Guiding type anti-falling track maintenance robot for power transmission line

Abstract

The invention discloses a power transmission line guiding type anti-falling track maintenance robot, a maintenance robot anti-falling use method is used in practical application of the track maintenance robot, and the use method comprises the following steps: S1, delimiting a safe area and an easy-to-fall area, and performing evaluation according to a working area of the maintenance robot; a safe area and an easy-to-fall area are determined; s2, appropriate sensors and limiters are selected, and appropriate safety sensors and mechanical limiters are selected according to the design and working environment of the maintenance robot; and S3, sensors and limiters are installed, specifically, the selected sensors and limiters are installed on a chassis, an arm frame, a clamping jaw and other key parts of the maintenance robot. According to the invention, the defect that the track maintenance robot is easy to fall off when walking at the irregular change part or fracture part of the shape of the electric iron tower is effectively solved, and the stability and reliability of the track maintenance robot on the maintenance of the power transmission line are ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of power transmission line maintenance, and in particular to a power transmission line guided anti-fall track maintenance robot. Background Art

[0002] Transmission line track maintenance robots are robots specially designed to perform maintenance, inspection and monitoring tasks on transmission line track systems. These robots are typically used for the maintenance of track systems such as high-voltage transmission lines and railways to ensure their normal operation and safety.

[0003] The track maintenance robots currently used in the field of power transmission lines often need to climb power towers during actual use. Their structure is similar to that of climbing robots. During the actual climbing process, when the shape of the power tower changes irregularly or breaks, the track maintenance robots are likely to fall from the power tower and be damaged. They are also likely to injure the staff operating under the power tower. Therefore, it is necessary to design a transmission line-guided anti-fall track maintenance robot to solve the above problems. Summary of the Invention

[0004] The purpose of this section is to summarize some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract and title of this application to avoid obscuring the purpose of this section, the abstract and the title of the invention, and such simplifications or omissions should not be used to limit the scope of the present invention.

[0005] In view of the above-mentioned problems existing in the existing transmission line guided anti-fall track maintenance robot, the present invention is proposed.

[0006] Therefore, the purpose of the present invention is to provide a transmission line guided anti-fall track maintenance robot, which is suitable for solving the problem that when the shape of the power tower changes irregularly or breaks, the track maintenance robot is likely to fall from the power tower and be damaged, and it is also likely to injure the staff who are operating under the power tower.

[0007] To solve the above technical problems, the present invention provides the following technical solutions: a transmission line guided anti-fall rail maintenance robot, wherein the rail maintenance robot uses a method for preventing the maintenance robot from falling in actual application, and the method includes the following steps:

[0008] S1: Delineate safe areas and areas prone to falling. Evaluate the working area of ​​the maintenance robot to determine safe areas and areas prone to falling.

[0009] S2: Select appropriate sensors and limiters. According to the design of the maintenance robot and the working environment, select appropriate safety sensors and mechanical limiters;

[0010] S3: Install sensors and limiters. Install the selected sensors and limiters on key parts of the maintenance robot, such as the chassis, arm, and gripper, to ensure that the sensors can effectively monitor the robot's status and surrounding environment.

[0011] S4: Connect the sensor, limiter and remote control system;

[0012] S5: Testing and debugging: Before officially putting into use, the installed sensors and limiters are tested and debugged to ensure that they can work normally and meet safety requirements;

[0013] S6: Regular maintenance and inspection: Establish a regular maintenance and inspection mechanism, regularly check the working status of sensors and limiters, promptly detect and repair potential problems, and ensure the safety and reliability of the robot.

[0014] As a preferred solution of the transmission line guided anti-fall rail maintenance robot of the present invention, in step S1, demarcating the safe area and the prone-fall area is divided into the following steps:

[0015] Step 1: Delineate the safe area, which determines the area where the robot can move and work freely, usually away from edges, high-voltage lines, and other potential hazards.

[0016] Step 2: Identify areas prone to falling and possible safety risks and sources of danger, such as fractures, tilts, and diameter changes in the truss structure;

[0017] Step 3: Consider the robot's range of motion and limitations. Consider the size, shape, and motion of the transmission line track robot to determine its actual range of motion and limitations within the work area.

[0018] Step 4: Comprehensively consider safety factors. When determining the boundaries between safe and dangerous areas, consider the robot's behavior and reaction capabilities to ensure that it can work safely under normal circumstances and stop or avoid danger in time in unexpected situations.

[0019] Step 5: Regularly evaluate the demarcation of safe areas and fall-prone areas, and adjust and update them based on actual conditions and lessons learned.

[0020] As a preferred solution of the transmission line guided anti-fall track maintenance robot described in the present invention, wherein: in step S2, the sensors include a tilt sensor, a proximity sensor, a collision sensor, a laser radar and an infrared sensor, a limit switch and an emergency stop button.

[0021] As a preferred solution of the transmission line guided anti-fall rail maintenance robot described in the present invention, wherein:

[0022] Tilt sensor: The tilt sensor can monitor the tilt angle of the robot and trigger an emergency stop or other safety measures once the robot starts to tilt beyond a set threshold;

[0023] Proximity sensor: The proximity sensor can detect the distance between the robot and surrounding obstacles. When the robot approaches a dangerous area or edge, the proximity sensor can sound an alarm and take appropriate measures;

[0024] Collision sensor: The collision sensor can detect the collision between the robot and the obstacle. Once the robot collides with the obstacle, the sensor can immediately sense and stop the robot's movement to prevent it from continuing to move forward and possibly falling;

[0025] LiDAR and infrared sensors are used to monitor the environment around the robot in real time, identify obstacles and dangerous areas, and prevent the robot from entering dangerous areas or colliding with obstacles through early warning or emergency shutdown.

[0026] As a preferred embodiment of the transmission line-guided anti-fall rail maintenance robot described in the present invention, limit switches can be installed at key locations on the robot to limit its range of motion. Once the robot approaches or exceeds the set range of motion, the limit switches can trigger a shutdown or alarm.

[0027] Emergency stop button: An emergency stop button is set on the robot operation panel or remote control. The operator can press the button immediately when an unexpected situation occurs to quickly stop the movement of the robot and prevent further danger from occurring.

[0028] As a preferred solution of the transmission line guided anti-fall rail maintenance robot described in the present invention, in step S4, the connection method of the sensor, the limiter and the remote control system includes the following steps:

[0029] Step 1: Sensor selection and installation;

[0030] Step 2: Sensor wiring and connection: For each sensor, according to its type and specifications, connect the wiring to the corresponding interface of the control system or main controller;

[0031] Step 3: Control system configuration: configure the control system or main controller to receive and process the output signals of the sensor;

[0032] Step 4: Sensor calibration and debugging. Before connecting the sensor, calibrate and debug the sensor to ensure the accuracy and stability of its output signal.

[0033] Step 5: Data communication and protocol, determine the data communication protocol and communication method between the sensor and the control system, and configure the control system to correctly receive and interpret the sensor output data based on the selected communication method;

[0034] Step 6: Test and Verify. After connecting and configuring the sensors, perform system testing and verification to ensure that the sensors can correctly send data to the control system and that appropriate control actions can be taken based on the sensor signals.

[0035] Step 7: Continuous monitoring and maintenance. After connecting and configuring the sensors, regularly monitor the working status of the sensors and control system, and perform necessary maintenance and adjustments to ensure continued stable and reliable operation of the system.

[0036] As a preferred solution of the transmission line-guided anti-fall track maintenance robot described in the present invention, the control system includes a remote controller, an inertial measurement unit and a display module, and the first output end of the remote controller is connected to the input end of the display module, the second output end of the remote controller is bidirectionally connected to the inertial measurement unit data, and the remote controller is bidirectionally connected to the tilt sensor, proximity sensor, laser radar, infrared sensor and collision sensor data through the communication interface module.

[0037] As a preferred solution of the transmission line guided anti-fall track maintenance robot described in the present invention, the inertial measurement unit includes an accelerometer, a magnetometer and a gyroscope.

[0038] The beneficial effects of the present invention are as follows: by dividing the safe area and the easy-to-fall area, and cooperating with multiple groups of sensors, the selected sensors and limiters are installed on the chassis, arm and gripper and other key parts of the maintenance robot, ensuring that the sensors can effectively monitor the status of the robot and the surrounding environment, and using the remote control system to obtain its posture and motion information through the inertial measurement unit to assist in navigation and positioning, and can timely plan a reasonable climbing path to avoid the easy-to-fall area. When it is impossible to avoid, the climbing amplitude of the track maintenance robot can be controlled to cross the easy-to-fall area, effectively solving the defect that the track maintenance robot is prone to falling when walking on the irregular shape changes or fractures of the power tower, and ensuring the stability and reliability of the track maintenance robot in the maintenance of transmission lines. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. Those skilled in the art can also derive other drawings based on these drawings without inventive effort. Among them:

[0040] Figure 1 This is a schematic diagram of the steps of a method for preventing a power transmission line from falling and using a track maintenance robot that is guided by the present invention;

[0041] Figure 2 This is a schematic diagram of the connection between the remote control system and sensors of a transmission line-guided anti-fall track maintenance robot proposed in the present invention. DETAILED DESCRIPTION

[0042] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0043] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0044] Secondly, the term "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in various places throughout this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive of other embodiments.

[0045] Furthermore, the present invention is described in detail with reference to schematic diagrams. For ease of illustration, when describing the embodiments of the present invention, cross-sectional views illustrating device structures may be partially enlarged and not to scale. Furthermore, the schematic diagrams are merely illustrative and should not limit the scope of protection of the present invention. Furthermore, in actual production, the three-dimensional dimensions of length, width, and depth should be included.

[0046] Example

[0047] Reference Figure 1-Figure 2 In one embodiment of the present invention, a transmission line guided anti-fall rail maintenance robot is provided. The rail maintenance robot is used in actual application to prevent the maintenance robot from falling. The method of use includes the following steps:

[0048] S1: Delineate safe areas and areas prone to falling. Evaluate the working area of ​​the maintenance robot to determine safe areas and areas prone to falling.

[0049] S2: Select appropriate sensors and limiters. According to the design of the maintenance robot and the working environment, select appropriate safety sensors and mechanical limiters;

[0050] S3: Install sensors and limiters. Install the selected sensors and limiters on key parts of the maintenance robot, such as the chassis, arm, and gripper, to ensure that the sensors can effectively monitor the robot's status and surrounding environment.

[0051] S4: Connect the sensor, limiter and remote control system;

[0052] S5: Testing and debugging: Before officially putting into use, the installed sensors and limiters are tested and debugged to ensure that they can work normally and meet safety requirements;

[0053] S6: Regular maintenance and inspection: Establish a regular maintenance and inspection mechanism, regularly check the working status of sensors and limiters, promptly detect and repair potential problems, and ensure the safety and reliability of the robot.

[0054] In step S1, demarcating the safe area and the prone-fall area is divided into the following steps:

[0055] Step 1: Delineate the safe zone. This involves identifying areas where the robot can move and work freely. This is typically away from edges, high-voltage lines, and other potential hazards. Based on the layout and structure of the transmission line tracks, the safe zone is divided to ensure the robot can safely perform inspection, maintenance, or cleaning tasks. The size and shape of the safe zone are determined by considering the robot's size, maneuverability, and working range.

[0056] Step 2: Demarcate the vulnerable areas and identify potential safety risks and sources of danger, such as fractures, tilts, and diameter changes in the truss structure. Determine the scope and boundaries of the danger zone based on the location and characteristics of the sources of danger.

[0057] Step 3: Consider the robot's range of motion and limitations. Consider the size, shape, and motion of the transmission line track robot to determine its actual range of motion and limitations within the work area.

[0058] Step 4: Comprehensively consider safety factors. When determining the boundaries between safe and dangerous areas, consider the robot's behavior and reaction capabilities to ensure that it can work safely under normal circumstances and stop or avoid danger in time in unexpected situations.

[0059] Step 5: Regularly evaluate the division of safe areas and fall-prone areas, and adjust and update them based on actual conditions and lessons learned. Identify and evaluate new safety risks and hazards, and adjust the division of safe areas and hazardous areas accordingly to ensure the safe operation of the robot.

[0060] In step S2, the sensors include a tilt sensor, a proximity sensor, a collision sensor, a laser radar and an infrared sensor, a limit switch and an emergency stop button.

[0061] Tilt sensor: The tilt sensor can monitor the tilt angle of the robot and trigger an emergency stop or other safety measures once the robot starts to tilt beyond a set threshold;

[0062] Proximity sensor: The proximity sensor can detect the distance between the robot and surrounding obstacles. When the robot approaches a dangerous area or edge, the proximity sensor can sound an alarm and take appropriate measures;

[0063] Collision sensor: The collision sensor can detect the collision between the robot and the obstacle. Once the robot collides with the obstacle, the sensor can immediately sense and stop the robot's movement to prevent it from continuing to move forward and possibly falling;

[0064] LiDAR and infrared sensors are used to monitor the environment around the robot in real time, identify obstacles and dangerous areas, and prevent the robot from entering dangerous areas or colliding with obstacles through early warning or emergency shutdown.

[0065] Limit switches can be set at key locations on the robot to limit its range of motion. Once the robot approaches or exceeds the set range of motion, the limit switch can trigger a shutdown or alarm.

[0066] Emergency stop button: An emergency stop button is set on the robot operation panel or remote control. The operator can press the button immediately when an unexpected situation occurs to quickly stop the movement of the robot and prevent further danger from occurring.

[0067] In step S4, the connection method of the sensor, the limiter and the remote control system includes the following steps:

[0068] Step 1: Sensor selection and installation;

[0069] Step 2: Sensor wiring and connection: For each sensor, according to its type and specifications, connect the wiring to the corresponding interface of the control system or main controller;

[0070] Step 3: Control system configuration: configure the control system or main controller to receive and process the output signals of the sensor;

[0071] Step 4: Sensor calibration and debugging. Before connecting the sensor, calibrate and debug the sensor to ensure the accuracy and stability of its output signal.

[0072] Step 5: Data communication and protocol, determine the data communication protocol and communication method between the sensor and the control system, and configure the control system to correctly receive and interpret the sensor output data based on the selected communication method;

[0073] Step 6: Test and Verify. After connecting and configuring the sensors, perform system testing and verification to ensure that the sensors can correctly send data to the control system and that appropriate control actions can be taken based on the sensor signals.

[0074] Step 7: Continuous monitoring and maintenance. After connecting and configuring the sensors, regularly monitor the working status of the sensors and control system, and perform necessary maintenance and adjustments to ensure continued stable and reliable operation of the system.

[0075] The control system includes a remote controller, an inertial measurement unit and a display module, and the first output end of the remote controller is connected to the input end of the display module, and the second output end of the remote controller is bidirectionally connected to the inertial measurement unit data. The inertial measurement unit includes an accelerometer, a magnetometer and a gyroscope. The remote controller is bidirectionally connected to the tilt sensor, proximity sensor, lidar, infrared sensor and collision sensor data through a communication interface module.

[0076] During use, by dividing the safe area and the prone-to-fall area, and cooperating with multiple sets of sensors, the selected sensors and limiters are installed on the key parts of the maintenance robot such as the chassis, arm and gripper, ensuring that the sensors can effectively monitor the robot's status and surrounding environment. The remote control system uses the inertial measurement unit to obtain its posture and motion information to assist in navigation and positioning. It can timely plan a reasonable climbing path to avoid the prone-to-fall area. When it cannot be avoided, the climbing amplitude of the track maintenance robot can be controlled to cross the prone-to-fall area, effectively solving the defect that the track maintenance robot is prone to falling when walking on irregular changes in the shape of the power tower or fractures, ensuring the stability and reliability of the track maintenance robot in the maintenance of transmission lines.

[0077] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A transmission line guided anti-fall track maintenance robot, characterized in that: The track maintenance robot uses a maintenance robot anti-falling method in actual application, and the method includes the following steps: S1: Delineate safe areas and areas prone to falling, evaluate according to the working area of ​​the maintenance robot, and determine safe areas and areas prone to falling; S2: Select appropriate sensors and limiters. According to the design and working environment of the maintenance robot, select appropriate safety sensors and mechanical limiters; S3: Install sensors and limiters. Install the selected sensors and limiters on the chassis, arm, gripper and other key parts of the maintenance robot to ensure that the sensors can effectively monitor the status of the robot and the surrounding environment; S4: Connect the sensor, limiter and remote control system; S5: Testing and debugging: Before they are officially put into use, the installed sensors and limiters are tested and debugged to ensure that they can work normally and meet safety requirements; S6: Regular maintenance and inspection, establish a regular maintenance and inspection mechanism, regularly check the working status of sensors and limiters, promptly discover and repair potential problems, and ensure the safety and reliability of the robot.

2. A transmission line guided anti-fall track maintenance robot according to claim 1, characterized in that: In step S1, demarcating the safe area and the prone-to-fall area is divided into the following steps: Step 1: Safety zone division, determine the area where the robot can move and work freely, usually away from edges, high-voltage lines and other potential dangers; Step 2: Divide the areas prone to falling and identify possible safety risks and sources of danger, such as fractures, tilts, and diameter changes in the truss structure; Step 3: Consider the robot's range of motion and limitations. Consider the size, shape, and motion of the transmission line track robot to determine its actual range of motion and limitations within the work area. Step 4: Comprehensively consider safety factors. When determining the boundaries of safe and dangerous areas, consider the robot's behavior and reaction capabilities to ensure that it can work safely under normal circumstances and stop or avoid danger in time in unexpected situations. Step 5: Regularly evaluate the division of safe areas and fall-prone areas, and adjust and update them based on actual conditions and lessons learned.

3. A transmission line guided anti-fall track maintenance robot according to claim 1, characterized in that: In step S2, the sensors include a tilt sensor, a proximity sensor, a collision sensor, a laser radar and an infrared sensor, a limit switch and an emergency stop button.

4. A transmission line guided anti-fall track maintenance robot according to claim 3, characterized in that: Tilt sensor: The tilt sensor can monitor the tilt angle of the robot. Once the robot starts to tilt beyond the set threshold, it can trigger an emergency stop or other safety measures. Proximity sensor: The proximity sensor can detect the distance between the robot and surrounding obstacles. When the robot approaches a dangerous area or edge, the proximity sensor can sound an alarm and take corresponding measures. Collision sensor: The collision sensor can detect the collision between the robot and obstacles. Once the robot collides with an obstacle, the sensor can immediately sense and stop the robot's movement to prevent it from continuing to move forward and possibly falling; LiDAR and infrared sensors are used to monitor the environment around the robot in real time, identify obstacles and dangerous areas, and prevent the robot from entering dangerous areas or colliding with obstacles through early warning or emergency shutdown.

5. The power transmission line guided anti-fall track maintenance robot according to claim 3, characterized in that: Limit switches can be set at key locations on the robot to limit the robot's range of motion. Once the robot approaches or exceeds the set range of motion, the limit switch can trigger a shutdown or alarm. Emergency stop button: An emergency stop button is set on the robot operation panel or remote control. The operator can press the button immediately when an unexpected situation occurs to quickly stop the movement of the robot and prevent further danger from occurring.

6. The power transmission line guided anti-fall track maintenance robot according to claim 1, characterized in that: In step S4, the connection method of the sensor, the limiter and the remote control system includes the following steps: Step 1: Sensor selection and installation; Step 2: Sensor wiring and connection, for each sensor, according to its type and specification, the wiring is connected to the corresponding interface of the control system or main controller; Step 3: Control system configuration, configure the control system or main controller to receive and process the output signal of the sensor; Step 4: Sensor calibration and debugging. Before connecting the sensor, calibrate and debug the sensor to ensure the accuracy and stability of its output signal. Step 5: Data communication and protocol, determine the data communication protocol and communication method between the sensor and the control system, and configure the control system to correctly receive and interpret the output data of the sensor according to the selected communication method; Step 6: Test and verify. After connecting and configuring the sensors, perform system testing and verification to ensure that the sensors can correctly send data to the control system and that appropriate control actions can be taken based on the sensor signals. Step 7: Continuous monitoring and maintenance. After connecting and configuring the sensors, regularly monitor the working status of the sensors and control system, and perform necessary maintenance and adjustments to ensure that the system continues to operate stably and reliably.

7. The power transmission line guided anti-fall track maintenance robot according to claim 1, characterized in that: The control system includes a remote controller, an inertial measurement unit and a display module, wherein a first output terminal of the remote controller is connected to an input terminal of the display module, a second output terminal of the remote controller is bidirectionally connected to the inertial measurement unit data, and the remote controller is bidirectionally connected to the tilt sensor, proximity sensor, laser radar, infrared sensor and collision sensor data through a communication interface module.

8. A transmission line guided anti-fall track maintenance robot according to claim 7, characterized in that: The inertial measurement unit includes an accelerometer, a magnetometer, and a gyroscope.

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