A power transmission and distribution line operation and maintenance device and method

Abstract

The present invention discloses a device and method for operation and maintenance of power transmission and distribution lines, wherein the device for operation and maintenance of power transmission and distribution lines comprises: a background control system, and a plurality of drones and robots respectively connected to the background control system through a wireless network. The method for operation and maintenance of power transmission and distribution lines comprises the steps that the background control system obtains line abnormality information, calls the corresponding operation strategy according to the line abnormality information, and issues operation task instructions to drones and robots that can meet the operation strategy in combination with the operation strategy; the drone that receives the operation task instruction flies to the position of the robot that receives the operation task instruction, grabs the robot, and transports the robot to the point to be operated; the drone hangs the robot on the position of the line conductor at the point to be operated, etc. The present invention can enable the robot to easily cross the transmission and distribution line tower to achieve continuous, safe and efficient operation, solving the problem of low efficiency of the current robot when operating across the tower.

Description

Technical Field

[0001] The present invention relates to the technical field of power transmission line maintenance, and in particular to a power transmission and distribution line operation and maintenance device and method. Background Art

[0002] In recent years, the construction of power grids has continued to increase, the total length of power transmission and distribution lines has increased significantly, and the human resources for operation and maintenance are insufficient, which makes it difficult to meet the growing actual operation and maintenance needs. Due to the inadequate operation and maintenance of power transmission and distribution lines, the number of equipment failures and tripping has continued to increase. In order to solve the above problems, drones that can patrol and inspect power transmission and distribution lines under power conditions and robots that can perform precise and complex operations have appeared on the market, which has alleviated this problem to a certain extent. However, the power line inspection drones on the market are generally unable to perform precise and complex operations, and cannot carry out maintenance operations. They can often only be used as inspection equipment and to find defects. Although robots can perform maintenance operations, they generally have the disadvantages of being unable to cross the power transmission and distribution line towers, requiring frequent online and offline operations, and low work efficiency. They cannot efficiently and conveniently cross the towers, which greatly limits the application scenarios of inspection robots and also causes the dilemma that existing robots cannot be widely promoted and used.

[0003] Therefore, there is an urgent need for a power transmission and distribution line operation and maintenance method and robot that can conveniently operate across poles and towers to assist or even replace power workers in their work, so as to improve the health level of power transmission and distribution line equipment, effectively reduce fault tripping rates, and improve power supply reliability. Summary of the invention

[0004] In order to solve the above problems, the present application provides a transmission and distribution line operation and maintenance device and method, which, through innovative operation process methods and innovative robot hardware devices, can realize convenient crossing of poles or towers on the transmission and distribution lines, and efficiently and safely cross the poles and towers to the lines of nearby spans for continuous operation, greatly improving the adaptability of robot operations, and providing support for the safe operation and maintenance of power grid enterprises and the reliable operation of power grids.

[0005] The object of the present invention is achieved by the following technical solution: a power transmission and distribution line operation and maintenance device, comprising a background control system, and a plurality of drones and robots respectively connected to the background control system through a wireless network;

[0006] The robot comprises a robot body, a walking mechanism arranged on the top of the robot body, and a hanging ring arranged on the top of the walking mechanism; a robot controller connected to a background control system is arranged in the robot body, and the walking mechanism is electrically connected to the robot controller;

[0007] The drone comprises a drone body and a carrying hook arranged on the drone body and capable of cooperating with a hanging ring; a drone controller connected to a background control system is arranged in the drone body.

[0008] Furthermore, the hanging ring is provided with a first contactor and a gravity sensor, and the first contactor and the gravity sensor are electrically connected to the robot controller; the drone body is provided with a drone laser radar and a drone camera, and the drone laser radar and the drone camera are electrically connected to the drone controller.

[0009] The walking mechanism includes a mounting frame with a mounting opening, a walking wheel installed in the mounting opening, a second contactor arranged on the walking wheel, a walking motor connected to the walking wheel, and an electric telescopic rod arranged on the mounting frame and capable of closing or opening the mounting opening; the second contactor, the walking motor and the electric telescopic rod are all electrically connected to the robot controller.

[0010] As a preferred solution, a charging hook, an electromagnetic charging device and a driving device are also provided on the top of the drone body; the electromagnetic charging device includes a support, a second mutual inductor rotatably mounted on the support via a second mounting shaft, and a first mutual inductor rotatably mounted on the support via a third mounting shaft; the first mutual inductor and the second mutual inductor are both semi-annular, and the first mutual inductor and the second mutual inductor can be closed into a ring-shaped current mutual inductor when they rotate;

[0011] The driving device includes a first gear installed on a support through a first mounting shaft, a sleeve sleeved on the first mounting shaft, a ring gear connected to the sleeve through a connecting rod, a second gear installed on a second mounting shaft, a third gear installed on a third mounting shaft, and a driving motor connected to the first mounting shaft; the third gear is meshed with the ring gear, and the second gear is meshed with the first gear, so that the driving device can drive the first mutual inductor and the second mutual inductor to open or close each other.

[0012] The drone body and the robot body are respectively provided with magnetic charging ports that can cooperate with each other, so that the drone body can charge the robot body.

[0013] The present invention also discloses a power transmission and distribution line operation and maintenance method based on the power transmission and distribution line operation and maintenance device, comprising the following steps:

[0014] Step 1: The background control system obtains line abnormality information, calls the corresponding operation strategy according to the line abnormality information, and issues operation task instructions to drones and robots that can meet the operation strategy in combination with the operation strategy;

[0015] Step 2: The drone that receives the task instruction flies to the location of the robot that receives the task instruction, grabs the robot, and transports the robot to the work location;

[0016] Step 3: The drone hangs the robot at the location of the line conductor where the work is to be done;

[0017] Step 4: The background control system sends a work instruction to the robot controller, and the background control system or the robot controller controls the robot to perform the work task; after the work is completed, the robot sends the image information of the work point to the background control system, and the background control system determines whether the work task is completed. If not, the robot is controlled to continue to complete the work task; if it is completed, step 5 is executed;

[0018] Step 5: The background control system sends instructions to the drone, which grabs the robot and transports it back to the robot parking location.

[0019] Furthermore, before step 5, the following steps are also included:

[0020] When there are other tasks to be done on the wire of the current span, the background control system controls the robot to move along the wire of the current span to the next work point, and the robot processes the work task of the next work point;

[0021] When there are pending work tasks on other span conductors, the background control system sends instructions to the drone, the drone flies to the robot position, transports the robot to the pending work point of the other span conductor, and the robot is hung on the pending work point of the other span conductor, and the robot processes the work tasks at that position.

[0022] The power transmission and distribution line operation and maintenance method also includes: after the drone hangs the robot on the line conductor, the background control system sends a charging instruction to the drone; the drone controls the drive motor to work according to the charging instruction, drives the first mutual inductor and the second mutual inductor to open, and then hangs the charging hook on the drone on the same phase conductor of the same span conductor, and then controls the first mutual inductor and the second mutual inductor to close, so as to insert the same phase conductor of the same span conductor into the current mutual inductor formed by the first mutual inductor and the second mutual inductor, and charges the drone through the principle of electromagnetic induction;

[0023] In addition, the robot controller detects the robot's own battery level. When the robot's battery level is lower than the set value, it sends a signal to the background control system. The background control system sends a robot charging instruction to the robot controller. The robot moves to the position of the drone, and the drone and the magnetic charging port on the robot are docked. The drone charges the robot. When the robot's battery level reaches the set value, the background control system controls the robot to continue the unfinished task.

[0024] In step 2, the drone grabs the robot and transports the robot to the waiting operation point, which specifically includes the following methods: the drone detects the position of the robot's hanging ring through its drone laser radar scanning, and takes an image through the drone camera and uploads it to the drone controller to confirm the position distance of the hanging ring; the drone hangs its carrying hook into the robot's hanging ring, and the first contactor on the hanging ring transmits the contact signal to the robot controller; the drone lifts the robot upward, and at the same time, the gravity sensor on the robot's hanging ring transmits the detected weight data to the robot controller. When the weight data increases to the set value, the robot controller controls the robot body to leave the robot warehouse, and the drone transports the robot to the waiting operation point;

[0025] In step 3, the specific method for the drone to hang the robot on the waiting operation point of the line conductor is as follows: the drone scans the distance position of the line conductor hanging point through its drone laser radar, and takes an image through the drone camera and uploads it to the drone controller to confirm the distance position of the line conductor hanging point; the drone moves the robot, hangs the robot's walking wheel on the line conductor hanging point, and the second contactor on the walking wheel transmits the contact signal to the robot controller; at the same time, the gravity sensor on the hanging ring transmits the real-time detected weight data to the robot controller, and when the weight data is reduced to the set value, the robot controller controls the electric telescopic rod to extend to close the installation port, and the drone moves to disengage the carrying hook from the hanging ring, and the robot is hung on the waiting operation point of the line conductor;

[0026] In step 5, the drone grabs the robot specifically including the following method: the drone detects the position of the robot's hanging ring through its drone laser radar scanning, and takes images through the drone camera and uploads them to the drone controller to confirm the position distance of the hanging ring; the drone moves and hangs its carrying hook into the robot's hanging ring, and the first contactor on the hanging ring transmits the contact signal to the robot controller; the drone lifts the robot upward, and at the same time, the gravity sensor on the robot's hanging ring transmits the detected weight data to the robot controller. When the weight data increases to the set value, the robot controller controls the electric telescopic rod to retract to open the installation port, and the drone continues to lift the robot upward, the walking wheel is separated from the line conductor hanging point, and the robot is grabbed.

[0027] The line abnormality information obtained by the background control system in step 1 includes: operation point coordinate location information and abnormality type information.

[0028] Compared with the prior art, this application has the following beneficial effects:

[0029] The present invention cleverly utilizes the combined operation of drones and robots, which can effectively solve the technical problems that have always existed in existing operation methods and robots, namely, "it is difficult for robots to cross poles and towers, and it is difficult for drones to perform complex maintenance operations". The present invention can enable robots to easily cross transmission and distribution line towers, and can operate continuously, safely and efficiently on the transmission and distribution lines, solving the current problem of low efficiency of robots when operating across poles and towers.

[0030] Some additional features of the present application may be explained in the following description. Some additional features of the present application will be apparent to those skilled in the art by inspection of the following description and corresponding drawings or understanding of the production or operation of the embodiments. The features disclosed in the present application may be realized and achieved by practice or use of various methods, means and combinations of the specific embodiments described below. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The exemplary embodiments of the present application and their descriptions are used to explain the present application and do not constitute a limitation of the present application. In each figure, the same reference numeral represents the same component.

[0032] Figure 1 It is a schematic structural diagram of the UAV of the present invention.

[0033] Figure 2 It is a schematic diagram of the first mutual inductor and the second mutual inductor of the electromagnetic charging device in the present invention when they are closed.

[0034] Figure 3 It is a schematic diagram of the first mutual inductor and the second mutual inductor of the electromagnetic charging device in the present invention when they are turned on.

[0035] Figure 4 It is a schematic structural diagram of the driving device of the present invention.

[0036] Figure 5 It is a schematic structural diagram of the robot of the present invention.

[0037] The figure numbers in the above drawings are: 1-UAV body, 2-electromagnetic charging device, 3-driving motor, 4-charging hook, 5-UAV laser radar, 6-UAV camera, 7-first mutual inductor, 8-second mutual inductor, 9-support, 10-gear ring, 11-third gear, 12-second gear, 13-first gear, 14-first mounting shaft, 15-sleeve, 16-connecting rod, 17-second mounting shaft, 18-third mounting shaft, 19-robot body, 20-mounting frame, 21-mounting port, 22-walking wheel, 23-hanging ring, 24-walking motor, 25-electric telescopic rod, 26-carrying hook. DETAILED DESCRIPTION

[0038] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0039] Example

[0040] This embodiment discloses a power transmission and distribution line operation and maintenance device, which includes a background control system, and a plurality of drones and robots respectively connected to the background control system via a wireless network.

[0041] Among them, Figure 5 As shown, the robot includes a robot body 19, a walking mechanism arranged on the top of the robot body 19, and a hanging ring 23 arranged on the top of the walking mechanism. A robot controller connected to the background control system is arranged in the robot body 19, and the walking mechanism is electrically connected to the robot controller. The mechanical arms on the robot bodies 19 of different robots are equipped with different working tools so that different robots can be suitable for different working tasks. For example, if the mechanical arm on the robot body 19 is equipped with a deicing device, the robot can be used for the task of clearing ice from power transmission and distribution lines; for another example, if the mechanical arm is equipped with a tree obstacle clearing device, the robot can be used for the task of clearing tree and bamboo obstacles in power transmission and distribution lines, etc. The various working tools carried by the robot belong to the current mature technology, and the structure and working principle of the working tools will not be described in detail here.

[0042] In addition, the robot body 19 can also be provided with binocular high-definition cameras, laser radars, temperature and humidity sensors, anemometers and other detection elements, and the above detection elements are all electrically connected to the robot controller, so that the robot can upload the relevant images and environmental data at the operating point to the background control system through the robot controller during the operation, and the staff can understand the operation process and various environmental data during the operation in real time through the background control system. The robot controller can also send the real-time power information of the robot to the background control system to facilitate the monitoring of the power of the robot. In addition, the robot can be fixed in a robot warehouse by magnetic suction or other fixing methods, and multiple robot warehouses can be equipped within the power transmission and distribution line area. The robot warehouse can be fixedly set at different positions, or it can be assembled on a vehicle to facilitate the transportation of the robot warehouse to the vicinity of the operation point.

[0043] like Figure 5As shown, the walking mechanism includes a mounting frame 20 having a mounting opening 21, a walking wheel 22 installed in the mounting opening 21, a second contactor arranged on the walking wheel 22, a walking motor 24 connected to the walking wheel 22, and an electric telescopic rod 25 arranged on the mounting frame 20 and capable of closing or opening the mounting opening 21; the second contactor, the walking motor 24 and the electric telescopic rod 25 are all electrically connected to the robot controller. A hanging ring 23 is arranged on the top of the mounting frame 20.

[0044] The robot can be hung on the line conductor through the running wheel 22. When the running motor 24 drives the running wheel 22 to rotate, the robot can move back and forth on the line conductor to process the operation task. The second contactor is used to sense whether the running wheel 22 is in contact with the line conductor, so that the robot controller can determine whether the running wheel 22 is hung on the line conductor. When the electric telescopic rod 25 is extended, it can close the installation port 21 to prevent the line conductor from accidentally detaching from the installation port 21 during the movement of the robot, causing the robot to fall.

[0045] Correspondingly, such as Figure 1 As shown, the drone includes a drone body 1 and a carrying hook 26 disposed on the drone body 1; the carrying hook 26 can cooperate with the hanging ring 23, that is, when the drone moves to a suitable position, the carrying hook 26 can be hooked into the hanging ring 23, so that the drone can lift the robot. Correspondingly, a drone controller connected to the background control system is disposed in the drone body 1.

[0046] In addition, a first contactor and a gravity sensor are provided on the hanging ring 23, and both the first contactor and the gravity sensor are electrically connected to the robot controller. When the carrying hook 26 on the drone is hooked into the hanging ring 23, the first contactor can sense and send a sensing signal to the robot controller. When the drone lifts the robot, the gravity sensor sends a gravity signal to the robot controller in real time.

[0047] Correspondingly, the drone body 1 is provided with a drone laser radar 5 and a drone camera 6, both of which are electrically connected to the drone controller. The drone laser radar 5 is used to scan the distance position of the hanging ring 23 and the line conductor hanging point; the drone camera 6 is used to collect surrounding image information, and the drone controller can calculate and confirm the distance position of the hanging ring 23 and the line conductor hanging point based on the image information.

[0048] As a preferred embodiment, Figure 1 As shown, the top of the drone body 1 is also provided with a charging hook 4, an electromagnetic charging device 2 and a driving device. Figure 2As shown, the electromagnetic charging device 2 includes a support 9 arranged on the top of the drone body 1, a second mutual inductor 8 rotatably mounted on the support 9 through a second mounting shaft 17, and a first mutual inductor 7 rotatably mounted on the support 9 through a third mounting shaft 18. That is, the second mutual inductor 8 is fixed to the second mounting shaft 17, the first mutual inductor 7 is fixed to the third mounting shaft 18, and the second mounting shaft 17 and the third mounting shaft 18 can both rotate relative to the support 9, so that when the second mounting shaft 17 and the third mounting shaft 18 rotate, the second mutual inductor 8 and the first mutual inductor 7 rotate accordingly.

[0049] The first mutual inductor 7 and the second mutual inductor 8 are both in a semi-ring shape. Therefore, when the first mutual inductor 7 and the second mutual inductor 8 rotate toward a side close to each other, the first mutual inductor 7 and the second mutual inductor 8 can be closed into a ring-shaped current transformer, such as Figure 2 When the first mutual inductor 7 and the second mutual inductor 8 are separated toward one side away from each other, there is an opening between the two so that the wire can be inserted between the two, such as Figure 3 shown.

[0050] The driving device is used to drive the second installation shaft 17 and the third installation shaft 18 to rotate. Figure 4 As shown, the driving device includes a first mounting shaft 14 rotatably mounted on a support 9, a first gear 13 mounted on the first mounting shaft 14, a sleeve 15 sleeved on the first mounting shaft 14, a ring gear 10 connected to the sleeve 15 via a connecting rod 16, a second gear 12 mounted on a second mounting shaft 17, a third gear 11 mounted on a third mounting shaft 18, and a driving motor 3 connected to the first mounting shaft 14; the third gear 11 is meshed with the ring gear 10, and the second gear 12 is meshed with the first gear 13.

[0051] Through the above structure, when the driving motor 3 rotates forward and drives the first installation shaft 14 to rotate counterclockwise, the first gear 13 and the ring gear 10 rotate counterclockwise, and the first gear 13 drives the second gear 12 to rotate clockwise, and the ring gear 10 drives the third gear 11 to rotate counterclockwise, that is, the second installation shaft 17 rotates clockwise, and the third installation shaft 18 rotates counterclockwise, and the first mutual inductor 7 and the second mutual inductor 8 are close to each other to form a ring-shaped current mutual inductor. Correspondingly, when the driving motor 3 rotates reversely, the first mutual inductor 7 and the second mutual inductor 8 are driven to separate.

[0052] By setting up the electromagnetic charging device 2, when the power of the drone is insufficient, it can be charged directly on the line conductor through the electromagnetic charging device 2. A corresponding voltage conversion module etc. needs to be set on the drone body to store the power in the storage battery of the drone.

[0053] As a preferred implementation scheme, the drone body 1 and the robot body 19 are respectively provided with magnetic charging ports that can cooperate with each other, so that the drone body 1 can charge the robot body 19.

[0054] The power transmission and distribution line operation and maintenance method using the above-mentioned power transmission and distribution line operation and maintenance device comprises the following steps:

[0055] Step 1: The background control system obtains line abnormality information, calls the corresponding operation strategy according to the line abnormality information, and issues operation task instructions to drones and robots that can meet the operation strategy in combination with the operation strategy; among which, the line abnormality information includes the coordinate position information of the operation point, the abnormality type information, the temperature of the operation point, the wind speed of the operation point and other information.

[0056] Among them, the method for the background control system to obtain line abnormality information is as follows:

[0057] The background control system automatically issues inspection tasks to drones based on data such as the inspection cycle of transmission and distribution lines (according to the standards of power grid companies, the inspection frequency and cycle of transmission and distribution lines of various voltage levels are clearly defined), equipment health rating of transmission and distribution lines (the inspection cycle is shortened for line equipment with defects and hidden dangers), climate conditions (inspection tasks are increased for severe weather such as high temperature, freezing, strong winds, heavy rain, and fog), and operating environment (inspection tasks are increased when there are risks such as external force damage and geological disasters in the operating environment around the line). The inspection task clearly defines the transmission and distribution lines that need to be inspected, and the background control system calls the geographical coordinates of the transmission and distribution lines that need to be inspected, and calls the base number of towers to be inspected for the transmission and distribution lines, and calculates the length of the line to be inspected. Then, the background control system automatically calls the current geographical coordinates of all drones, drone power, and fuselage self-inspection data, and compares them according to the line length, line tower geographical coordinates, drone geographical coordinates, drone power, and fuselage self-inspection data, and determines the number of drones according to the standard of equipping one drone for the total length of the set line (such as every 5KM); that is, the adjacent drones are deployed according to the principle that the radius of the patrol line does not exceed 5KM (within the 5KM radius, there are multiple drones, and they are deployed according to the principle of priority for closer distances); if the drone power is insufficient or the fuselage self-inspection fails, the drone will not be deployed. After the drone selection is completed, the background control system, according to the patrol task, deploys drones to carry out instant flight patrol or delayed flight patrol of the line, and remotely navigates drones to fly to the patrol point for flight patrol. The drone approaches the key points of the line to shoot 1080P high-definition pictures or videos, and transmits the high-definition picture or video data to the background control system through the encrypted APN communication card. The background control system calls the image recognition algorithm to intelligently identify the pictures or videos to identify whether there are suspected defects or abnormalities in them? For suspected defects or hidden dangers, the background control system will automatically mark them and remind the background control personnel to make a second confirmation through a pop-up window alarm. After the defect or abnormality is confirmed, the background control system automatically issues a remote control command or the background control personnel remotely controls the drone to take 360-degree photos and videos of the defect or abnormal location, take pictures of the surrounding environment, and send back the current temperature, humidity and wind data. The background control system determines the type and location information of the abnormality, thus completing the acquisition of line abnormality information at an abnormal point. After the inspection of an abnormal point is completed, the drone continues to conduct subsequent patrols until the current patrol mission is completed.

[0058] After the background control system obtains the line abnormality information, it determines whether it needs to be handled immediately based on the State Grid Corporation's transmission and transformation equipment operation and maintenance specifications and other power grid enterprise operation and maintenance standards. If it needs to be handled immediately, the background control system calls the transmission and distribution line equipment maintenance database, combines the line abnormality data, compares and analyzes the maintenance or overhaul strategy to be adopted, and determines which strategy to call for processing. The source of the strategy to be called is the standardized operation instructions for the operation and maintenance of the transmission and distribution equipment of the State Grid Corporation and other power supply companies. The background control personnel conduct a second confirmation and determine the selection of a certain strategy. For example, if the line abnormality information is that a distribution line has a defect of insufficient distance between trees and bamboos, and it needs to be handled immediately, the distribution line channel clearance strategy in the standardized operation instructions for the operation and maintenance of the transmission and distribution equipment of the State Grid Corporation and other power supply companies will be called. After confirmation by the background control personnel, the overhaul strategy is obtained.

[0059] The background control system sends the operation task instructions to the appropriate transport drone and the appropriate robot according to the maintenance strategy. Among them, the criteria for selecting a suitable robot are: first, it is in the list of robots suitable for the operation. For example, if the abnormality is ice on the line, a robot equipped with a deicing device is selected; or, if the abnormality is that there are tree and bamboo obstacles in the transmission and distribution line, a robot equipped with a tree obstacle clearing device is selected. Second, the robot itself has sufficient power (for example, the power is higher than 90%), the robot self-checks and passes, and can be used normally. Third, the robot's position coordinates are within a radius of 5KM from the work site. The criteria for selecting a suitable drone are: first, the drone's load capacity can carry the weight of the corresponding robot and supporting work tools. Second, the transport drone itself has sufficient power (for example, the power is higher than 90%), and the self-check passes, and can be used normally; third, the transport drone's position coordinates are within a radius of 5KM from the work site.

[0060] Step 2: The drone that receives the operation task instruction flies to the position of the robot that receives the operation task instruction, and the door of the robot warehouse corresponding to the robot that receives the operation task instruction opens to expose the hanging ring 23 of the robot; the drone grabs the robot and transports the robot to the operation point.

[0061] Specifically, the drone scans the position of the robot's hanging ring 23 through its drone laser radar 5, and then takes an image through the drone camera 6 and uploads it to the drone controller. The drone confirms the position of the hanging ring 23 through the image imaging algorithm. The drone moves to the position of the hanging ring 23 and hangs its carrying hook 26 into the hanging ring 23. At this time, the contactor on the hanging ring 23 sends a contact signal to the robot controller. The drone lifts the robot upward. At the same time, the gravity sensor on the robot's hanging ring 23 transmits the detected weight data to the robot controller. When the drone does not lift the robot, the detection data of the gravity sensor is 0. When the drone lifts the robot, the detection data of the gravity sensor gradually increases until it reaches the weight of the robot. In this embodiment, when the weight data increases to the set value (such as increasing to 50% of the total weight of the robot), the robot controller controls the robot body to leave the robot warehouse. At this time, the drone can completely lift the robot and transport it to the operation point.

[0062] Step 3: The drone hangs the robot at the location of the line conductor where work is to be done.

[0063] Specifically, the drone scans the distance position of the line conductor hanging point through its drone laser radar 5, and takes an image through the drone camera 6 and uploads it to the drone controller to confirm the distance position of the line conductor hanging point. The drone moves the robot, hangs the robot's walking wheel 22 on the line conductor hanging point, and the second contactor on the walking wheel 22 transmits the contact signal to the robot controller; at the same time, the gravity sensor on the hanging ring 23 transmits the real-time detected weight data to the robot controller. In the process of the robot hanging on the wire hanging point, the gravity data detected by the gravity sensor gradually decreases from the total weight of the robot to 0. In this embodiment, when the weight data is reduced to the set value (such as 50% of the total weight of the robot), the robot controller controls the electric telescopic rod 25 to extend to close the installation port 21, and the drone moves to disengage the carrying hook 26 from the hanging ring 23, and the robot is hung at the waiting operation point of the line conductor.

[0064] Step 4: After the robot is hooked in place, the background control system sends an operation instruction to the robot controller, and the background control system or robot controller controls the robot to perform the operation task. The robot uses the laser radar, binocular camera, etc. configured on it to scan and determine the distance between the robot body and the adjacent live equipment and objects, and handles exceptions through the operating tools carried on it. At the same time, through the contact sensor and pressure sensor at the end of the robot arm, the data of the power transmission and distribution line equipment contacted by the robot arm and the operating tool are transmitted to the robot controller to provide necessary data support for the automatic control system. During specific operations, the robot controller will perform real-time calculation and analysis on the collected data. For simple operation control, the robot controller directly operates and controls the mechanical part and the operating tool, and carries out the operation according to the aforementioned operation and maintenance or repair strategy; for complex operation control, the relevant operation data, status data, and contactor sensor data are transmitted to the background control system, and the background control system controls the robot, or the background control personnel perform remote remote control.

[0065] After the operation of the current abnormal point is completed, the robot sends the image information of the operation point to the background control system, and the background control system determines whether the operation task is completed. If not, the robot is controlled to continue to complete the operation task; if the abnormal point has been completed, if there are other abnormal points on the wire of the same span in the operation task, the robot controller or the background control system controls the robot to move along the wire of the same span to the next operation point, and the robot processes the next operation point. If there are pending operations on wires of other spans, the background control system sends instructions to the corresponding drone, and the drone flies to the robot position, transports the robot to the position of the waiting operation point of the other span wire, and hangs the robot on the position of the waiting operation point of the other span wire, and the robot processes the operation point at that position.

[0066] Specifically, the specific method of the drone grabbing the robot and moving the robot to other span conductors is as follows: the drone scans and detects the position of the robot's hanging ring 23 through its drone laser radar 5, and takes an image through the drone camera 6 and uploads it to the drone controller to confirm the position distance of the hanging ring 23; the drone moves and hangs its carrying hook 26 into the robot's hanging ring 23, and the first contactor on the hanging ring 23 transmits a contact signal to the robot controller; the drone lifts the robot upward, and at the same time, the gravity sensor on the robot's hanging ring 23 transmits the detected weight data to the robot controller. When the weight data increases to a set value (such as 50% of the total weight of the robot), the robot controller controls the electric telescopic rod 25 to retract to open the installation port 21, and the drone continues to lift the robot upward, the walking wheel 22 is separated from the line conductor hanging point, and the robot is grabbed. Then the drone moves the robot to the position of the waiting operation point of the other span conductor, and hangs the robot on the corresponding hanging point of the other span conductor according to the method in step 3.

[0067] In addition, when the drone hangs the robot on the line conductor, the background control system sends a charging instruction to the drone; the drone controls the drive motor 3 to work according to the charging instruction, drives the first mutual inductor 7 and the second mutual inductor 8 to open, and then the drone confirms the position of the same phase conductor of the same-span conductor through the drone laser radar 5 and the drone camera 6 on it, and then the drone moves, hangs the charging hook 4 on it on the same phase conductor of the same-span conductor, and then controls the first mutual inductor 7 and the second mutual inductor 8 to close, so that the same phase conductor of the same-span conductor is inserted into the current transformer formed by the first mutual inductor 7 and the second mutual inductor 8, and the drone is charged by the principle of electromagnetic induction.

[0068] During the operation of the robot, the robot controller continuously detects the robot's own power. When the robot's power is lower than the set value (such as 20%), the robot controller sends a signal to the background control system, and the background control system sends a robot charging instruction to the robot controller. The robot moves to the position of the drone, and the drone docks with the magnetic charging port on the robot, and the drone charges the robot. When the robot's power reaches the set value (such as 90%), the background control system controls the robot to continue the unfinished task.

[0069] Step 5: When all the tasks are completed, the background control system sends instructions to the drone, and the drone grabs the robot according to the above steps and transports the machine back to the robot parking position.

[0070] This embodiment, through the above-mentioned new method and the supporting robots, cleverly utilizes the joint operation of drones and robots, fully utilizes the respective strengths of drones and robots, and makes up for their respective shortcomings. It can effectively solve the technical problems that have always existed in existing operation methods and robots, such as "robots are difficult to cross poles and towers, and drones are difficult to perform complex maintenance operations". It can enable robots to easily cross transmission and distribution line towers, and can operate continuously, safely and efficiently on transmission and distribution lines, solving the current problem of low efficiency of robots when operating across poles and towers.

[0071] It should be noted that all features disclosed in this specification, or steps in all methods or processes disclosed, except for mutually exclusive features and / or steps, can be combined in any manner.

[0072] In addition, the above specific embodiments are exemplary, and those skilled in the art can come up with various solutions inspired by the disclosure of the present invention, and these solutions also belong to the disclosure scope of the present invention and fall within the protection scope of the present invention. Those skilled in the art should understand that the present invention description and its drawings are illustrative and do not constitute a limitation of the claims. The protection scope of the present invention is defined by the claims and their equivalents.

Claims

1. A power transmission and distribution line operation and maintenance device, characterized in that: It includes a background control system, and a number of drones and robots respectively connected to the background control system via a wireless network; The robot comprises a robot body (19), a walking mechanism arranged on the top of the robot body (19), and a hanging ring (23) arranged on the top of the walking mechanism; a robot controller connected to a background control system is arranged in the robot body (19), and the walking mechanism is electrically connected to the robot controller; The drone comprises a drone body (1) and a carrying hook (26) arranged on the drone body (1) and capable of cooperating with a hanging ring (23); a drone controller connected to a background control system is arranged in the drone body (1); The hanging ring (23) is provided with a first contactor and a gravity sensor, and the first contactor and the gravity sensor are both electrically connected to the robot controller; the drone body (1) is provided with a drone laser radar (5) and a drone camera (6), and the drone laser radar (5) and the drone camera (6) are both electrically connected to the drone controller; The walking mechanism comprises a mounting frame (20) having a mounting opening (21), a walking wheel (22) mounted in the mounting opening (21), a second contactor arranged on the walking wheel (22), a walking motor (24) connected to the walking wheel (22), and an electric telescopic rod (25) arranged on the mounting frame (20) and capable of closing or opening the mounting opening (21); the second contactor, the walking motor (24) and the electric telescopic rod (25) are all electrically connected to a robot controller; The top of the drone body (1) is also provided with a charging hook (4), an electromagnetic charging device (2) and a driving device; the electromagnetic charging device (2) comprises a support (9), a second mutual inductor (8) rotatably mounted on the support (9) via a second mounting shaft (17), and a first mutual inductor (7) rotatably mounted on the support (9) via a third mounting shaft (18); the first mutual inductor (7) and the second mutual inductor (8) are both semi-annular, and the first mutual inductor (7) and the second mutual inductor (8) can be closed into a ring-shaped current mutual inductor when they rotate; The driving device comprises a first gear (13) mounted on a support (9) via a first mounting shaft (14), a sleeve (15) sleeved on the first mounting shaft (14), a ring gear (10) connected to the sleeve (15) via a connecting rod (16), a second gear (12) mounted on a second mounting shaft (17), a third gear (11) mounted on a third mounting shaft (18), and a driving motor (3) connected to the first mounting shaft (14); the third gear (11) meshes with the ring gear (10), and the second gear (12) meshes with the first gear (13), so that the driving device can drive the first mutual inductor (7) and the second mutual inductor (8) to open or close each other; When the drone grabs the robot and transports it to the waiting operation point, the drone uses its drone laser radar (5) to scan and detect the position of the robot's hanging ring (23), and uses the drone camera (6) to take an image and upload it to the drone controller to confirm the position distance of the hanging ring (23); the drone hangs its carrying hook (26) on the robot's hanging ring (23), and the first contactor on the hanging ring (23) transmits a contact signal to the robot controller; the drone lifts the robot upward, and at the same time, the gravity sensor on the robot's hanging ring (23) transmits the detected weight data to the robot controller. When the weight data increases to a set value, the robot controller controls the robot body to leave the robot warehouse, and the drone transports the robot to the waiting operation point; When the drone hangs the robot at the position of the waiting operation point of the line conductor, the drone scans the distance position of the line conductor hanging point through its drone laser radar (5), and takes an image through the drone camera (6) and uploads it to the drone controller to confirm the distance position of the line conductor hanging point; The drone moves the robot, and the robot's running wheel (22) is hung on the line conductor hanging point. The second contactor on the running wheel (22) transmits a contact signal to the robot controller. At the same time, the gravity sensor on the hanging ring (23) transmits the real-time detected weight data to the robot controller. When the weight data decreases to a set value, the robot controller controls the electric telescopic rod (25) to extend to close the installation port (21), and the drone moves to separate the carrying hook (26) from the hanging ring (23). The robot is hung at the waiting operation point of the line conductor. After the operation is completed, when the drone grabs the robot, the drone uses its drone laser radar (5) to scan and detect the position of the robot's hanging ring (23), and uses the drone camera (6) to take an image and upload it to the drone controller to confirm the position distance of the hanging ring (23); the drone moves and hangs its carrying hook (26) into the robot's hanging ring (23), and the first contactor on the hanging ring (23) transmits a contact signal to the robot controller; the drone lifts the robot upward, and at the same time, the gravity sensor on the robot's hanging ring (23) transmits the detected weight data to the robot controller. When the weight data increases to the set value, the robot controller controls the electric telescopic rod (25) to retract to open the installation port (21), and the drone continues to lift the robot upward, and the walking wheel (22) is separated from the line wire hanging point, and the robot is grabbed.

2. The power transmission and distribution line operation and maintenance device according to claim 1, characterized in that: The drone body (1) and the robot body (19) are respectively provided with magnetic charging ports that can cooperate with each other, so that the drone body (1) can charge the robot body (19).

3. A power transmission and distribution line operation and maintenance method based on the power transmission and distribution line operation and maintenance device according to claim 1 or 2, characterized in that: The following steps are involved: Step 1: The background control system obtains line abnormality information, calls the corresponding operation strategy according to the line abnormality information, and issues operation task instructions to drones and robots that can meet the operation strategy in combination with the operation strategy; Step 2: The drone that receives the task instruction flies to the location of the robot that receives the task instruction, grabs the robot, and transports the robot to the location to be operated; Step 3: The drone hangs the robot at the location of the line conductor where the work is to be done; Step 4: The background control system sends a work instruction to the robot controller, and the background control system or the robot controller controls the robot to perform the work task; after the work is completed, the robot sends the image information of the work point to the background control system, and the background control system determines whether the work task is completed. If not, the robot is controlled to continue to complete the work task; if it is completed, step 5 is executed; Step 5: The background control system sends instructions to the drone, which grabs the robot and transports it back to the robot parking location.

4. The power transmission and distribution line operation and maintenance method according to claim 3, characterized in that: Before step 5, the following steps are also included: When there are other tasks to be done on the wire of the current span, the background control system controls the robot to move along the wire of the current span to the next work point, and the robot processes the work task of the next work point; When there are pending work tasks on other span conductors, the background control system sends instructions to the drone, the drone flies to the robot position, transports the robot to the pending work point of the other span conductor, and the robot is hung on the pending work point of the other span conductor, and the robot processes the work tasks at that position.

5. The power transmission and distribution line operation and maintenance method according to claim 4, characterized in that: Also includes: After the drone hooks the robot onto the line conductor, the background control system sends a charging instruction to the drone; the drone controls the driving motor (3) to work according to the charging instruction, drives the first mutual inductor (7) and the second mutual inductor (8) to open, and then hooks the charging hook (4) on the drone onto the same phase conductor of the same span conductor, and then controls the first mutual inductor (7) and the second mutual inductor (8) to close, so that the same phase conductor of the same span conductor is inserted into the current mutual inductor formed by the first mutual inductor (7) and the second mutual inductor (8), and the drone is charged by the principle of electromagnetic induction; In addition, the robot controller detects the robot's own battery level. When the robot's battery level is lower than the set value, it sends a signal to the background control system. The background control system sends a robot charging instruction to the robot controller. The robot moves to the position of the drone, and the drone and the magnetic charging port on the robot are docked. The drone charges the robot. When the robot's battery level reaches the set value, the background control system controls the robot to continue the unfinished task.

6. The power transmission and distribution line operation and maintenance method according to claim 5, characterized in that: The line abnormality information obtained by the background control system in step 1 includes: operation point coordinate location information and abnormality type information.

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