A distribution network line fault detection and location device

Abstract

The present invention discloses a distribution network line fault detection and positioning device. By setting a counterweight eccentric block, the counterweight eccentric block is located at the lowermost side of the frame and the central vertical axis of the counterweight eccentric block is as close to the plumb state as possible. A gyroscope is provided at the center of the counterweight eccentric block. The gyroscope can be used to automatically feedback and correct the state information of the device. The controller can control the posture adjustment mechanism according to the detection situation of the gyroscope so that the central vertical axis of the counterweight eccentric block is as close to the plumb state as possible. In this way, it is convenient for the front vision detection and scanning mechanism and the rear vision detection and scanning mechanism to be on the same straight line. Furthermore, it is convenient for the rear vision detection and scanning mechanism to automatically locate the position coordinates of the abnormal place, and then scan the position coordinates in a local magnification scanning manner, improving the positioning accuracy and the reliability of scanning, and ensuring that the front vision detection and scanning mechanism and the rear vision detection and scanning mechanism are in the same coordinate reference for front and rear movement.

Description

Technical Field

[0001] The present invention specifically relates to a distribution network line fault detection and location device, which is related to the field of line fault detection devices. Background Art

[0002] At present, for the transmission lines of the distribution network, generally cables and wires are used to transmit electricity. With the use of cables and wires and the erosion of wind, sun, rain and snow, problems such as cracks, fissures and openings are likely to occur in the lines after long-term use. If not discovered in time, these problems are likely to cause faults such as line breaks in environments such as strong winds, rainy days and snowy days. Such breakage faults not only lead to large-scale power outages, but also pose safety hazards to the surroundings. Therefore, for transmission lines, in order to discover fault problems in time, the most reliable way is to regularly conduct a thorough and careful inspection of the lines, detect and locate the problematic parts in time, and achieve timely treatment. At present, this kind of detection and location generally relies on manual key spot checks, which has a large labor intensity, low efficiency, and is difficult to effectively cover all detections and locations. With the continuous development of technologies such as robots, using robots and other methods to automatically conduct visual inspections of lines is also one of the current development directions. However, currently, the automatic inspection robots generally only take simple visual photos. Since the robots detect and shoot during the movement, and in order to inspect the entire circumference of the line, even if multiple lenses are set, it is difficult to achieve clear and magnified shooting at each position, which may lead to blurred photos of the fault parts, affecting the accuracy and reliability of the detection. Summary of the Invention

[0003] Therefore, in order to solve the above deficiencies, the present invention provides a distribution network line fault detection and location device here.

[0004] The present invention is implemented as follows. A distribution network line fault detection and location device is constructed, which includes a frame, a driving traveling mechanism, a counterweight eccentric block, a gyroscope, an adjustment mechanism, a front vision detection and scanning mechanism, and a rear vision detection and scanning mechanism. The frame is a split and openable mechanism so that the frame can be sleeved around the outer periphery of the cable to be inspected. The driving traveling mechanism is arranged on the frame to drive the frame to travel along the extension direction of the cable. The counterweight eccentric block is arranged on the bottom side of the front part of the frame. The counterweight eccentric block is located at the lowest side of the frame and the central vertical axis of the counterweight eccentric block is as close as possible to the plumb state. The center of gravity of the counterweight eccentric block is located at its center, and the gyroscope is arranged at the center of the counterweight eccentric block. The front vision detection and scanning mechanism is arranged at the front end of the frame, and the rear vision detection and scanning mechanism is arranged at the rear end of the frame. The front vision detection and scanning mechanism can visually scan the outer peripheral wall of the cable. An adjustment mechanism is also arranged on the frame, and the adjustment mechanism can drive a slight relative rotation between the frame and the cable. It also includes a controller that is signal-controlled and connected to the driving traveling mechanism, the gyroscope, the adjustment mechanism, the front vision detection and scanning mechanism, and the rear vision detection and scanning mechanism. The controller can control the adjustment mechanism according to the detection situation of the gyroscope so that the central vertical axis of the counterweight eccentric block is as close as possible to the plumb state. And when the front vision detection and scanning mechanism detects that the coordinate of a certain position on the outer surface of the cable is abnormal, the controller can control the rear vision detection and scanning mechanism to reach this coordinate and then scan this coordinate in a local enlarged scanning manner.

[0005] Further, as a preference, the front vision detection and scanning mechanism and the rear vision detection and scanning mechanism have the same structure, and both include a split ring, a vision camera, and an aperture. The vision cameras are arranged in a ring on the inner wall of the split ring. The aperture is arranged on the inner ring wall of the split ring. The split ring includes an upper half ring and a lower half ring. One end of the upper half ring is hinged to one end of the lower half ring. Extension shoulders are arranged at the other ends of the upper half ring and the lower half ring respectively, and a detachable locking connection is arranged between the extension shoulders of the upper half ring and the lower half ring.

[0006] Further, as a preference, the vision camera includes a lens holder, a lens, a connecting card, and a backlight. The lens holder is fixed in the split ring. The lens is arranged on the inner arc concave side of the lens holder. The lens holder is a hollow structure, and the inner arc concave surface for installing the lens on the inner arc concave side of the lens holder is a transparent structure. The backlight is arranged in the hollow inner cavity of the lens holder. A connecting card is arranged in the hollow inner cavity between the inner arc concave side and the outer side of the lens holder.

[0007] Further, preferably, connecting clamps are provided at both ends of the lens mount, and clamping grooves are provided on the upper half ring and the lower half ring, and the connecting clamps are detachably clamped in the clamping grooves.

[0008] Further, preferably, the abnormality is a crack, fissure, breakage, opening or fracture.

[0009] Further, as a preference, the frame comprises a front disc frame, a rear disc frame, and a connecting bar frame, the front disc frame and the rear disc frame have the same structure, both comprising an upper disc frame with a semi-annular structure and a lower disc frame with a semi-annular structure, one end of the upper disc frame and one end of the lower disc frame are hingedly connected, the other end of the upper disc frame and the other end of the lower disc frame are detachably snap-fitted, a plurality of spaced connecting bar frames are connected between the upper disc frame of the front disc frame and the upper disc frame of the rear disc frame, and a plurality of spaced connecting bar frames are also connected between the lower disc frame of the front disc frame and the lower disc frame of the rear disc frame.

[0010] Further, as a preference, the driving travel mechanism includes a driving travel motor, a driving wheel, a guide wheel, an articulated wheel frame and a strong torsion spring, each two of the connecting bars form a group, and an articulated wheel frame is arranged on the front and rear sides between each group of the connecting bars, one end of each articulated wheel frame is hingedly connected to the connecting bar frame by the strong torsion spring, and the other end of the articulated wheel frame is rotatably connected to the driving wheel or the guide wheel, wherein the wheel axle of the driving wheel is also connected to the driving travel motor by a belt drive mechanism, and the driving travel motor is fixedly mounted on the connecting bar frame, and the strong torsion spring makes the driving wheel and the guide wheel close to the outer wall of the cable to be detected.

[0011] Furthermore, preferably, the driving wheels and the driving travel motors are arranged in one-to-one correspondence, and the driving wheels or the driving travel motors are an even number arranged in a circular array, and each of the driving travel motors is controlled simultaneously by a controller, and the rotation center axis of the driving wheel and the guide wheel is arranged orthogonally to the center axis of the frame in space.

[0012] Further, as a preference, the adjustment mechanism includes a telescopic rod, an adjusting wheel and a micro motor, the telescopic rod is fixed to the connecting bar frame, and the telescopic rod is telescopically extended along the radial direction of the cable, a U-shaped frame is provided at the end of the telescopic rod, the adjusting wheel is rotatably provided on the U-shaped frame, and a micro motor is fixedly connected to the wheel axle of the adjusting wheel. During adjustment, the adjusting wheel is pressed against the outer surface of the cable through the telescopic rod, and the micro motor drives the adjusting wheel to rotate to achieve adjustment.

[0013] Further, as a preference, the adjustment mechanism is provided in two groups in a manner symmetrical to the vertical plane where the central vertical axis of the counterweight eccentric block is located, and the two groups of adjustment mechanisms are both provided on the connecting bar frame corresponding to the lower half disc frame, and the adjustment wheels of the two groups of adjustment mechanisms rotate in the same direction during adjustment.

[0014] The present invention has the following advantages: Compared with similar devices, the distribution network line fault detection and positioning device provided by the present invention has the following advantages:

[0015] The present invention discloses a distribution network line fault detection and positioning device. By setting a counterweight eccentric block, the counterweight eccentric block is located at the bottom of a frame and the central vertical axis of the counterweight eccentric block is in a plumb state as much as possible. The gyroscope is provided at the center of the counterweight eccentric block. The gyroscope can realize automatic feedback correction of the status information of the device. The controller can control the posture adjustment mechanism according to the detection of the gyroscope so that the central vertical axis of the counterweight eccentric block is in a plumb state as much as possible. In this way, it is convenient for the front visual detection scanning mechanism and the rear visual detection scanning mechanism to be in the same straight line, and then it is convenient for the rear visual detection scanning mechanism to automatically locate the position coordinates of the abnormality, so as to scan the position coordinates in a local magnification scanning manner, improve the positioning accuracy and scanning reliability, and ensure that the front visual detection scanning mechanism and the rear visual detection scanning mechanism are in the same forward and backward moving coordinate reference. When adjusting, the present invention uses a telescopic rod to make the adjustment wheel abut against the outer surface of the cable, and the micro motor drives the adjustment wheel to rotate to realize adjustment, effectively improving the convenience and reliability of adjustment and improving the adjustment accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the top-down three-dimensional structure of the present invention;

[0017] Figure 2 It is a schematic diagram of the arrangement structure of the visual camera of the present invention;

[0018] Figure 3 is a schematic structural diagram of a lens mount of the present invention;

[0019] Figure 4 It is a side sectional structural schematic diagram of the adjustment mechanism of the present invention. DETAILED DESCRIPTION

[0020] The following will be combined with the attached Figures 1-4 The present invention is described in detail, and the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. 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.

[0021] The present invention provides a distribution network line fault detection and location device through improvement, which includes a frame 6, a driving walking mechanism, a counterweight eccentric block 8, a gyroscope 7, an adjustment mechanism, a front vision detection and scanning mechanism 12 and a rear vision detection and scanning mechanism. The frame is a split and openable mechanism so that the frame can be sleeved on the outer periphery of the cable to be inspected. The driving walking mechanism is arranged on the frame to drive the frame to walk along the extension direction of the cable. The counterweight eccentric block 8 is arranged on the bottom side of the front part of the frame 6. The counterweight eccentric block 8 is located at the lowest side of the frame and the central vertical axis of the counterweight eccentric block is as vertically as possible. The center of gravity of the counterweight eccentric block is located at its center, and the gyroscope 7 is arranged at the center of the counterweight eccentric block. The front vision detection and scanning mechanism is arranged at the front end of the frame, and the rear vision detection and scanning mechanism is arranged at the rear end of the frame. The front vision detection and scanning mechanism can visually scan the outer peripheral wall of the cable; the adjustment mechanism is also arranged on the frame, and the adjustment mechanism can drive a slight relative rotation between the frame and the cable; it further includes a controller that is signal-controlledly connected to the driving walking mechanism, the gyroscope, the adjustment mechanism, the front vision detection and scanning mechanism and the rear vision detection and scanning mechanism. The controller can control the adjustment mechanism according to the detection situation of the gyroscope so that the central vertical axis of the counterweight eccentric block is as vertically as possible. And when the front vision detection and scanning mechanism detects that the coordinate of a certain position on the outer surface of the cable is abnormal, the controller can control the rear vision detection and scanning mechanism to reach this position coordinate and then scan this position coordinate in a locally magnified scanning manner.

[0022] In this embodiment, the front vision detection and scanning mechanism and the rear vision detection and scanning mechanism have the same structure, and both include a split ring, a vision camera 2 and an aperture. The vision cameras 2 are arranged in a ring on the inner wall of the split ring. The aperture is arranged on the inner ring wall of the split ring. The split ring includes an upper half ring 1 and a lower half ring 5. One end of the upper half ring 1 is hingedly connected to one end of the lower half ring 5. Extension shoulders 3 are arranged at the other ends of the upper half ring 1 and the lower half ring 5 respectively. The extension shoulders 3 of the upper half ring and the extension shoulders 3 of the lower half ring are detachably and lockingly connected.

[0023] The vision camera includes a lens holder 19, a lens 18, a connecting card 20 and a backlight. The lens holder 19 is fixed in the split ring. The lens 18 is arranged on the inner arc concave side of the lens holder 19. The lens holder is of a hollow structure, and the inner arc concave surface for installing the lens on the inner arc concave side of the lens holder is a transparent structure. The backlight is arranged in the hollow inner cavity of the lens holder. A connecting card 20 located in the hollow inner cavity is arranged between the inner arc concave side and the outer side of the lens holder.

[0024] Connecting clamps 21 are provided at both ends of the lens mount, and clamping grooves are provided on the upper half ring and the lower half ring, and the connecting clamps are detachably clamped in the clamping grooves.

[0025] In this embodiment, the abnormality is a crack, fissure, breakage, opening or fracture, etc.

[0026] The frame includes a front disc frame 22, a rear disc frame, and a connecting bar frame 15. The front disc frame 22 and the rear disc frame have the same structure, both including an upper disc frame of a semi-annular structure and a lower disc frame of a semi-annular structure. One end of the upper disc frame is hingedly connected to one end of the lower disc frame, and the other end of the upper disc frame is detachably snap-fitted to the other end of the lower disc frame. A plurality of spaced connecting bar frames 15 are connected between the upper disc frame of the front disc frame and the upper disc frame of the rear disc frame, and a plurality of spaced connecting bar frames 15 are also connected between the lower disc frame of the front disc frame and the lower disc frame of the rear disc frame.

[0027] The driving travel mechanism includes a driving travel motor 13, a driving wheel 10, a guide wheel 4, an articulated wheel frame 14 and a strong torsion spring 11, each two of the connecting bars 15 form a group, and an articulated wheel frame 14 is arranged on the front and rear sides between each group of the connecting bars 15, one end of each articulated wheel frame 14 is hingedly connected to the connecting bar frame by the strong torsion spring, and the other end of the articulated wheel frame is rotatably connected to the driving wheel 10 or the guide wheel 4, wherein the wheel axle of the driving wheel 10 is also connected to the driving travel motor 13 by a belt transmission mechanism, and the driving travel motor 13 is fixedly mounted on the connecting bar frame, and the strong torsion spring 11 makes the driving wheel and the guide wheel close to the outer wall of the cable to be detected.

[0028] The driving wheels 10 and the driving travel motors 13 are arranged one-to-one, and the driving wheels or the driving travel motors are an even number arranged in a circular array. Each of the driving travel motors 13 is controlled simultaneously by a controller, and the rotation center axis of the driving wheel and the guide wheel is orthogonal to the center axis of the frame in space.

[0029] The adjustment mechanism includes a telescopic rod 17, an adjusting wheel 16 and a micro motor. The telescopic rod 17 is fixed on the connecting bar frame, and the telescopic rod is telescopically extended along the radial direction of the cable. A U-shaped frame is provided at the end of the telescopic rod, and the adjusting wheel is rotatably provided on the U-shaped frame. The micro motor is fixedly connected to the wheel axle of the adjusting wheel. When adjusting, the adjusting wheel is pressed against the outer surface of the cable through the telescopic rod, and the micro motor drives the adjusting wheel to rotate to achieve adjustment.

[0030] The two sets of adjustment mechanisms are arranged symmetrically with respect to the vertical plane where the central vertical axis of the counterweight eccentric block is located, and both sets of adjustment mechanisms are arranged on the connecting bar frame corresponding to the lower half disk frame, and the adjustment wheels of the two sets of adjustment mechanisms rotate in the same direction during adjustment. Of course, as a better embodiment, two sets of adjustment mechanisms can be arranged on both the front and rear sides of the frame.

[0031] For the power distribution network line fault detection and location device of the present invention, by arranging a counterweight eccentric block, the counterweight eccentric block is located at the lowermost side of the frame and the central vertical axis of the counterweight eccentric block is as close as possible to the plumb state. A gyroscope is arranged at the center of the counterweight eccentric block. The gyroscope can be used to automatically feedback and correct the state information of the device. The controller can control the attitude adjustment mechanism according to the detection situation of the gyroscope so that the central vertical axis of the counterweight eccentric block is as close as possible to the plumb state. In this way, it is convenient for the front vision detection and scanning mechanism and the rear vision detection and scanning mechanism to be on the same straight line. Furthermore, it is convenient for the rear vision detection and scanning mechanism to automatically locate the position coordinates of the abnormal place, and then scan the position coordinates in a local enlarged scanning manner, improving the positioning accuracy and the reliability of scanning, and ensuring that the front vision detection and scanning mechanism and the rear vision detection and scanning mechanism are in the same coordinate reference. When the present invention is adjusted, the adjustment wheel is abutted against the outer surface of the cable through the telescopic rod, and the micro motor drives the adjustment wheel to rotate to achieve adjustment, effectively improving the convenience and reliability of adjustment and the adjustment accuracy.

[0032] The above shows and describes the basic principles, main features and advantages of the present invention. The standard parts used in the present invention can be purchased from the market. The special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part all adopt the conventional means such as bolts, rivets, welding, etc. that are mature in the prior art. The machines, parts and equipment all adopt the conventional models in the prior art. Coupled with the circuit connection adopting the conventional connection method in the prior art, it will not be elaborated here.

[0033] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A distribution network line fault detection and location device, which includes a frame, a driving walking mechanism, a counterweight eccentric block, a gyroscope, an adjustment mechanism, a front vision detection and scanning mechanism, and a rear vision detection and scanning mechanism. The frame is a split-type and openable mechanism so that the frame can be sleeved on the outer periphery of the cable to be inspected. The driving walking mechanism is arranged on the frame to drive the frame to walk along the extension direction of the cable. The counterweight eccentric block is arranged on the bottom side of the front part of the frame, and is characterized in that, The counterweight eccentric block is located at the lowermost side of the frame, and the central vertical axis of the counterweight eccentric block is as vertically plumb as possible. The center of gravity of the counterweight eccentric block is located at its center, and a gyroscope is provided at the center of the counterweight eccentric block. A front vision detection and scanning mechanism is provided at the front end of the frame, and a rear vision detection and scanning mechanism is provided at the rear end of the frame. The front vision detection and scanning mechanism can perform visual scanning on the outer peripheral wall of the cable. An adjustment mechanism is also provided on the frame, and the adjustment mechanism can drive a slight relative rotation between the frame and the cable. It further includes a controller that is signal-controlled and connected to the driving and traveling mechanism, the gyroscope, the adjustment mechanism, the front vision detection and scanning mechanism, and the rear vision detection and scanning mechanism. The controller can control the adjustment mechanism according to the detection situation of the gyroscope so that the central vertical axis of the counterweight eccentric block is as vertically plumb as possible. And when the front vision detection and scanning mechanism detects that the coordinate of a certain position on the outer surface of the cable is abnormal, the controller can control the rear vision detection and scanning mechanism to reach this position coordinate and then scan this position coordinate in a local enlarged scanning manner. The frame includes a front disc frame, a rear disc frame, and a connecting bar frame. The front disc frame and the rear disc frame have the same structure, and both include an upper half disc frame with a semi-circular structure and a lower half disc frame with a semi-circular structure. The adjustment mechanism includes a telescopic rod, an adjustment wheel, and a micro motor. The telescopic rod is fixed on the connecting bar frame, and the telescopic rod extends telescopically along the radial direction of the cable. A U-shaped frame is provided at the end of the telescopic rod, and the adjustment wheel is rotatably provided on the U-shaped frame. A micro motor is fixedly connected to the wheel shaft of the adjustment wheel. During adjustment, the adjustment wheel is pressed against the outer surface of the cable through the telescopic rod, and the micro motor drives the adjustment wheel to rotate to achieve adjustment.

2. The line fault detection and location device for a distribution network according to claim 1, characterized in that: The front vision detection and scanning mechanism and the rear vision detection and scanning mechanism have the same structure, and both include a split ring, a vision camera, and an aperture. A plurality of vision cameras are annularly arranged on the inner wall of the split ring. The aperture is provided on the inner ring wall of the split ring. The split ring includes an upper half ring and a lower half ring. One end of the upper half ring is hingedly connected to one end of the lower half ring, and extension shoulders are provided at the other ends of the upper half ring and the lower half ring. The extension shoulders of the upper half ring and the lower half ring are detachably and lockingly connected.

3. The line fault detection and location device for a distribution network according to claim 2, characterized in that: The vision camera includes a lens holder, a lens, a connecting card, and a backlight. The lens holder is fixed inside the split ring. The lens is provided on the inner arc concave side of the lens holder. The lens holder is of a hollow structure, and the inner arc concave surface for installing the lens on the inner arc concave side of the lens holder is of a transparent structure. The backlight is provided in the hollow inner cavity of the lens holder. A connecting card is provided in the hollow inner cavity between the inner arc concave side and the outer side of the lens holder.

4. The line fault detection and location device for a distribution network according to claim 3, characterized in that: Connecting card members are provided at both ends of the lens holder, and card slots are provided on the upper half ring and the lower half ring. The connecting card members are detachably clamped in the card slots.

5. The line fault detection and location device for a distribution network according to claim 4, wherein: The abnormality includes cracks, fissures, breakages, openings, or fractures.

6. The line fault detection and location device for a distribution network according to claim 1, characterized in that: One end of the upper half frame is hingedly connected to one end of the lower half frame, and the other end of the upper half frame is detachably snap-fitted to the other end of the lower half frame. A plurality of spaced-apart connecting bars are connected between the upper half frame of the front frame and the upper half frame of the rear frame, and a plurality of spaced-apart connecting bars are also connected between the lower half frame of the front frame and the lower half frame of the rear frame.

7. The line fault detection and location device for a distribution network according to claim 1, wherein: The driving travel mechanism includes a driving travel motor, a driving wheel, a guide wheel, an articulated wheel frame and a strong torsion spring. Every two of the connecting bars form a group, and an articulated wheel frame is arranged on the front and rear sides of each group of the connecting bars. One end of each articulated wheel frame is hingedly connected to the connecting bar frame by the strong torsion spring, and the other end of the articulated wheel frame is rotatably connected to the driving wheel or the guide wheel, wherein the wheel axle of the driving wheel is also connected to the driving travel motor by a belt transmission mechanism, and the driving travel motor is fixedly mounted on the connecting bar frame, and the strong torsion spring makes the driving wheel and the guide wheel close to the outer wall of the cable to be detected.

8. The line fault detection and location device for a distribution network according to claim 7, characterized in that: The driving wheels and the driving travel motors are arranged one by one, and the driving wheels or the driving travel motors are an even number arranged in a circular array. Each of the driving travel motors is controlled simultaneously by a controller, and the rotation center axis of the driving wheel and the guide wheel is orthogonal to the center axis of the frame in space.

9. The line fault detection and location device for a distribution network according to claim 1, characterized in that: The adjustment mechanism is arranged in two groups in a symmetrical manner in the vertical plane where the central vertical axis of the counterweight eccentric block is located, and the two groups of adjustment mechanisms are both arranged on the connecting bar frame corresponding to the lower half disc frame, and the adjustment wheels of the two groups of adjustment mechanisms rotate in the same direction during adjustment.

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