Monitoring operation robot for stringing construction and marking method and sag measuring method thereof

Abstract

The invention discloses a monitoring operation robot for stringing construction and a marking method and a sag measuring method thereof, and belongs to the technical field of stringing construction. The robot comprises an upper computer, a main body structure, a communication unit, a control unit and a navigation positioning unit; a main body structure comprises a rack, a marking mechanism, a walking mechanism and a pressing thread-off-preventing mechanism. The navigation positioning unit is used for acquiring a real-time position, and the control unit receives a control signal sent by an upper computer through the communication unit so as to control the walking mechanism and the marking mechanism to act; the walking mechanism comprises two walking wheels; the marking mechanism is installed on the rack and located between the two walking wheels. The pressing anti-off-line mechanism is mounted on the rack; the pressing anti-off line mechanism and the walking mechanism are located on the upper side and the lower side of a to-be-monitored line or pipeline respectively. The robot is light in weight, small in size, better in convenience, higher in line adaptability and more stable in mobility, so that radian measurement and marking are more accurate.

Description

Technical Field

[0001] The invention belongs to the technical field of wireline construction, and in particular relates to a monitoring operation robot for wireline construction and a marking method and a sag measurement method thereof. Background Art

[0002] The main functions of the robot during the wiring construction process are to measure the sag value of the ground wire, determine the installation position of the spacer rod, and self-organize the network. However, the existing robots have some shortcomings when used:

[0003] First, traditional sag measurement is easily affected by weather and terrain, and it is difficult to measure when the line of sight is blocked. At the same time, the measurement quality of manual observation fluctuates greatly.

[0004] Secondly, in the construction of power transmission lines, the engineering environment of high drop and large span puts forward higher technical requirements for construction. The high-altitude operation of marking with spacer bars not only requires collaborative measurement by multiple people, but also has high labor intensity and relatively low operation accuracy.

[0005] In addition, existing robots may not be able to maintain stable contact with the line, are heavy, which affects stability, and have lower efficiency in single-wheel operation.

[0006] In view of the above problems, there is an urgent need for an intelligent monitoring robot for line construction, which has a scratching design, is light in weight, small in size, and has stronger line adaptability and stability. Summary of the invention

[0007] In view of the deficiencies in the prior art, the present invention provides a monitoring operation robot for line construction, a marking method and a sag measurement method thereof. The monitoring operation robot is light in weight, small in size, has better convenience, stronger ability to adapt to lines, and more stable mobility, so that the arc measurement and marking are more accurate.

[0008] The present invention provides the following technical solutions:

[0009] In a first aspect, a monitoring operation robot for wireline construction is provided, comprising a host computer, a main structure, a communication unit, a control unit and a navigation and positioning unit; the main structure comprises a frame, a marking mechanism, a walking mechanism and a pressing and anti-de-line mechanism;

[0010] The navigation and positioning unit is used to obtain the real-time position of the main structure, and the control unit receives the control signal sent by the host computer through the communication unit to control the movement of the walking mechanism and the marking mechanism;

[0011] The walking mechanism is arranged on one side of the frame, and the walking mechanism includes two walking wheels; the walking wheels can rotate under the action of the walking drive; the marking mechanism is installed on the frame and is located between the two walking wheels; the clamping and anti-offline mechanism is installed on the frame; the clamping and anti-offline mechanism and the walking mechanism are respectively located on the upper and lower sides of the line or pipeline to be monitored.

[0012] Optionally, the communication unit includes a first data transmission module, a first LoRa module and a first network module; the control unit includes an industrial computer and a single-chip microcomputer; the navigation and positioning unit includes a first RTK module and a second network module; the host computer includes a second LoRa module;

[0013] When there is a network, the host computer and the industrial computer use the first network module to communicate, and the first RTK module receives satellite signals through the second network module to obtain the location information of the robot and the towers at both ends of the line to be monitored;

[0014] When there is no network, the host computer and the industrial computer use the first LoRa module and the second LoRa module to communicate, the first RTK module receives the differential data of the base station through the first data transmission module, and performs differential calculation on the received differential data of the base station to obtain the position information of the robot and the towers at both ends of the line to be monitored;

[0015] The industrial computer receives the position information of the robot and the towers at both ends of the line to be monitored transmitted by the first RTK module, and performs data processing to instruct the single chip microcomputer to control the walking mechanism and the marking mechanism to perform tasks.

[0016] Optionally, the two travel wheels are connected via a synchronous belt assembly, and the travel drive is a travel motor with a built-in brake structure; the travel motor is connected to one of the travel wheels; and the travel motor is installed on the frame via a motor seat;

[0017] The walking mechanism also includes a baffle and a bearing liner; the bearing liner is installed on the frame, and the rotating shafts of the two walking wheels are rotatably connected to the bearing liner; there are four baffles, and they are respectively located on the end surfaces of the walking wheels.

[0018] Optionally, the marking mechanism includes a sleeve, a push rod, a marking motor and a seal; the sleeve is mounted on the frame; the push rod is located in the sleeve, and the bottom is connected to the seal; the marking motor is connected to the push rod through an intermediate component; when the marking motor rotates, the push rod moves up and down to drive the seal to press or move away from the line or pipeline to be monitored.

[0019] Optionally, there are two clamping and anti-stripping mechanisms, which are respectively located on the left and right sides of the marking mechanism; the clamping and anti-stripping mechanism includes: a clamping wheel, a clamping bracket, a buckle seat and a torsion spring hinge; the clamping wheel is rotatably connected to the clamping bracket; the clamping bracket and the buckle seat are connected by a torsion spring hinge; the buckle seat is detachably mounted on the frame.

[0020] Optionally, a connecting block is provided on the frame; a slide rail is provided on the connecting block, and a spring pin whose head can extend out of the slide rail is provided inside the connecting block; the buckle seat is slidably connected to the slide rail, and a positioning hole allowing the spring pin to be inserted is provided inside; the buckle seat is provided with a pressing block that slides through the side wall of the buckle seat; a return spring is connected to the pressing block and the buckle seat; when the head of the spring pin is inserted into the positioning hole, the pressing block and the spring pin are located in a straight line; after pressing the pressing block, the spring pin can be driven out of the positioning hole to release the limit of the buckle seat and the connecting block.

[0021] Optionally, a detachable battery is also included, which is installed on the frame and provides power for electrical components of the main structure, the communication unit, the control unit and the navigation and positioning unit.

[0022] In a second aspect, a sag measurement method using a monitoring operation robot for wireline construction is provided, based on the monitoring operation robot for wireline construction described in the first aspect, comprising:

[0023] Collect the longitude, latitude and elevation information of the towers at both ends of the line to be monitored, and transmit the information to the host computer. The host computer obtains the target position of the robot for sag measurement based on the longitude, latitude and elevation information of the towers;

[0024] The current position information of the robot is obtained through the first RTK module, and the current position information of the robot is transmitted to the industrial computer; the industrial computer sends a command signal to the single-chip microcomputer based on the target position of the robot for sag measurement and the current position information of the robot transmitted by the host computer, and the single-chip microcomputer controls the walking mechanism to move to the target position; the current position information of the robot includes the latitude, longitude and elevation information of the robot;

[0025] When tightening the line to be monitored, the industrial computer obtains the current position information of the robot in real time and corrects the position of the robot to stabilize it at the target position;

[0026] Based on the elevation information of the robot at the target position and the longitude, latitude and elevation information of the tower, the sag value of the robot's target position is calculated through the sag algorithm.

[0027] In a third aspect, a marking method using a monitoring operation robot for wireline construction is provided, based on the monitoring operation robot for wireline construction described in the first aspect, comprising:

[0028] The current position information of the robot is obtained through the first RTK module, and the current position information is transmitted to the industrial computer;

[0029] The industrial computer obtains all target marking positions between the two towers according to the construction requirements;

[0030] The single chip microcomputer controls the movement of the walking mechanism so that the main structure moves to each target marking position in turn. After the main structure reaches the target marking position, the industrial computer controls the marking mechanism through the single chip microcomputer to perform the marking operation.

[0031] After completing the marking of all target marking positions, the travel mechanism is controlled to return to the starting position.

[0032] Optionally, the industrial computer obtains all target marking positions between the two power towers according to the construction requirements by obtaining all target marking positions between the two power towers through a line distance mode;

[0033] The specific process of obtaining all target marking positions between two power towers through the line distance mode is as follows:

[0034] Calculate the length of the wires between the two towers;

[0035]

[0036] in, is the length of the line to be monitored between the two towers, H is the horizontal tension between the two towers, ω is the self-weight of the line to be monitored per unit length between the two towers, sh is the hyperbolic sine function, l a is the horizontal distance from the lowest point of the line to be monitored to one of the towers, and x is the length of the line to be monitored between the two towers in the horizontal coordinate;

[0037] Based on the equal distance division of the line length, all target marking positions of the line to be monitored between two towers are obtained.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] (1) The monitoring robot of the present invention is lighter and smaller in size, which is convenient for going online and offline. It has an integrated design for clamping and preventing de-wireing, and can be installed in a detachable manner, so it can be used for monitored lines or pipelines with different wire diameters. In addition, the clamping and anti-de-wireing mechanism can well ensure the safety of the robot in the case of swaying / shaking. The monitoring robot of the present invention can automatically and accurately perform sag measurement and mark the installation position of the spacer rod, which reduces the labor intensity and labor cost of personnel and improves the efficiency and quality of construction operations.

[0040] (2) The present invention has a marking function, which reduces the labor intensity and labor cost of personnel and improves the efficiency and quality of construction operations. The design of the detachable battery can also ensure the endurance when used outdoors, greatly improving the sustainability of the robot. The robot of this application has two communication modes, which can ensure the interconnection of various units in both networked and unnetworked states, greatly improving the performance of the robot.

[0041] (3) The present invention has two running wheels, which can be used to travel and stop along a route with a slope of less than 30°. Compared with the traditional double-wheeled vehicle, the weight is lighter, reduced by about 30%, and the safety and portability are higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0043] Figure 2 It is a schematic diagram of the overall appearance structure of the present invention;

[0044] Figure 3 It is a schematic diagram of the frame structure of the present invention;

[0045] Figure 4 It is a structural schematic diagram of the marking mechanism of the present invention;

[0046] Figure 5 It is a schematic diagram of the internal structure of the sleeve of the marking mechanism of the present invention;

[0047] Figure 6 It is a structural schematic diagram of the walking mechanism of the present invention;

[0048] Figure 7 It is a structural schematic diagram of the clamping and anti-stripping mechanism of the present invention;

[0049] Figure 8 It is a block diagram of the connection between each unit of the present invention, the base station and the host computer;

[0050] Fig. 9 It is a schematic diagram of the communication between each unit of the present invention and the base station and the host computer;

[0051] Fig.10 It is a schematic diagram of the sag value calculation principle of the present invention.

[0052] Markings in the figure are: 10 is a frame, 101 is a connecting block, 20 is a marking mechanism, 201 is a marking motor, 202 is a sleeve, 203 is a seal, 204 is a push rod, 30 is a walking mechanism, 301 is a walking motor, 302 is a walking wheel, 303 is a synchronous belt assembly, 304 is a baffle, 305 is a bearing liner, 40 is a clamping and anti-offline mechanism, 401 is a clamping wheel, 402 is a clamping bracket, 403 is a snap seat, 404 is a torsion spring hinge, 405 is a pressing block, and 50 is a removable battery. DETAILED DESCRIPTION

[0053] The present invention will now be described in further detail with reference to the accompanying drawings.

[0054] It should be noted that the terms such as "upper", "lower", "left", "right", "front", "rear", etc. cited in the invention are only for the convenience of description and are not used to limit the scope of the invention. The change or adjustment of their relative relationship shall also be regarded as the scope of the invention without substantial change of technical content. The term "including" and any variation thereof in the description and claims of the present invention are intended to cover non-exclusive inclusions.

[0055] Example 1

[0056] like Figure 1 As shown, a monitoring operation robot for wire laying construction is provided, including a host computer, a main structure, a communication unit, a control unit and a navigation and positioning unit; the main structure includes a frame 10, a marking mechanism 20, a walking mechanism 30 and a pressing and anti-de-line mechanism 40.

[0057] like Figure 8 and Fig. 9 As shown, the navigation and positioning unit is used to obtain the real-time position of the main structure so that the working robot can perform sag measurement and marking.

[0058] The control unit receives control signals from the host computer through the communication unit to control the movement of the walking mechanism 30 and the marking mechanism 20; the host computer usually includes a mobile device and a second LoRa module, and the mobile device is a portable terminal such as a computer or a mobile phone.

[0059] The communication unit includes a first data transmission module, a first LoRa module and a first network module; the control unit includes an industrial computer and a single-chip microcomputer; the navigation and positioning unit includes a first RTK module and a second network module; and the host computer includes a second LoRa module.

[0060] When there is a network, the host computer and the industrial computer use the first network module to communicate, and the first RTK module receives satellite signals through the second network module to obtain the location information of the robot and the towers at both ends of the line to be monitored.

[0061] When there is no network, the host computer and the industrial computer use the first LoRa module and the second LoRa module to communicate. The first RTK module receives the differential data of the base station through the first data transmission module, and performs differential calculation on the received differential data of the base station to obtain the location information of the robot and the towers at both ends of the line to be monitored.

[0062] The industrial computer receives the position information of the robot and the towers at both ends of the line to be monitored transmitted by the first RTK module, and processes the data to instruct the single chip microcomputer to control the walking mechanism 30 and the marking mechanism 20 to perform tasks.

[0063] Specifically, the robot can automatically select the appropriate communication mode according to the current environmental conditions. In areas with good network, the robot can rely on 4G / 5G network for fast data transmission and positioning; in places without network, the robot will automatically switch to LoRa communication mode and continue to obtain high-precision positioning information through the wireless first data transmission module and second data transmission module to ensure the continuity and stability of robot monitoring and operation.

[0064] (1) 4G / 5G network mode

[0065] Under the condition of good 4G / 5G network signal, the upper computer (handheld terminal) and the lower computer (robot) communicate using 4G / 5G network.

[0066] The first RTK module uses the Cors account to obtain the latitude, longitude and elevation information, and then sends the data to the industrial computer.

[0067] (2) Ad hoc network mode

[0068] The second RTK module of the base station sends the data to the first RTK module through the second data transmission module and the first data transmission module. After the first RTK module performs differential calculation, it obtains the latitude, longitude and altitude information of the robot.

[0069] The upper computer and the lower computer communicate with each other through the first LoRa module and the second LoRa module.

[0070] In places without 4G / 5G network coverage, the robot can still rely on the wireless first data transmission module to exchange RTK differential data with the base station, and maintain communication with other robots or ground control centers through the first LoRa module. The robot itself can run independently to complete designated tasks, such as monitoring line sag and marking, and automatically adjust according to the predetermined tasks.

[0071] The robot mainly relies on the lower computer for overall control, and the upper computer displays data and information. The lower computer mainly calculates and controls through the industrial computer; when the first RTK module sends the longitude, latitude and elevation to the industrial computer, the upper computer sends the operation instruction to the industrial computer, the industrial computer calculates the real-time distance and real-time arc, and displays it on the upper computer. At the same time, the power will also be displayed under the 4G network. Under the ad hoc network, the upper computer sends the operation instruction to the second LoRa module, which is then sent by the first LoRa module to the industrial computer for calculation. The industrial computer controls the single-chip microcomputer, and then the single-chip microcomputer drives the walking mechanism 30 and the marking mechanism 20 to perform various operations. The model of the single-chip microcomputer is optionally STM32F407ZGT6.

[0072] like Figure 1-Figure 3 As shown, the walking mechanism 30 is arranged on one side of the frame 10, and the walking mechanism 30 includes two walking wheels 302; the walking wheels 302 can rotate under the action of the walking drive; the marking mechanism 20 is installed on the frame 10 and is located in the middle of the two walking wheels 302; the clamping and anti-offline mechanism 40 is installed on the frame 10; the clamping and anti-offline mechanism 40 and the walking mechanism 30 are respectively located on the upper and lower sides of the line or pipeline to be monitored.

[0073] More specifically, the two walking wheels 302 are connected by a synchronous belt assembly 303, and the walking drive is a walking motor 301 with a built-in brake structure; the walking motor 301 is connected to one of the walking wheels 302; the walking motor 301 is installed on the frame 10 through a motor seat; the structure of the walking motor 301 refers to the prior art; the coordinated use of the walking motor 301 and the walking wheel 302 enables the main structure to move on the line or pipeline to be monitored.

[0074] like Figure 6 As shown, in this embodiment, the walking mechanism 30 also includes a baffle 304 and a bearing liner 305; the bearing liner 305 is installed on the frame 10, and the rotating shafts of the two walking wheels 302 are rotatably connected to the bearing liner 305; there are four baffles 304, and they are respectively located on the four end faces of the two walking wheels 302; the baffles 304 at both ends of the walking wheels 302 can limit the lines or pipelines to be monitored.

[0075] like Figure 4 and Figure 5As shown, in this embodiment, the marking mechanism 20 includes a sleeve 202, a push rod 204, a marking motor 201 and a seal 203; the sleeve 202 is installed on the frame 10; the push rod 204 is located in the sleeve 202, and the bottom is connected to the seal 203; the marking motor 201 is connected to the push rod 204 through an intermediate component; when the marking motor 201 rotates, the push rod 204 moves up and down to drive the seal 203 to press or move away from the line or pipeline to be monitored; the intermediate component can be a gear rack or a screw rod and other existing technologies; after the walking mechanism 30 moves to the specified position, the marking mechanism 20 drives the push rod 204 to move downward through the printing motor 201, so that the seal 203 performs a marking action.

[0076] like Figure 3 and Figure 7 As shown, there are two clamping and anti-stripping mechanisms 40, which are respectively located on the left and right sides of the marking mechanism 20; the clamping and anti-stripping mechanism 40 includes: a clamping wheel 401, a clamping bracket 402, a buckle seat 403 and a torsion spring hinge 404; the clamping wheel 401 is rotatably connected to the clamping bracket 402; the clamping bracket 402 and the buckle seat 403 are connected by a torsion spring hinge 404; the buckle seat 403 is detachably mounted on the frame 10; a connecting block 101 is provided on the frame 10; a slide rail is provided on the connecting block 101, and a spring pin (not shown in the figure) whose head can extend out of the slide rail is provided inside the connecting block 101, and the structure of the spring pin refers to the existing The invention has the technology that the buckle seat 403 is slidably connected to the slide rail, and a positioning hole (not shown in the figure) is provided inside to allow the spring pin to be inserted; the buckle seat 403 is provided with a pressing block 405 which slides through the side wall of the buckle seat 403; a reset spring is connected to the pressing block 405 and the buckle seat 403, that is, after the pressing force on the pressing block 405 is released, the pressing block 405 is reset under the elastic force of the reset spring; when the head of the spring pin is inserted into the positioning hole, the pressing block 405 and the spring pin are located in a straight line; after pressing the pressing block 405, the spring pin can be driven to disengage from the positioning hole to release the limit of the buckle seat 403 and the connecting block 101.

[0077] The clamping and anti-offline mechanism 40 is detachable. When the robot is working, the clamping and anti-offline mechanism 40 and the connecting block 101 are jammed by the spring pin and the positioning hole, so that the line / pipeline is clamped by the clamping wheel 401. When not working, the jam can be released by pressing the pressing blocks 405 on both sides, so that the clamping and anti-offline mechanism 40 can be removed. The degree of clamping can be changed, and it can be adapted to different paths. The line / pipeline is located in the space formed by the frame 10, the walking mechanism 30, the marking mechanism 20 and the clamping and anti-offline mechanism 40, so that the line / pipeline will not cause the machine to fall due to offline. At the same time, the line / pipeline is clamped to provide a pre-tightening force, which improves the stability of operation; it not only makes it more convenient for the robot to go online and offline, but also greatly improves the longitudinal stability during operation.

[0078] In the present application, a removable battery 50 is also included. The removable battery 50 is installed on the frame 10 and is usually a lithium battery module. The removable battery 50 provides power for the electrical components of the main structure, communication unit, control unit and navigation and positioning unit.

[0079] During the robot working process, a storage space adapted to the line / pipeline is provided between the walking mechanism 30, the frame 10, and the marking mechanism 20, and the line / pipeline is distributed in the storage space; the anti-offline mechanism 40 prevents the line / pipeline from falling off due to offline, and at the same time, the line / pipeline is pressed to provide a pre-tightening force, thereby improving the stability of operation; the walking wheel 302 rotates relative to the line / pipeline, driving the robot as a whole to move along the line / pipeline. When it is necessary to stop to work, the walking motor 301 stops rotating, and at the same time, the built-in brake of the walking motor 301 prevents the walking wheel 302 from slipping, thereby achieving fixed-point braking on the line. When the robot reaches the specified position on the line / pipeline, the marking motor 201 drives the push rod 204 to move downward, which can leave a clear mark on the line.

[0080] Example 2

[0081] A sag measurement method using a monitoring operation robot for wireline construction, based on the monitoring operation robot for wireline construction described in Example 1, comprises the following steps:

[0082] D1: Collect the longitude, latitude and elevation information of the towers at both ends of the line to be monitored, and transmit the information to the host computer. The host computer obtains the target position of the robot for sag measurement based on the longitude, latitude and elevation information of the towers.

[0083] D2: The current position information of the robot is obtained through the first RTK module, and the current position information of the robot is transmitted to the industrial computer; the industrial computer sends a command signal to the single-chip microcomputer based on the target position of the robot for sag measurement and the current position information of the robot transmitted by the host computer, and the single-chip microcomputer controls the walking mechanism 30 to move to the target position; the current position information of the robot includes the latitude, longitude and elevation information of the robot.

[0084] D3: When tightening the line to be monitored, the industrial computer obtains the current position information of the robot in real time and corrects the position of the robot to stabilize it at the target position.

[0085] D4: Based on the elevation information of the robot at the target position and the longitude, latitude and elevation information of the tower, the sag value of the robot's target position is calculated through the sag algorithm.

[0086] Specifically, Fig.10As shown in the figure, in the general line, in the observation range with a span of l, the two towers have unequal height suspension points A and B, and their elevations are h a and h b , the height difference angle is ψ, and the height of the AB line at the observation point P is h x When the robot is working online, the height of the connecting line at both ends is the same as h at the measuring point. x The difference is the real-time sag value f of the conductor. x .

[0087] The basic algorithm formula for robot sag measurement is:

[0088]

[0089] The coordinate x of the robot's target position can be solved according to the catenary equation, as shown in formula (2):

[0090]

[0091] Where: H is the horizontal tension of the overhead line, N; l is the span of the observation gear, m; ω is the self-weight per unit length of the overhead line, N / m; l a is the horizontal distance from the lowest point to Tower A, m;

[0092] Substituting formula (2) into formula (1) and sorting it out, we can get the robot sag measurement algorithm formula:

[0093]

[0094] When the robot is moving, it will be affected by various environments / weather conditions, causing the robot to shift / tilt and move a small distance forward / backward. At this time, the industrial computer plays a major role in controlling the robot. When the robot is affected by the environment / weather and its position shifts, the industrial computer controls the robot to move to the originally set point. At this time, the sag measurement is performed, and the sag accuracy of the measurement is accurate.

[0095] Example 3

[0096] A marking method using a monitoring operation robot for wireline construction, based on the monitoring operation robot for wireline construction in embodiment 1, comprises the following steps:

[0097] S1: Obtain the current position information of the robot through the first RTK module and transmit the current position information to the industrial computer.

[0098] The robot's location information includes the robot's latitude, longitude and altitude information; the first RTK module can select one of the communication modes according to whether there is a network to obtain the robot's current location information.

[0099] S2: The industrial computer obtains all target marking positions between the two towers according to the construction requirements.

[0100] Each target marking device is used to mount a spacer bar.

[0101] Specifically, all target marking positions between two towers are acquired through the line distance mode.

[0102] Specifically: S2-1: Calculate the line lengths of the two towers;

[0103]

[0104] in, is the length of the line to be monitored between the two towers, H is the horizontal tension between the two towers, ω is the self-weight of the line to be monitored per unit length between the two towers, sh is the hyperbolic sine function, l a is the horizontal distance from the lowest point of the line to be monitored to one of the towers, and x is the length of the line to be monitored between the two towers in the horizontal axis.

[0105] S2-2: Based on the equal distance division of the line length, obtain all target marking positions of the line to be monitored between two towers.

[0106] S3: The single chip microcomputer controls the movement of the walking mechanism 30 to move the main structure to each target printing position in sequence. After the main structure reaches the target printing position, the industrial computer controls the printing mechanism 20 through the single chip microcomputer to perform the printing operation.

[0107] S4: After completing the marking of all target marking positions, the traveling mechanism 30 is controlled to return to the starting position.

[0108] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0109] The above are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should be regarded as the protection scope of the present invention.

Claims

1. A monitoring robot for wireline construction, characterized in that: It comprises a host computer, a main structure, a communication unit, a control unit and a navigation and positioning unit; the main structure comprises a frame (10), a marking mechanism (20), a walking mechanism (30) and a pressing and anti-stripping mechanism (40); The navigation and positioning unit is used to obtain the real-time position of the main structure, and the control unit receives a control signal sent by the host computer through the communication unit to control the movement of the walking mechanism (30) and the marking mechanism (20); The walking mechanism (30) is arranged on one side of the frame (10), and the walking mechanism (30) comprises two walking wheels (302); the walking wheels (302) can rotate under the action of a walking drive; the marking mechanism (20) is installed on the frame (10) and is located between the two walking wheels (302); the pressing and anti-offline mechanism (40) is installed on the frame (10); the pressing and anti-offline mechanism (40) and the walking mechanism (30) are respectively located on the upper and lower sides of the line or pipeline to be monitored.

2. The monitoring robot for wireline construction according to claim 1, characterized in that: The communication unit includes a first data transmission module, a first LoRa module and a first network module; the control unit includes an industrial computer and a single-chip microcomputer; the navigation and positioning unit includes a first RTK module and a second network module; the host computer includes a second LoRa module; When there is a network, the host computer and the industrial computer use the first network module to communicate, and the first RTK module receives satellite signals through the second network module to obtain the location information of the robot and the towers at both ends of the line to be monitored; When there is no network, the host computer and the industrial computer use the first LoRa module and the second LoRa module to communicate, the first RTK module receives the differential data of the base station through the first data transmission module, and performs differential calculation on the received differential data of the base station to obtain the position information of the robot and the towers at both ends of the line to be monitored; The industrial computer receives the position information of the robot and the electric towers at both ends of the line to be monitored transmitted by the first RTK module, and performs data processing to instruct the single chip computer to control the walking mechanism (30) and the marking mechanism (20) to perform tasks.

3. The monitoring robot for wireline construction according to claim 1, characterized in that: The two walking wheels (302) are connected via a synchronous belt assembly (303); the walking drive is a walking motor (301) with a built-in brake structure; the walking motor (301) is connected to one of the walking wheels (302); the walking motor (301) is installed on the frame (10) via a motor seat; The walking mechanism (30) further comprises a baffle (304) and a bearing liner (305); the bearing liner (305) is mounted on the frame (10), and the rotating shafts of the two walking wheels (302) are rotatably connected to the bearing liner (305); there are four baffles (304), which are respectively located on the end faces of the walking wheels (302).

4. The monitoring robot for wireline construction according to claim 1, characterized in that: The marking mechanism (20) comprises a sleeve (202), a push rod (204), a marking motor (201) and a stamp (203); the sleeve (202) is mounted on the frame (10); the push rod (204) is located in the sleeve (202), and the bottom of the push rod (204) is connected to the stamp (203); the marking motor (201) is connected to the push rod (204) via an intermediate component; when the marking motor (201) rotates, the push rod (204) moves up and down to drive the stamp (203) to press or move away from the line or pipeline to be monitored.

5. The monitoring robot for wireline construction according to claim 1, characterized in that: There are two clamping and anti-stripping mechanisms (40), which are respectively located on the left and right sides of the marking mechanism (20); the clamping and anti-stripping mechanisms (40) include: a clamping wheel (401), a clamping bracket (402), a buckle seat (403) and a torsion spring hinge (404); the clamping wheel (401) is rotatably connected to the clamping bracket (402); the clamping bracket (402) and the buckle seat (403) are connected via a torsion spring hinge (404); the buckle seat (403) is detachably mounted on the frame (10).

6. The monitoring robot for wireline construction according to claim 5, characterized in that: The frame (10) is provided with a connecting block (101); the connecting block (101) is provided with a slide rail, and a spring pin whose head can extend out of the slide rail is provided inside the connecting block (101); the buckle seat (403) is slidably connected to the slide rail, and a positioning hole for allowing the spring pin to be inserted is provided inside; the buckle seat (403) is provided with a pressing block (405) which slides through the side wall of the buckle seat (403); a return spring is connected to the pressing block (405) and the buckle seat (403); when the head of the spring pin is inserted into the positioning hole, the pressing block (405) and the spring pin are located in a straight line; after pressing the pressing block (405), the spring pin can be driven to disengage from the positioning hole, so as to release the limit between the buckle seat (403) and the connecting block (101).

7. The monitoring robot for wireline construction according to claim 1, characterized in that: It also includes a detachable battery (50), which is installed on the frame (10) and provides power for the electrical components of the main structure, the communication unit, the control unit and the navigation and positioning unit.

8. A sag measurement method using a monitoring robot for wireline construction, based on the monitoring robot for wireline construction according to claim 2, characterized in that: include: Collect the longitude, latitude and elevation information of the towers at both ends of the line to be monitored, and transmit the information to the host computer. The host computer obtains the target position of the robot for sag measurement based on the longitude, latitude and elevation information of the towers; The current position information of the robot is obtained through the first RTK module, and the current position information of the robot is transmitted to the industrial computer; the industrial computer sends a command signal to the single-chip computer based on the target position of the robot for sag measurement and the current position information of the robot transmitted by the host computer, and the single-chip computer controls the walking mechanism (30) to move to the target position; the current position information of the robot includes the latitude, longitude and altitude information of the robot; When tightening the line to be monitored, the industrial computer obtains the current position information of the robot in real time and corrects the position of the robot to stabilize it at the target position; Based on the elevation information of the robot at the target position and the longitude, latitude and elevation information of the tower, the sag value of the robot's target position is calculated through the sag algorithm.

9. A marking method using a monitoring robot for wireline construction, based on the monitoring robot for wireline construction according to claim 2, characterized in that: include: The current position information of the robot is obtained through the first RTK module, and the current position information is transmitted to the industrial computer; The industrial computer obtains all target marking positions between the two towers according to the construction requirements; The single chip microcomputer controls the movement of the walking mechanism (30) so that the main structure moves to each target printing position in sequence. After the main structure reaches the target printing position, the industrial computer controls the printing mechanism (20) through the single chip microcomputer to perform a printing operation. After completing the marking of all target marking positions, the walking mechanism (30) is controlled to return to the starting position.

10. The marking method using a monitoring robot for wire construction according to claim 9, characterized in that: The industrial computer obtains all target marking positions between the two power towers according to the construction requirements by using a line distance mode to obtain all target marking positions between the two power towers; The specific process of obtaining all target marking positions between two power towers through the line distance mode is as follows: Calculate the length of the wires between the two towers; in, is the length of the line to be monitored between the two towers, H is the horizontal tension between the two towers, ω is the self-weight of the line to be monitored per unit length between the two towers, sh is the hyperbolic sine function, l a is the horizontal distance from the lowest point of the line to be monitored to one of the towers, and x is the length of the line to be monitored between the two towers in the horizontal coordinate; Based on the equal distance division of the line length, all target marking positions of the line to be monitored between two towers are obtained.

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