Single-wire X-ray detection robot on-line method, off-line method and robot

Abstract

The invention belongs to the technical field of power robots. According to the single-wire X-ray detection robot on-line method, the single-wire X-ray detection robot off-line method and the robot, an unmanned aerial vehicle drives the robot to move, so that a to-be-detected wire enters an opening space of the robot through an obliquely downward opening; when the to-be-detected wire is located in the gravity center range of the open space of the robot, the unmanned aerial vehicle drives the robot to vertically move, so that the driving wheels of the robot fall on the to-be-detected wire; and after the driving wheels make contact with the to-be-tested wire, the unmanned aerial vehicle is separated from the robot, the robot is put on line, and after the robot is put on line, the driving wheels and the auxiliary wheels of the robot are used for conducting stable walking control over the robot with multi-wheel cooperation. According to the invention, the robot carried by the unmanned aerial vehicle can be quickly and stably loaded and unloaded, the interference on the upper-phase wire and the middle-phase wire of the double-circuit line is avoided, and the stable walking control of the multi-wheel cooperative robot on the single wire is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of power robots, and particularly relates to a method for a single-conductor X-ray detection robot to get on line, a method for getting off line, and the robot. Background Art

[0002] The statements in this part merely provide background art related to the present invention and do not necessarily constitute prior art.

[0003] Since the crimping operation of transmission overhead lines is carried out at high altitudes, it is difficult to install, and it is difficult to observe the crimping quality macroscopically. Moreover, poor crimping will cause various defects, such as under-crimping, missed crimping, empty crimping, and crimping misalignment. These defects may cause major safety hazards such as abnormal wire heating and wire breakage during operation. Therefore, it is of great significance to use X-ray detection technology for non-destructive testing of crimping fittings.

[0004] Currently, most of the commonly used detection robots for transmission line crimping fittings are for horizontally double-split conductors. After using an unmanned aerial vehicle (UAV) to hoist the robot from top to bottom onto the horizontally double-split conductor, the robot is controlled to move forward on the horizontally double-split conductor to achieve X-ray detection. However, the existing detection robots still have the following problems: Due to the obstruction of the upper-phase sub-conductor and the middle-phase sub-conductor, the UAV cannot hoist the robot from top to bottom onto the lower-phase sub-conductor; moreover, the existing detection robots cannot effectively walk stably on a single conductor, and cannot achieve safe and stable X-ray detection of single-conductor crimping fittings. Summary of the Invention

[0005] In order to solve the deficiencies of the prior art, the present invention provides a method for a single-conductor X-ray detection robot to get on line, a method for getting off line, and the robot. An innovative lateral in-and-out wire strategy is proposed, and a robot structure capable of walking stably on a single conductor is designed, making up for the detection shortcoming of the lower-phase sub-conductor of a double-circuit line, and realizing stable walking control of the robot with multi-wheel coordinated cooperation on a single conductor.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: In the first aspect, the present invention provides a method for a single-conductor X-ray detection robot to get on line.

[0007] A method for a single-conductor X-ray detection robot to get on line, the robot includes a walking mechanism, the walking mechanism includes driving wheels and auxiliary wheels on both sides of the driving wheels, and the robot has an obliquely downward opening; Control the aircraft to move the robot to the obliquely upper side of the wire to be measured, so that the obliquely downward opening faces the wire to be measured; Control the movement of the aircraft to drive the robot, so that the wire to be measured enters the opening space of the robot through the obliquely downward opening; When the wire to be measured is within the range of the centroid of the opening space of the robot, control the aircraft to drive the robot to move vertically so that the driving wheels of the robot fall onto the wire to be measured; After the driving wheels come into contact with the wire to be measured, control the aircraft to separate from the robot to complete the robot's online operation, and send a walking control instruction to the robot to perform stable walking control with multi-round coordinated cooperation of the driving wheels and the auxiliary wheels.

[0008] As an implementation manner of the first aspect of the present invention, before moving the robot to the obliquely upper side of the wire to be measured by the aircraft, it further includes: Place the robot statically on the ground, away from obstacles and operators; Judge the distance relationship between the wire to be measured and the ground wire by observing the video image transmitted back by the wingman, and judge whether the distance condition for hoisting online is met; If the distance condition for hoisting online is met, control the aircraft to take off to a safe height above the robot, and open the insulating gripper of the aircraft to a set opening angle; Control the aircraft to descend from above the robot. When the insulating gripper is on both sides of the hoisting frame of the robot, close the insulating gripper to the closed state to realize the connection between the aircraft and the robot; After determining the connection between the aircraft and the robot, control the aircraft to rise, vertically lift the robot, and control the aircraft to fly to the obliquely upper side of the wire to be measured.

[0009] As an implementation manner of the first aspect of the present invention, controlling the aircraft to drive the movement of the robot so that the wire to be measured enters the opening space of the robot through an obliquely downward opening includes: Control the aircraft to descend from above the wire to be measured and adjust the position of the robot, and adopt a lateral wire inlet method, and the robot is laterally hung onto the wire to be measured from one side of the wire to be measured.

[0010] As an implementation manner of the first aspect of the present invention, after the driving wheels come into contact with the wire to be measured, controlling the aircraft to separate from the robot to complete the online operation includes: When it is confirmed by observing the video image transmitted back by the wingman that all the driving wheels of the robot are in safe contact with the wire to be measured and the position of the robot meets the predetermined operation requirements, open the insulating gripper of the aircraft to a set opening angle to separate the insulating gripper from the hoisting mechanism of the robot; After confirming that the insulating gripper is completely separated from the hoisting mechanism of the robot, control the aircraft to rise from above the robot; After the aircraft is completely disconnected from the robot, control the aircraft to fly back to a preset safe position.

[0011] As an implementation manner of the first aspect of the present invention, the auxiliary wheels include an outer auxiliary wheel group and an inner auxiliary wheel group. The stable walking control of the robot using the driving wheel and the auxiliary wheels for multi-wheel cooperative cooperation includes: After the robot goes online, the driving wheel of the robot contacts the wire to be measured, and drives the robot to walk along the wire to be measured through the driving wheel; When the pose of the robot rotates, the wire to be measured disengages from the driving wheel and contacts the outer auxiliary wheel group to prevent the robot from tipping over; When the robot encounters a lateral shunt reinforcement wire in front of its walking path, the driving wheel and the inner auxiliary wheel group contact the lateral shunt reinforcement wire simultaneously to enable the robot to walk stably.

[0012] In a second aspect, the present invention provides a method for offline of a single-wire X-ray detection robot.

[0013] A method for offline of a single-wire X-ray detection robot, the robot includes a walking mechanism, the walking mechanism includes a driving wheel and auxiliary wheels on both sides of the driving wheel, the robot has an obliquely downward opening, and includes the following processes: Control the aircraft to drive the robot to completely disengage from the wire to be measured, and make the wire to be measured located at a position slightly below the opening space of the robot, and control the aircraft to translate in the opposite side of the obliquely downward opening of the robot; When the edge of the obliquely downward opening of the robot completely disengages from the wire to be measured, control the aircraft to fly obliquely above the wire to be measured and away from the position of the wire to be measured; After reaching a position away from the wire to be measured, control the aircraft to fly to a predetermined ground placement position of the robot to complete the offline of the robot.

[0014] As an implementation manner of the second aspect of the present invention, before the aircraft drives the robot to completely disengage from the wire to be measured, it further includes: After the robot finishes its operation, control the robot to walk to a safe position of the wire to be measured, and there are no electrical fittings interfering with the hoisting operation of the aircraft within a set range around the safe position; Observe the distance relationship between the robot and the wire to be measured and the ground wire by observing the video image transmitted back by the wingman to determine whether the hoisting offline distance condition is met; If the hoisting offline distance condition is met, control the aircraft to take off to a safe height above the robot, and open the insulating gripper of the aircraft to a set opening and closing angle; Control the aircraft to descend from above the robot. When the insulating grippers are located on both sides of the hoisting mechanism of the robot, close the insulating grippers to the closed state to realize the connection between the aircraft and the robot; After determining that the aircraft and the robot are connected by observing the wingman aircraft, control the aircraft to ascend and vertically lift the robot from the wire under test. During this process, observe whether the insulating grippers are loose and whether the robot collides with the wire under test by observing the images transmitted back by the wingman aircraft.

[0015] As an implementation manner of the second aspect of the present invention, controlling the aircraft to fly to a predetermined ground placement position of the robot to complete the offline of the robot includes: Control the aircraft to descend from above the ground; When it is confirmed that the bottom of the robot is in safe contact with the ground and the pose of the robot does not tilt, open the insulating grippers to a set opening angle to separate the aircraft from the hoisting mechanism of the robot; When it is confirmed that the insulating grippers are completely separated from the hoisting mechanism of the robot, control the aircraft to ascend from above the robot, fly back to a safe position on the ground and shut down.

[0016] In a third aspect, the present invention provides a single-wire X-ray detection robot.

[0017] A single-wire X-ray detection robot includes: a motion platform, a walking mechanism, a transmitter, and a receiving plate. The motion platform has an obliquely downward opening to form an internal opening space. The walking mechanism includes a driving wheel, an outer auxiliary wheel set, and an inner auxiliary wheel set located in the opening space; The driving wheel is arranged at the middle position of the motion platform. The outer auxiliary wheel set is arranged on one side of the driving wheel, and the inner auxiliary wheel is arranged on the other side of the driving wheel. The transmitter is arranged at the bottom of the motion platform, and the receiving plate projects forward in front of the walking direction of the motion platform; The driving wheel is used to contact the wire under test. The outer auxiliary wheel set is used to cooperate with the driving wheel to drive the robot to walk when the pose of the robot rotates. The inner auxiliary wheel set is used to contact the lateral shunt reinforcement wire, and stable walking control is carried out through the multi-wheel collaborative cooperation of the driving wheel, the outer auxiliary wheel set, and the inner auxiliary wheel set.

[0018] As an implementation manner of the third aspect of the present invention, the driving wheel includes a first driving wheel and a second driving wheel arranged in sequence along the forward direction. A first outer auxiliary wheel and a first inner auxiliary wheel are correspondingly arranged on both sides of the first driving wheel, and a second outer auxiliary wheel and a second inner auxiliary wheel are correspondingly arranged on both sides of the second driving wheel; The first driving wheel and the second driving wheel are arranged horizontally, the first outer auxiliary wheel and the first driving wheel form an angle greater than or equal to 90°, the second outer auxiliary wheel and the second driving wheel form an angle greater than or equal to 90°, and the first inner auxiliary wheel and the second inner auxiliary wheel are arranged vertically.

[0019] As an implementation method of the third aspect of the present invention, the center of gravity of the robot is located below the driving wheel and on a straight line below the driving wheel parallel to a line connecting the midpoints of the first driving wheel and the second driving wheel, so that when the robot walks normally on the wire, the wire to be tested is located in a U-shaped groove in the middle of the driving wheel.

[0020] As an implementation of the third aspect of the present invention, the walking mechanism further includes a front auxiliary wheel arranged at the front of the motion platform, and the front auxiliary wheel is used to contact the upper diversion reinforcement line.

[0021] As an implementation method of the third aspect of the present invention, when the robot passes through a wire with an upper shunt reinforcement line, the front auxiliary wheel first contacts the upper shunt reinforcement line and moves upward along the upper shunt reinforcement line. The front end of the robot is raised and the first drive wheel is in a suspended state. At this time, the front auxiliary wheel and the second drive wheel support the robot, and the force on the second drive wheel increases, the friction force increases, and the robot is driven by the second drive wheel.

[0022] As an implementation of the third aspect of the present invention, the driving wheel comprises: a motor fixing seat, a driving motor, a motor output flange, an inner baffle, a wheel hub, a rubber wheel and an outer baffle, and the driving motor is fixed to the motion platform through the motor fixing seat; The driving motor is connected to the wheel hub via the motor output flange, the inner baffle plate and the outer baffle plate are connected to both ends of the wheel hub, the rubber wheel is sleeved on the outside of the wheel hub, and a U-shaped groove is provided in the middle of the rubber wheel.

[0023] As an implementation method of the third aspect of the present invention, when the robot passes through a conductor with a side shunt reinforcement line, under the action of the side shunt reinforcement line, the conductor to be tested breaks away from the U-shaped groove of the robot, the center of gravity of the robot deviates from the center of the conductor to be tested, the robot flips over, the driving wheel and the outer auxiliary wheel form cross wheels, and the robot continues to walk in the posture of the cross wheels.

[0024] As an implementation method of the third aspect of the present invention, the transmitter is horizontally arranged and fixed at the bottom of the moving platform, the transmitter emits X-rays vertically, the imaging range of the transmitter is a conical surface of ±20°, and the receiving plate is fixed to the upper end of the moving platform and adopts a forward-probing arrangement.

[0025] As an implementation of the third aspect of the present invention, the inner auxiliary wheel includes: an axle end retaining ring, a roller support, a roller shaft, a nylon roller, and a roller bearing. Both ends of the roller shaft are connected with the roller bearings. The outer rings of the roller bearings are connected with the roller support. Both ends of the roller shaft are connected with the axle end retaining rings. The nylon roller is sleeved outside the roller shaft.

[0026] As an implementation of the third aspect of the present invention, an insulating hoisting mechanism is provided on the moving platform. The center line of the insulating hoisting mechanism deviates obliquely downward away from the center of gravity of the robot, so that when the aircraft hoists the robot, under the action of gravity, the robot has a tendency to rotate clockwise, and further makes the inlet opening obliquely downward.

[0027] In a fourth aspect, the present invention provides a single-conductor X-ray detection robot system.

[0028] A single-conductor X-ray detection robot system includes an aircraft and the single-conductor X-ray detection robot described in the third aspect of the present invention. An insulating gripper is provided at the bottom of the aircraft.

[0029] In a fifth aspect, the present invention provides a method for controlling the stable walking of a multi-wheel collaborative robot.

[0030] A method for controlling the stable walking of a multi-wheel collaborative robot, using the single-conductor X-ray detection robot described in the third aspect of the present invention, includes the following processes: After the robot is on-line, the driving wheels of the robot contact the wire to be measured, and the robot is driven to walk along the wire to be measured by the driving wheels; When the pose of the robot rotates, the wire to be measured disengages from the driving wheels and contacts the outer side auxiliary wheel set to prevent the robot from tipping over; When the robot encounters a lateral shunt reinforcement wire in front of its walking direction, both the driving wheels and the inner side auxiliary wheel set contact the lateral shunt reinforcement wire simultaneously to enable the robot to walk stably.

[0031] As an implementation of the fifth aspect of the present invention, the walking mechanism further includes a front-end auxiliary wheel arranged at the front of the moving platform. The driving wheels include a first driving wheel and a second driving wheel arranged in sequence on the front and rear sides; When the robot passes through a wire with an upper shunt reinforcement wire, the front-end auxiliary wheel first contacts the upper shunt reinforcement wire and walks upward along the upper shunt reinforcement wire. The front end of the robot is lifted, and the driving wheels are in a suspended state. At this time, the front-end auxiliary wheel and the second driving wheel support the robot, and the force on the second driving wheel increases, the friction increases, and the robot is driven by the second driving wheel.

[0032] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The present invention innovatively proposes an upward-slanting wire method and a downward-slanting wire method. By driving the movement of the robot with the aircraft, the wire to be measured enters the opening space of the robot through the downward-slanting opening, realizing the fast and stable wire-on and wire-off of the robot carried by the aircraft, avoiding interference with the upper-phase wire and the middle-phase wire of the double-circuit line, ensuring the safety of the aircraft when interspersed between the double-circuit lines, and making up for the shortcoming of live detection of the lower-phase sub-conductor of the double-circuit line.

[0033] 2. The present invention innovatively proposes a multi-wheel collaborative robot stable walking control method, develops a single-wire X-ray detection robot, designs a moving platform with a downward-slanting opening, calibrates the center-of-gravity position of the robot, realizes the stable walking of the robot under the cooperation of multiple wheels such as driving wheels, outer auxiliary wheels, inner auxiliary wheels and front auxiliary wheels, improves the applicability in the situations of lateral shunt reinforcement wires and upper shunt reinforcement wires, avoids the rollover of the robot during rotation, and ensures the stability of the robot when walking on a single wire.

[0034] The advantages of the additional aspects of the present invention will be partially given in the following description, partially will become obvious from the following description, or will be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings forming a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments and descriptions thereof of the present invention are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0036] Figure 1 Schematic diagram of the structure of the detection robot provided by the present invention; Figure 2 Schematic diagram of the safe range of live working provided by the present invention; Figure 3 Schematic diagram of the stable state of the robot on the wire provided by the present invention; Figure 4 Schematic diagram of the layout of the detection part and the center-of-gravity position provided by the present invention; Figure 5 Diagram of the relationship between the hoisting center position and the center of gravity provided by the present invention; Figure 6 Schematic diagram of the hoisting posture of the robot provided by the present invention; Figure 7 Schematic diagram of the anti-loosening compression joint provided by the present invention; Figure 8 Schematic diagram of the distribution of the wheel sets of the walking mechanism provided by the present invention Figure 1 ; Figure 9Schematic diagram of the wheel set distribution of the walking mechanism provided by the present invention Figure 2 ; Figure 10 Schematic diagram of the wide-width U-shaped driving wheel provided by the present invention; Figure 11 Schematic diagram of the inner auxiliary wheel provided by the present invention; Figure 12 Schematic diagram during the wire detection with a lateral shunt reinforcement wire provided by the present invention Figure 1 ; Figure 13 Schematic diagram during the wire detection with a lateral shunt reinforcement wire provided by the present invention Figure 2 ; Figure 14 Schematic diagram of the force during the wire detection with a shunt reinforcement wire provided by the present invention; wherein, G is the self-weight of the robot, F is the wind force, F1 is the left-downward force on the robot, and F2 is the right-downward force on the robot; Figure 15 Schematic diagram of the outer auxiliary wheel provided by the present invention; Figure 16 Schematic diagram of the front-end auxiliary wheel provided by the present invention; Figure 17 Schematic diagram during the wire detection with an upper shunt reinforcement wire provided by the present invention; Wherein, 1. Insulating leg; 2. Insulating clamping claw; 3. UAV; 4. Insulating hoisting mechanism; 5. Transmitter; 6. Receiver board; 7. Wide-width U-shaped driving wheel; 8. Outer auxiliary wheel; 9. Inner auxiliary wheel; 10. Front-end auxiliary wheel; 11. Moving platform; 12. Electric control element; 13. Crimping fitting; 14. Center of gravity of the robot; 15. Tail of the anti-loosening crimping tube; 16. Motor fixing seat; 17. Driving motor; 18. Motor output flange; 19. Inner baffle; 20. Outer baffle; 21. Wheel hub; 22. Rubber wheel; 23. U-shaped groove; 24. Roller support; 25. Roller bearing; 26. Roller shaft; 27. Axial end retaining ring; 28. Nylon roller; 29. Lateral shunt reinforcement wire; 30. Upper shunt reinforcement wire; 31. Obliquely downward opening. Detailed implementation manners

[0037] The present invention will be further described below in conjunction with the drawings and embodiments.

[0038] It should be noted that the following detailed descriptions are all exemplary and are intended to provide further descriptions of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs.

[0039] As described in the background art, most of the existing robots can only perform X-ray detection on horizontally double-split conductors. For the detection of single conductors, the "drone 3 + long insulating rope" scheme is mostly adopted, which can complete most of the detection of single-conductor compression joints. However, for the lower-phase sub-conductors of double-circuit lines, due to the obstruction of the upper-phase and middle-phase sub-conductors, effective detection still cannot be achieved. In view of this, in this implementation, a single-conductor X-ray detection robot (hereinafter simply referred to as "robot") is proposed. As Figure 1 shown, it includes: a motion platform 11, a walking mechanism, a transmitter 5 and a receiving board 6. The motion platform 11 is provided with an obliquely downward opening 31. The walking mechanism includes a wide-width U-shaped driving wheel 7, an outer auxiliary wheel 8, an inner auxiliary wheel 9 and a front auxiliary wheel 10. Through the combined design of "wide-width U-shaped driving wheel 7 + outer auxiliary wheel 8 + inner auxiliary wheel 9 + front auxiliary wheel 10", the adaptability of the robot to complex line environments is improved, and X-ray detection of the compression fittings 13 of the line with side drainage wires and upper drainage wires can be realized.

[0040] In this implementation, the wide-width U-shaped driving wheel 7 is arranged on the upper part of the motion platform 11, the outer auxiliary wheel 8 is arranged outside the driving wheel, the inner auxiliary wheel 9 is arranged inside the driving wheel, the transmitter 5 is arranged at the bottom of the motion platform 11, and the receiving board 6 is arranged in front of the motion platform 11 in the walking direction; the wide-width U-shaped driving wheel 7 is used to contact the wire to be measured, the outer auxiliary wheel 8 is used to cooperate with the driving wheel to drive the robot to walk when the pose of the robot rotates, and the inner auxiliary wheel 9 is used to contact the side diversion reinforcement wire 29.

[0041] In this implementation, preferably, the above-mentioned robot is hoisted by a drone 3 (here, the drone 3 is a form of aircraft. It can be understood that in some other implementations, other forms of aircraft can also be used, such as a manned light-duty load-carrying small aircraft or an airship, etc., as long as the stable hoisting of the robot can be achieved. This will not be elaborated here. This embodiment mainly takes the drone 3 as an example). As Figure 1 and Figure 2 shown, an insulating support leg 1 and an insulating clamping claw 2 are connected to the bottom of the drone 3, and an insulating hoisting mechanism 4 is connected to the top of the motion platform 11. Here, the hoisting mechanism is in the form of a hoisting frame. The insulating support leg 1, insulating clamping claw 2 and insulating hoisting mechanism 4 of the drone 3 are all designed to be insulated, and high-strength and good-insulating epoxy resin (pipe, board) materials are used to ensure absolute insulation between the drone 3 and the robot.

[0042] As Figure 2 shown, the drone 3 moves left and downward ( Figure 2 as indicated by the arrow in Figure 3As shown, the two sides of the wide U-shaped driving wheel 7 are inclined planes. Under the action of gravity, the robot slides into the U-shaped wheel groove.

[0043] Through Figure 2 It can be seen that for the up-and-down wire method of the robot for the single-conductor phase spacing, the phase spacing of the 110 kV double-circuit line is about 4 meters (the standard stipulates at least 3.5 meters). Considering the safety distance and the characteristics of the single conductor comprehensively, the available vertical distance for the single-conductor robot to go up the line is 1 meter. Therefore, this implementation method adopts the lateral wire-in method as the up-and-down wire method of the robot, that is, the robot is hung onto the wire from one side of the wire. The longitudinal dimension of the "drone 3 + robot" is small, which can meet the detection of the lower-phase wire. Through the lateral wire-hanging method in this implementation method, the drone 3 can penetrate between multiple circuits, and realize the X-ray detection of the compression fittings 13 of the lower-phase sub-conductors of the double circuit.

[0044] In this implementation method, preferably, the drone 3 is a heavy-duty drone 3 that can lift the robot. An optical camera and an insulating gripper 2 are installed on its belly. The insulating gripper 2 is installed under the belly of the drone 3 and is an auxiliary connecting device for lifting the robot onto the overhead transmission line wire. This implementation method is used in cooperation with an observation wing drone. The observation wing drone is a light drone that can approach the transmission line for observation and provides high-definition images for ground operators throughout the entire process of the robot detection operation.

[0045] In this implementation method, preferably, Figure 4 In the design, the installation positions of each component are reasonably configured. The center of gravity of the robot (which can also be a circular center-of-gravity range with a small radius centered on the center-of-gravity point to enhance the control convenience during hoisting) is located below the wide U-shaped driving wheel 7. The center of gravity of the robot is located on a straight line below the driving wheel parallel to the midpoint connection line of the first driving wheel and the second driving wheel, so that when the robot walks normally on the wire, the wire is located in the U-shaped groove 23 in the middle of the driving wheel. In this way, it can be ensured that the robot has a stable posture when walking on the line and will not tip over.

[0046] The center line of the insulating hoisting mechanism 4 is arranged slightly to the left of the center of gravity 14 of the robot (that is, the center line of the insulating hoisting mechanism 4 deviates from the center of gravity 14 of the robot to the side away from the opening), as Figure 5 shown. When the drone 3 hoists the robot, under the action of gravity, the robot will have a tendency to rotate clockwise, as Figure 6 shown. At this time, the wire inlet is inclined downward, which is convenient for the robot to go up and down the line.

[0047] In this implementation mode, preferably, all mechanisms of the robot are fixed on the moving platform 11 in a specific connection form. The bracket of the moving platform 11 is welded with lightweight aluminum alloy material, reserving a metal shielding space where components that require electrical shielding, such as the transmitter 5, the receiving board 6, and the electronic control components 12, can be placed. More specifically, the receiving board 6 protrudes forward (located within the metal shielding space) and can detect the tail 15 of the anti-loosening compression joint. The transmitter 5 is also located within the metal shielding space, and live detection is achieved through metal shielding.

[0048] As Figure 4 shown, the detection part mainly includes the transmitter 5 and the receiving board 6. The transmitter 5 is arranged horizontally and fixed at the bottom of the moving platform 11, vertically emitting X-rays. The imaging range of the transmitter 5 is a conical surface of ±20°. The receiving board 6 is fixed at the upper end of the moving platform 11 and is arranged with a forward protrusion. Such an arrangement can maximize the coverage range of the detector for the compression joint, solving the problem of incomplete detection of the tail 15 of the anti-loosening compression joint, as Figure 7 shown. The vertical distance between the transmitter 5 and the receiving board is about 450 mm. This arrangement can reduce the overall height of the robot, thereby reducing the longitudinal dimension of the "robot + drone" and expanding the longitudinal movement range of the drone 3.

[0049] In this implementation mode, preferably, the wide-width U-shaped drive wheel 7 includes a first drive wheel and a second drive wheel arranged in sequence along the forward direction. Both the first drive wheel and the second drive wheel are made of silicone rubber material and have a large frictional force, serving as the main drive wheels to drive the robot to walk on the line.

[0050] On both sides of the first drive wheel, a first outer auxiliary wheel and a first inner auxiliary wheel 9 are correspondingly arranged. On both sides of the second drive wheel, a second outer auxiliary wheel and a second inner auxiliary wheel 9 are correspondingly arranged. The first drive wheel and the second drive wheel are horizontally arranged. The first outer auxiliary wheel forms an angle greater than or equal to 90° with the first drive wheel, and the second outer auxiliary wheel forms an angle greater than or equal to 90° with the second drive wheel. The first inner auxiliary wheel 9 and the second inner auxiliary wheel 9 are vertically arranged.

[0051] In this implementation mode, preferably, the first outer auxiliary wheel is arranged at a 90° angle with the first drive wheel, and the second outer auxiliary wheel is arranged at a 90° angle with the second drive wheel, as Figure 4 shown.

[0052] In some other implementation modes, as Figure 8 and Figure 9 shown, the first outer auxiliary wheel is arranged at a 120° angle with the first drive wheel, and the second outer auxiliary wheel is arranged at a 120° angle with the second drive wheel. The structures of the first outer auxiliary wheel and the second outer auxiliary wheel are as Figure 15 shown.

[0053] AsFigure 10 As shown, the wide U-shaped drive wheel 7 includes: a motor fixing seat 16, a drive motor 17, a motor output flange 18, an inner baffle 19, a hub 21, a rubber wheel 22, and an outer baffle 20. The drive motor is fixed on the moving platform 11 through the motor fixing seat 16. The drive motor 17 is connected to the hub 21 through the motor output flange. Inner and outer baffles 19 and 20 are connected to both ends of the hub 21. A rubber wheel 22 is sleeved outside the hub 21, and a U-shaped groove 23 is provided at the middle position of the rubber wheel 22.

[0054] In this implementation, preferably, when passing through a wire with a lateral shunt reinforcement wire 29, the inner auxiliary wheel 9 rolls against the lateral shunt reinforcement wire 29 to avoid hard friction and improve the passability of the robot. As Figure 11 As shown, the inner auxiliary wheel 9 includes: an axle end retaining ring 27, a roller support 24, a roller shaft 26, a nylon roller 28, and a roller bearing 25. Roller bearings 25 are connected to both ends of the roller shaft 26. The outer ring of the roller bearing 25 is connected to the roller support 24. Axle end retaining rings 27 are connected to both ends of the roller shaft 26. A nylon roller 28 is sleeved outside the roller shaft 26.

[0055] When the robot passes through a wire with a lateral drainage wire, under the action of the lateral drainage wire, the robot will break away from the main wire, that is, the main wire will disengage from the U-shaped groove 23 of the wide U-shaped drive wheel 7 of the robot. At this time, the center of gravity 14 of the robot deviates from the center of the wire. As the deviation increases, the robot will flip over. The wide U-shaped drive wheel 7 and the corresponding outer auxiliary wheel 8 form a cross-wheel form, and the robot continues to walk in this posture, as Figure 12 and Figure 13 shown.

[0056] As Figure 14 shown, according to the mechanical principle, the center of gravity 14 of the robot is below the wire. Under the action of its own gravity G and wind force F, the resultant force on the robot is F1 at the lower left or F2 at the lower right. Since the robot is not subject to an upward force and has no upward movement tendency, the situation where the robot rolls over out of the wire will not occur.

[0057] In this implementation, preferably, the walking mechanism, as Figure 16 shown, further includes a front-end auxiliary wheel 10 arranged at the front of the moving platform 11. The front-end auxiliary wheel 10 is used to contact the upper shunt reinforcement wire 30. Specifically, when the slope of the wire is relatively large or there is an upper drainage wire, the front part of the robot may contact the wire first. To avoid hard friction between the robot and the wire, a front-end auxiliary wheel 10 is installed at the front end of the robot. When the robot walks on a horizontal wire, the front-end auxiliary wheel 10 does not contact the wire.

[0058] When the robot passes through a wire with an upper shunt reinforcement wire 30, asFigure 17 As shown, the front auxiliary wheel 10 first contacts the upper shunt reinforcement line 30 and moves upward along the upper shunt reinforcement line 30. The front end of the robot is lifted, and the first driving wheel (i.e., the driving wheel at the front side) is in a suspended state. At this time, the front auxiliary wheel 10 and the second driving wheel support the robot, and the force on the second driving wheel increases, the friction increases, and the robot is driven by the second driving wheel (i.e., the driving wheel at the rear side).

[0059] In this implementation manner, preferably, a robot online method and a robot offline method are also proposed. Specifically, it includes: the drone 3 hoisting online process and the drone 3 hoisting offline process. This implementation manner is introduced taking the control of the drone pilot as an example. It can be understood that in some other implementation manners, the corresponding online and offline controls can also be automatically performed through the control terminal, which will not be elaborated here.

[0060] S1: The drone 3 hoisting online process, specifically, includes: S1.1: Place the robot statically on the ground, away from obstacles and operators; S1.2: Observe the wingman take off near the planned overhead transmission line to be operated, and judge the distance relationship between each conductor and ground wire by observing the video image transmitted back by the wingman to determine whether the distance condition for hoisting online is met; S1.3: If the distance condition for hoisting online is met, control the drone 3 to take off to a safe height above the robot and open the insulating gripper 2 to the set opening angle; S1.4: Control the drone 3 to slowly descend from above the robot. When the insulating gripper 2 is located on both sides of the insulating hoisting mechanism 4, close the insulating gripper 2 to the closed state to realize the connection between the drone 3 and the robot; S1.5: After determining that the drone 3 is firmly connected to the robot, control the drone 3 to slowly rise and vertically lift the robot from the ground; S1.6: When the robot is completely lifted off the ground, control the drone 3 to fly above the overhead transmission line conductor; S1.7: Control the drone 3 to slowly descend from above the conductor and adjust the position of the robot. Since the robot has a single-sided body opening structure, a lateral (or oblique) wire entry method is required, that is, the robot is hung into the wire from one side of the wire. It is necessary to control the drone 3 to move the body opening structure part of the robot to the oblique upper side of the wire. At this time, the obliquely downward opening of the robot is facing the wire; S1.8: Control the drone 3 to horizontally move the robot towards the wire to be measured, so that the obliquely downward opening of the robot approaches the wire. When the wire is located inside the center of the robot (i.e., within the center range), stop the horizontal movement; at this time, control the drone 3 to vertically move the robot downward below the wire to be measured, so that the U-shaped groove 23 of the wide U-shaped driving wheel 7 of the robot falls onto the wire to be measured; S1.9: When it is confirmed by observing the video images transmitted back by the wingman that all the wide U-shaped drive wheels 7 of the robot are in safe contact with the wire and their positions meet the predetermined operation requirements, open the insulating gripper 2 to the set opening and closing angle to separate the UAV 3 from the robot; S1.10: After confirming that the insulating gripper 2 is completely separated from the robot, control the UAV 3 to slowly rise above the robot; S1.11: After the UAV 3 is completely disconnected from the robot, control the UAV 3 to fly back to a safe position on the ground.

[0061] S2: The process of hoisting the UAV 3 offline, specifically including: S2.1: After the robot completes its operation, the operator remotely controls the robot to walk to a safe position on the overhead transmission line, where there are no electrical fittings within 5 m around that interfere with the hoisting operation of the UAV 3; S2.2: Observe the wingman taking off near the position on the overhead transmission line where hoisting is to be carried out. By observing the video images transmitted back by the wingman, observe the distance relationship between the robot and each wire and ground wire to determine whether the hoisting offline distance condition is met; S2.3: If the hoisting offline distance condition is met, control the UAV 3 to take off to a safe height above the robot and open the insulating gripper 2 to the set opening and closing angle; S2.4: Control the UAV 3 to slowly descend from above the robot. When the insulating gripper 2 is on both sides of the insulating hoisting mechanism 4, close the insulating gripper 2 to the closed state to connect the UAV 3 to the robot; After the drone pilot determines that the UAV 3 is connected to the robot by observing the wingman, control the UAV 3 to slowly rise and vertically lift the robot from the wire. During this process, carefully observe whether the insulating gripper 2 is loose and whether the robot collides with the wire by observing the images transmitted back by the wingman; S2.6: When the robot is completely separated from the overhead wire and the wire is located below the opening space of the robot in a slanting position, control the UAV 3 to translate to the opposite side of the slanting opening of the robot; S2.7: When the edge of the slanting opening of the robot is completely separated from the wire, control the UAV 3 to fly obliquely upward above the wire to be measured and away from the position of the wire to be measured; S2.8: After moving away from the position of the wire to be measured, control the UAV 3 to fly to the predetermined ground position where the robot is to be placed; S2.9: Control the UAV 3 to slowly descend from above the ground. During this process, carefully observe whether the robot collides with the ground; S2.10: When it is confirmed that the bottom of the robot is in safe contact with the ground and the body pose of the robot has not significantly tilted, open the insulating gripper 2 to the set opening and closing angle to separate the UAV 3 from the insulating hoisting mechanism 4; S2.11: After confirming that the insulating gripper 2 is completely separated from the robot, control the UAV 3 to slowly rise above the robot, fly back to a safe position on the ground and shut down.

[0062] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for a single-wire X-ray detection robot to go online, characterized in that, The robot includes a walking mechanism, the walking mechanism includes driving wheels and auxiliary wheels on both sides of the driving wheels, and the robot has an obliquely downward opening; Control the aircraft to move the robot to the obliquely upper side of the wire to be measured, so that the obliquely downward opening faces the wire to be measured; Control the aircraft to drive the movement of the robot, so that the wire to be measured enters the opening space of the robot through the obliquely downward opening; When the wire to be measured is within the range of the center of gravity of the opening space of the robot, control the aircraft to drive the robot to move vertically, so that the driving wheels of the robot fall onto the wire to be measured; After the driving wheels contact the wire to be measured, control the aircraft to detach from the robot, complete the online connection of the robot, and send a walking control command to the robot to perform stable walking control with multi-wheel coordinated cooperation using the driving wheels and the auxiliary wheels.

2. The method for the online connection of a single-wire X-ray detection robot according to claim 1, characterized in that, Before moving the robot to the obliquely upper side of the wire to be measured by the aircraft, it further includes: Place the robot statically on the ground, away from obstacles and operators; Judge the distance relationship between the wire to be measured and the ground wire by observing the video image transmitted back by the wingman, and judge whether the distance condition for hoisting online is met; If the distance condition for hoisting online is met, control the aircraft to take off to a safe height above the robot, and open the insulating gripper of the aircraft to a set opening and closing angle; Control the aircraft to descend from above the robot. When the insulating gripper is on both sides of the lifting frame of the robot, close the insulating gripper to the closed state to realize the connection between the aircraft and the robot; After determining the connection between the aircraft and the robot, control the aircraft to rise and vertically lift the robot; Control the aircraft to fly to the obliquely upper side of the wire to be measured.

3. The method for the online connection of a single-wire X-ray detection robot according to claim 1, characterized in that, Controlling the aircraft to drive the movement of the robot so that the wire to be measured enters the opening space of the robot through the obliquely downward opening includes: Control the aircraft to descend from above the wire to be measured and adjust the position of the robot. Adopting the lateral wire entry method, the robot is laterally hung into the wire to be measured from one side of the wire to be measured.

4. The method for the online connection of a single-wire X-ray detection robot according to claim 1, characterized in that, After the driving wheels contact the wire to be measured, controlling the aircraft to detach from the robot to complete the online connection includes: When it is confirmed by observing the video image transmitted back by the wingman that all the driving wheels of the robot are in safe contact with the wire to be measured, and the position of the robot meets the predetermined operation requirements, open the insulating gripper of the aircraft to a set opening and closing angle to separate the insulating gripper from the lifting mechanism of the robot; After confirming that the insulating gripper is completely separated from the lifting mechanism of the robot, control the aircraft to rise from above the robot; After the aircraft is completely disconnected from the robot, control the aircraft to fly back to the preset safe position.

5. The method for the single-conductor X-ray detection robot to go online according to any one of claims 1-4, characterized in that The auxiliary wheels include an outer auxiliary wheel group and an inner auxiliary wheel group. The stable walking control of the robot using the driving wheel and the auxiliary wheels for multi-wheel cooperative cooperation includes; After the robot goes online, the driving wheel of the robot contacts the wire to be measured, and the robot is driven to walk along the wire to be measured through the driving wheel; When the pose of the robot rotates, the wire to be measured disengages from the driving wheel and contacts the outer auxiliary wheel group to prevent the robot from tipping over; When the robot encounters a lateral shunt reinforcement wire in front of it during walking, the driving wheel and the inner auxiliary wheel group contact the lateral shunt reinforcement wire at the same time to enable the robot to walk stably.

6. A method for offline of a single-wire X-ray detection robot, characterized in that, The robot includes a walking mechanism, the walking mechanism includes a driving wheel and auxiliary wheels on both sides of the driving wheel, and the robot has an obliquely downward opening; Control the aircraft to drive the robot to completely disengage from the wire to be measured, and make the wire to be measured located below the opening space of the robot. Control the aircraft to translate in the opposite side of the obliquely downward opening of the robot; When the edge of the obliquely downward opening of the robot completely disengages from the wire to be measured, control the aircraft to fly obliquely above the wire to be measured and away from the position of the wire to be measured; After leaving the position away from the wire to be measured, control the aircraft to fly to the predetermined ground placement position of the robot to complete the offline of the robot.

7. The method for the single-conductor X-ray detection robot to go offline according to claim 6, characterized in that Before the aircraft drives the robot to completely disengage from the wire to be measured, it further includes: After the robot finishes its operation, control the robot to walk to the safe position of the wire to be measured, and there are no electrical fittings interfering with the hoisting operation of the aircraft within the set range around the safe position; Observe the wingman taking off near the position where the wire to be measured is to be hoisted, and observe the distance relationship between the robot, the wire to be measured and the ground wire through the video image transmitted back by the wingman to determine whether the hoisting offline distance condition is met; If the hoisting offline distance condition is met, control the aircraft to take off to the safe height above the robot, and open the insulating gripper of the aircraft to the set opening and closing angle; Control the aircraft to descend from above the robot. When the insulating gripper is located on both sides of the hoisting mechanism of the robot, close the insulating gripper to the closed state to realize the connection between the aircraft and the robot; After determining that the aircraft is connected to the robot through observing the wingman, control the aircraft to rise and vertically lift the robot from the wire to be measured. During this process, observe whether the insulating gripper is loose and whether the robot collides with the wire to be measured through the image transmitted back by the wingman.

8. The method for the single-conductor X-ray detection robot to go offline according to claim 6, characterized in that Controlling the aircraft to fly to a predetermined ground placement position for the robot to complete the offline of the robot, including: Controlling the aircraft to descend from above the ground; When it is confirmed that the bottom of the robot is in safe contact with the ground and the pose of the robot does not tilt, opening the insulating gripper to a set opening angle to separate the aircraft from the lifting mechanism of the robot; When it is confirmed that the insulating gripper is completely separated from the lifting mechanism of the robot, controlling the aircraft to rise from above the robot, fly back to a safe position on the ground and shut down.

9. A single-conductor X-ray detection robot, characterized in that Including: a moving platform, a walking mechanism, a transmitter and a receiving board, the moving platform has an obliquely downward opening to form an internal opening space, and the walking mechanism includes a driving wheel, an outer auxiliary wheel group and an inner auxiliary wheel group located in the opening space; The driving wheel is arranged in the middle position of the moving platform, the outer auxiliary wheel group is arranged on one side of the driving wheel, the inner auxiliary wheel is arranged on the other side of the driving wheel, the transmitter is arranged at the bottom of the moving platform, and the receiving board extends forward in front of the walking direction of the moving platform; The driving wheel is used to contact the wire to be tested, the outer auxiliary wheel group is used to cooperate with the driving wheel to drive the robot to walk when the pose of the robot rotates, and the inner auxiliary wheel group is used to contact the lateral shunt reinforcement wire, and stable walking control is carried out through the multi-wheel cooperative cooperation of the driving wheel, the outer auxiliary wheel group and the inner auxiliary wheel group.

10. The single-conductor X-ray detection robot according to claim 9, characterized in that The driving wheel includes a first driving wheel and a second driving wheel arranged in sequence along the forward direction, a first outer auxiliary wheel and a first inner auxiliary wheel are correspondingly arranged on both sides of the first driving wheel, and a second outer auxiliary wheel and a second inner auxiliary wheel are correspondingly arranged on both sides of the second driving wheel; The first driving wheel and the second driving wheel are horizontally arranged, the first outer auxiliary wheel forms an angle greater than or equal to 90° with the first driving wheel, the second outer auxiliary wheel forms an angle greater than or equal to 90° with the second driving wheel, and the first inner auxiliary wheel and the second inner auxiliary wheel are vertically arranged.

11. The single-conductor X-ray detection robot according to claim 10, characterized in that The center of gravity of the robot is located below the driving wheel and on a straight line below the driving wheel parallel to the midpoint connection line of the first driving wheel and the second driving wheel, so that when the robot walks normally on the wire, the wire to be tested is located in the U-shaped groove in the middle of the driving wheel.

12. The single-conductor X-ray detection robot according to claim 10, characterized in that The walking mechanism further includes a front-end auxiliary wheel arranged at the front of the moving platform, and the front-end auxiliary wheel is used to contact the upper shunt reinforcement wire.

13. The single-conductor X-ray detection robot according to claim 12, characterized in that When the robot passes through a wire with an upper shunt reinforcement line, the front auxiliary wheel first contacts the upper shunt reinforcement line and moves upward along the upper shunt reinforcement line. The front end of the robot is raised and the first drive wheel is in a suspended state. At this time, the front auxiliary wheel and the second drive wheel support the robot, and the force on the second drive wheel increases, the friction force increases, and the robot is driven by the second drive wheel.

14. The single-conductor X-ray inspection robot according to any one of claims 9 to 13, characterized in that: The driving wheel comprises: a motor fixing seat, a driving motor, a motor output flange, an inner baffle, a wheel hub, a rubber wheel and an outer baffle, and the driving motor is fixed to the motion platform through the motor fixing seat; The driving motor is connected to the wheel hub via the motor output flange, the inner baffle plate and the outer baffle plate are connected to both ends of the wheel hub, the rubber wheel is sleeved on the outside of the wheel hub, and a U-shaped groove is provided in the middle of the rubber wheel.

15. The single-conductor X-ray inspection robot according to claim 14, characterized in that: When the robot passes through a conductor with a side shunt reinforcement line, under the force of the side shunt reinforcement line, the conductor to be tested breaks away from the U-shaped groove of the robot, the center of gravity of the robot deviates from the center of the conductor to be tested, the robot flips over, the driving wheel and the outer auxiliary wheel form cross wheels, and the robot continues to walk in the posture of the cross wheels.

16. The single-conductor X-ray inspection robot according to claim 9, characterized in that: The transmitter is arranged horizontally and fixed at the bottom of the moving platform. The transmitter emits X-rays vertically. The imaging range of the transmitter is a conical surface of ±20°. The receiving plate is fixed at the upper end of the moving platform and is arranged forward.

17. The single-conductor X-ray inspection robot according to claim 9, characterized in that: The inner auxiliary wheel includes: an axial end retaining ring, a roller support, a roller shaft, a nylon roller and a roller bearing. The roller bearings are connected to both ends of the roller shaft, and the outer ring of the roller bearing is connected to the roller support. The axial end retaining rings are connected to both ends of the roller shaft, and the nylon roller is sleeved on the outside of the roller shaft.

18. The single-conductor X-ray inspection robot according to any one of claims 9 to 13, characterized in that: An insulating lifting mechanism is provided on the motion platform, and the center line of the insulating lifting mechanism deviates to the side of the robot's center of gravity away from the oblique downward opening, so that when the aircraft lifts the robot, the robot tends to rotate clockwise under the action of gravity, thereby making the cable inlet oblique downward.

19. A single-wire X-ray detection robot system, characterized in that, It comprises an aircraft and the single-conductor X-ray inspection robot as described in any one of claims 9 to 18, wherein an insulating claw is provided at the bottom of the aircraft.

20. A stable walking control method for multi-wheel collaborative robots, characterized in that, Using the single-conductor X-ray inspection robot according to any one of claims 9 to 18, The process includes: After the robot is online, the driving wheel of the robot contacts the wire to be tested, and the driving wheel drives the robot to walk along the wire to be tested; When the pose of the robot rotates, the wire to be measured disengages from the driving wheel and contacts the outer side auxiliary wheel set to prevent the robot from tipping over; When the robot encounters a lateral shunt reinforcement wire in front of its walking direction, the driving wheel and the inner side auxiliary wheel set contact the lateral shunt reinforcement wire simultaneously to enable the robot to walk stably.

21. The method for controlling the stable walking of a multi-wheel collaborative robot according to claim 20, wherein the walking mechanism further includes a front-end auxiliary wheel arranged at the front part of the moving platform, and the driving wheel includes a first driving wheel and a second driving wheel arranged in sequence on the front and rear sides; When the robot passes through a wire with an upper shunt reinforcement wire, the front-end auxiliary wheel first contacts the upper shunt reinforcement wire and walks upward along the upper shunt reinforcement wire, causing the front end of the robot to rise and the driving wheel to be in a suspended state. At this time, the front-end auxiliary wheel and the second driving wheel support the robot, and the force on the second driving wheel increases, the friction increases, and the robot is driven by the second driving wheel.

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