, and the dovetail bar (1131) and the dovetail groove (114) form a detachable structure.

3. The transmission line mapping vehicle according to claim 1, characterized in that: The projection of the portion of the airbag (113) in the inflated state that extends above the retaining blocks (111) on the crawler track (11) is located between the two retaining blocks (111).

4. The transmission line mapping vehicle according to claim 1, characterized in that: The mapping vehicle further comprises a walking device (1), and a power mechanism for driving the walking device (1) to move; The crawler belt (11) is arranged on the walking device (1) along the circumferential direction.

5. The transmission line mapping vehicle according to claim 4, characterized in that: The power mechanism comprises a workbench (2) for carrying the surveying and mapping instrument, a driving gear (12) for rotating the driving gear (1) disposed on the walking device (1), and a driving motor (21) for driving the driving gear (12) to rotate; The walking device (1) is located on both sides of the workbench (2); the inner side surface of the crawler (11) on the walking device (1) is provided with teeth (112); the teeth (112) mesh with the driving gear (12).

6. The transmission line mapping vehicle according to claim 5, characterized in that: A buoyancy plate (29) with a hollow interior is provided at the lower end of the workbench (2).

7. The transmission line mapping vehicle according to claim 5 or 6, characterized in that: A main arm (22) is hingedly connected in pitch to the workbench (2), and a secondary arm (23) is hingedly connected in pitch to the main arm (22); The surveying and mapping instrument comprises a camera (231), a GPS (232), and a scanner (233) arranged on the auxiliary arm (23); The mapping vehicle further comprises a controller (27) and a wireless transmitter (26); a pressure sensor (1136) is provided at a position inside the airbag (113) corresponding to the tooth (112); and the camera (231), GPS (232), scanner (233), wireless transmitter (26) and drive motor (21) are all electrically connected to the controller (27).

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