Single-conductor X-ray inspection robot on-line method, off-line method and robot

Abstract

The present invention belongs to the technical field of electric power robots. Provided are a method for going online, a method for going offline, and a robot for a single-conductor X-ray detection robot. The robot is driven by a drone to move so that the conductor to be tested enters the robot's opening space through an oblique downward opening. When the conductor to be tested is within the center of gravity of the robot's opening space, the drone drives the robot to move vertically so that the robot's driving wheel falls onto the conductor to be tested. After the driving wheel contacts the conductor to be tested, the drone separates from the robot, completing the robot's online process. After the online process is completed, the robot's driving wheel and auxiliary wheels are used to perform multi-wheel coordinated stable walking control of the robot. The present invention enables the robot to go online and offline quickly and stably when carried by a drone, avoids interference with the upper phase conductor and the middle phase conductor of a double-circuit line, and achieves multi-wheel coordinated stable walking control of the robot on a single conductor.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power robots, and in particular to an online method and an offline method for a single-conductor X-ray detection robot, and the robot. Background Art

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

[0003] Because crimping overhead transmission lines is performed at height, installation is challenging and the quality of the crimping is difficult to observe macroscopically. Poor crimping can lead to a variety of defects, such as undervoltage, leaking voltage, empty pressure, and crimping misalignment. These defects can cause significant safety hazards during operation, such as abnormal heating and wire breakage. Therefore, the use of X-ray inspection technology for non-destructive testing of crimping hardware is of great significance.

[0004] Currently, most commonly used robots for inspecting transmission line crimp fittings are designed for horizontal double-split conductors. These robots are hoisted from above onto the horizontal double-split conductors using drones, then controlled to navigate along the conductors to perform X-ray inspection. However, existing inspection robots have several issues: They are unable to be hoisted from above onto the lower conductors due to obstruction by the upper and middle sub-conductors. Furthermore, existing inspection robots are unable to effectively and stably navigate a single conductor, hindering safe and reliable X-ray inspection of single-conductor crimp fittings. Summary of the Invention

[0005] In order to address the shortcomings of the existing technology, the present invention provides a single-conductor X-ray inspection robot online method, offline method and robot, innovatively proposes a lateral entry and exit strategy, designs a robot structure that can stably walk on a single conductor, makes up for the detection shortcomings of the lower phase sub-conductor of the double-circuit line, and realizes the 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:

[0007] In a first aspect, the present invention provides a method for bringing a single-conductor X-ray inspection robot online.

[0008] A method for bringing a single-conductor X-ray inspection robot online, the robot comprising a walking mechanism, the walking mechanism comprising a driving wheel and auxiliary wheels on both sides of the driving wheel, the robot having an oblique downward opening;

[0009] Controlling the aircraft to move the robot to an oblique position above the conductor to be tested, so that the oblique downward opening faces the conductor to be tested;

[0010] Controlling the aircraft to drive the movement of the robot so that the wire to be tested enters the opening space of the robot through the oblique downward opening;

[0011] When the wire to be tested is located within the center of gravity of the open space of the robot, controlling the aircraft to drive the robot to move vertically so that the driving wheel of the robot falls onto the wire to be tested;

[0012] After the driving wheel contacts the wire to be tested, the aircraft is controlled to separate from the robot, the robot is put online, and a walking control instruction is sent to the robot to use the driving wheel and the auxiliary wheel to perform multi-wheel coordinated stable walking control.

[0013] As an implementation of the first aspect of the present invention, before the robot is moved to an oblique position above the wire to be tested by the aircraft, the method further includes:

[0014] Place the robot statically on the ground, away from obstacles and operators;

[0015] By observing the video images sent back by the wingman, the distance between the conductor to be tested and the ground wire can be determined to determine whether the distance conditions for hoisting the conductor are met.

[0016] If the lifting distance condition is met, the aircraft is controlled to take off to a safe height above the robot, and the insulated claws of the aircraft are opened to the set opening and closing angle;

[0017] Controlling the aircraft to descend from above the robot, and when the insulating claws are located on both sides of the hoisting frame of the robot, closing the insulating claws to a closed state to achieve connection between the aircraft and the robot;

[0018] After confirming that the aircraft is connected to the robot, the aircraft is controlled to rise, the robot is lifted vertically, and the aircraft is controlled to fly obliquely above the wire to be tested.

[0019] As an implementation of the first aspect of the present invention, controlling the aircraft to drive the movement of the robot so that the wire to be tested enters the open space of the robot through an oblique downward opening includes:

[0020] The aircraft is controlled to descend from above the wire to be tested and the position of the robot is adjusted. A lateral wire entry method is adopted, and the robot is laterally hooked into the wire to be tested from one side of the wire to be tested.

[0021] As an implementation of the first aspect of the present invention, after the driving wheel contacts the wire to be tested, the aircraft is controlled to separate from the robot to complete the online operation, including:

[0022] After confirming, by observing the video images transmitted back by the wingman, that all the driving wheels of the robot are in safe contact with the conductor to be tested and that the position of the robot meets the predetermined operation requirements, the insulating claws of the aircraft are opened to a set opening and closing angle, so that the insulating claws are separated from the hoisting mechanism of the robot;

[0023] After confirming that the insulating claws are completely separated from the hoisting mechanism of the robot, controlling the aircraft to rise from above the robot;

[0024] After the aircraft is completely disconnected from the robot, the aircraft is controlled to fly back to a preset safe position.

[0025] As an implementation of the first aspect of the present invention, the auxiliary wheels include an outer auxiliary wheel group and an inner auxiliary wheel group, and the driving wheels and the auxiliary wheels are used to perform multi-wheel coordinated stable walking control of the robot, including:

[0026] 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 move along the wire to be tested;

[0027] When the robot rotates, the wire to be measured is separated from the driving wheel and contacts the outer auxiliary wheel group to prevent the robot from rolling over;

[0028] When the robot encounters a lateral flow diversion reinforcement line in front of the robot while walking, the driving wheel and the inner auxiliary wheel group contact the lateral flow diversion reinforcement line at the same time to make the robot walk stably.

[0029] In a second aspect, the present invention provides a single-conductor X-ray inspection robot offline method.

[0030] A method for offline production of a single-conductor X-ray inspection robot, wherein the robot includes a walking mechanism, the walking mechanism including a driving wheel and auxiliary wheels on both sides of the driving wheel, and the robot has an oblique downward opening, and the method includes the following steps:

[0031] Control the aircraft to drive the robot to completely separate from the wire to be tested, and make the wire to be tested be located slightly below the opening space of the robot, and control the aircraft to translate toward the opposite side of the robot's oblique downward opening;

[0032] When the edge of the robot's obliquely downward opening is completely separated from the wire to be tested, the aircraft is controlled to fly obliquely upward from the wire to be tested and away from the position of the wire to be tested;

[0033] After being away from the position of the wire to be tested, the aircraft is controlled to fly to a predetermined ground placement position of the robot to complete the offline of the robot.

[0034] As an implementation of the second aspect of the present invention, before the robot is driven by the aircraft to completely separate from the wire to be tested, the method further includes:

[0035] After the robot operation is completed, the robot is controlled to move to a safe position of the wire to be tested, and there is no electrical hardware within a set range around the safe position that interferes with the aircraft lifting operation;

[0036] By observing the video images sent back by the wingman, the distance relationship between the robot and the conductor to be tested and the ground wire is observed to determine whether the hoisting line distance conditions are met;

[0037] If the lifting distance condition is met, the aircraft is controlled to take off to a safe height above the robot, and the insulating claws of the aircraft are opened to the set opening and closing angle;

[0038] Controlling the aircraft to descend from above the robot, and when the insulating claws are located on both sides of the hoisting mechanism of the robot, closing the insulating claws to a closed state to achieve connection between the aircraft and the robot;

[0039] After confirming that the aircraft is connected to the robot by observing the wingman, the aircraft is controlled to rise and the robot is vertically lifted from the wire to be tested. During this process, the images sent back by the wingman are observed to see whether the insulating claws are loose and whether the robot collides with the wire to be tested.

[0040] As an implementation 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 robot offline includes:

[0041] Controlling the aircraft to descend from above the ground;

[0042] After confirming that the bottom of the robot is in safe contact with the ground and the robot is not tilted, opening the insulating claws to a set opening and closing angle to separate the aircraft from the robot's lifting mechanism;

[0043] After confirming that the insulating claws are completely separated from the hoisting mechanism of the robot, the aircraft is controlled to rise from above the robot, fly back to a safe position on the ground and shut down.

[0044] In a third aspect, the present invention provides a single-wire X-ray inspection robot.

[0045] A single-conductor X-ray inspection robot comprises: a motion platform, a walking mechanism, a transmitter, and a receiving plate. The motion platform is provided with an oblique downward opening to form an internal open space. The walking mechanism comprises a driving wheel, an outer auxiliary wheel set, and an inner auxiliary wheel set located within the open space.

[0046] The driving wheel is arranged in the middle of the motion platform, the outer auxiliary wheel group 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 front probe of the receiving plate is arranged in front of the motion platform.

[0047] 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 robot rotates, and the inner auxiliary wheel group is used to contact the lateral diversion reinforcement line. The driving wheel, the outer auxiliary wheel group and the inner auxiliary wheel group are used to perform stable walking control with multi-wheel coordination.

[0048] As an implementation of the third aspect of the present invention, the drive wheels include a first drive wheel and a second drive wheel arranged sequentially along a forward direction, a first outer auxiliary wheel and a first inner auxiliary wheel being arranged on either side of the first drive wheel, and a second outer auxiliary wheel and a second inner auxiliary wheel being arranged on either side of the second drive wheel.

[0049] The first drive wheel and the second drive wheel are arranged horizontally, the first outer auxiliary wheel forms an angle greater than or equal to 90° with the first drive wheel, the second outer auxiliary wheel forms an angle greater than or equal to 90° with the second drive wheel, and the first inner auxiliary wheel and the second inner auxiliary wheel are arranged vertically.

[0050] 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 that is 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 the U-shaped groove in the middle of the driving wheel.

[0051] 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.

[0052] As an implementation method of the third aspect of the present invention, when the robot passes through a wire with an upper diversion reinforcement line, the front auxiliary wheel first contacts the upper diversion reinforcement line and moves upward along the upper diversion 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.

[0053] As an implementation of the third aspect of the present invention, the driving wheel includes: a motor fixing base, 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 base;

[0054] The driving motor is connected to the wheel hub through the motor output flange. The inner baffle and the outer baffle 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.

[0055] As an implementation method of the third aspect of the present invention, when the robot passes through a conductor with a side diversion reinforcement line, under the action of the side diversion 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 a cross wheel, and the robot continues to walk in the posture of the cross wheel.

[0056] 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 at the upper end of the moving platform and adopts a forward-probing arrangement.

[0057] As an implementation method of the third aspect of the present invention, the inner auxiliary wheel includes: an axis end retaining ring, a roller support, a roller shaft, a nylon roller and a roller bearing, the roller shaft is connected to both ends of the roller bearing, the outer ring of the roller bearing is connected to the roller support, the axis end retaining ring is connected to both ends of the roller shaft, and the outer side of the roller shaft is sleeved with the nylon roller.

[0058] As an implementation method of the third aspect of the present invention, an insulating lifting mechanism is provided on the motion platform, and the center line of the insulating lifting mechanism deviates toward the side of the robot's center of gravity away from the downward opening, so that when the aircraft lifts the robot, the robot tends to rotate clockwise under the action of gravity, thereby making the wire inlet tilt downward.

[0059] In a fourth aspect, the present invention provides a single-wire X-ray inspection robot system.

[0060] A single-conductor X-ray inspection robot system comprises an aircraft and the single-conductor X-ray inspection robot according to the third aspect of the present invention, wherein an insulating claw is provided at the bottom of the aircraft.

[0061] In a fifth aspect, the present invention provides a method for controlling the stable walking of a multi-wheeled collaborative robot.

[0062] A method for controlling the stable walking of a multi-wheeled collaborative robot, using the single-wire X-ray inspection robot described in the third aspect of the present invention, includes the following steps:

[0063] 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 move along the wire to be tested;

[0064] When the robot rotates, the wire to be tested is separated from the driving wheel and contacts the outer auxiliary wheel group to prevent the robot from rolling over;

[0065] When the robot encounters a lateral flow diversion reinforcement line in front of the robot while walking, the driving wheel and the inner auxiliary wheel group contact the lateral flow diversion reinforcement line at the same time to make the robot walk stably.

[0066] As an implementation of the fifth aspect of the present invention, the walking mechanism further includes a front auxiliary wheel arranged at the front of the motion platform, and the driving wheels include a first driving wheel and a second driving wheel arranged sequentially at the front and rear sides;

[0067] When the robot passes through a wire with an upper shunt reinforcement wire, the front auxiliary wheel first contacts the upper shunt reinforcement wire and moves upward along the upper shunt reinforcement wire. The front end of the robot is raised and the 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.

[0068] Compared with the prior art, the present invention has the following beneficial effects:

[0069] 1. The present invention innovatively proposes an oblique upward and downward wiring method. The aircraft drives the movement of the robot, so that the wire to be tested enters the opening space of the robot through the oblique downward opening, realizing the rapid and stable online and offline of the robot carried by the aircraft, avoiding interference with the upper phase conductor and the middle phase conductor of the double-circuit line, ensuring the safety of the aircraft's insertion between the double-circuit lines, and making up for the shortcomings of the live detection of the lower phase sub-conductor of the double-circuit line.

[0070] 2. The present invention innovatively proposes a method for controlling the stable walking of a multi-wheeled collaborative robot, develops a single-conductor X-ray inspection robot, designs a motion platform with an oblique downward opening, calibrates the center of gravity of the robot, and realizes the stable walking of the robot with the cooperation of multiple wheels such as driving wheels, outer auxiliary wheels, inner auxiliary wheels and front auxiliary wheels. It improves the situational applicability of the robot with lateral diversion reinforcement lines and upper diversion reinforcement lines, avoids rollover during rotation of the robot, and ensures the stability of the robot walking on a single conductor.

[0071] Advantages of additional aspects of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] The accompanying drawings, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0073] Figure 1 A schematic diagram of the structure of the detection robot provided by the present invention;

[0074] Figure 2 A schematic diagram of the safe range of live working provided by the present invention;

[0075] Figure 3 This is a schematic diagram of the online stable state of the robot provided by the present invention;

[0076] Figure 4 Layout diagram of the detection part and center of gravity position diagram provided by the present invention;

[0077] Figure 5 A diagram showing the relationship between the lifting center position and the center of gravity provided by the present invention;

[0078] Figure 6 A diagram of the robot hoisting posture provided by the present invention;

[0079] Figure 7 A schematic diagram of the anti-loosening compression tube provided by the present invention;

[0080] Figure 8 Schematic diagram of the distribution of the wheel group of the walking mechanism provided by the present invention Figure 1 ;

[0081] Figure 9 Schematic diagram of the distribution of the wheel group of the walking mechanism provided by the present invention Figure 2 ;

[0082] Figure 10 A schematic diagram of the wide U-shaped drive wheel provided by the present invention;

[0083] Figure 11 A schematic diagram of the inner auxiliary wheel provided by the present invention;

[0084] Figure 12 Schematic diagram of the conductor detection with lateral shunt reinforcement line provided by the present invention Figure 1 ;

[0085] Figure 13 Schematic diagram of the conductor detection with lateral shunt reinforcement line provided by the present invention Figure 2 ;

[0086] Figure 14 A schematic diagram of the forces acting on a conductor during inspection with a shunt reinforcement wire provided by the present invention; wherein G is the robot's own gravity, F is the wind force, F1 is the left-downward force on the robot, and F2 is the right-downward force on the robot;

[0087] Figure 15 A schematic diagram of the outer auxiliary wheel provided by the present invention;

[0088] Figure 16 A schematic diagram of the front auxiliary wheel provided by the present invention;

[0089] Figure 17 A schematic diagram of the present invention when detecting a conductor with an upper shunt reinforcement line;

[0090] Among them, 1. Insulated support legs; 2. Insulated grippers; 3. UAV; 4. Insulated lifting mechanism; 5. Transmitter; 6. Receiver board; 7. Wide U-shaped drive wheel; 8. Outer auxiliary wheel; 9. Inner auxiliary wheel; 10. Front auxiliary wheel; 11. Motion platform; 12. Electronic control components; 13. Crimp fittings; 14. Robot center of gravity; 15. Anti-loosening crimp tube tail; 16. Motor fixing seat; 17. Drive motor; 18. Motor output flange; 19. Inner baffle; 20. Outer baffle; 21. Hub; 22. Rubber wheel; 23. U-shaped groove; 24. Roller support; 25. Roller bearing; 26. Roller shaft; 27. Shaft end retaining ring; 28. Nylon roller; 29. ​​Lateral diverter reinforcement line; 30. Upper diverter reinforcement line; 31. Oblique downward opening. DETAILED DESCRIPTION

[0091] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0092] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention belongs.

[0093] As mentioned in the background technology, most existing robots can only perform X-ray inspection of horizontal double-split conductors. For single-conductor inspection, most use a "drone 3 + long insulating rope" solution. This solution can complete most single-conductor crimping tube inspections, but it is still difficult to effectively inspect the lower phase sub-conductor of a double-circuit line due to obstruction by the upper and middle phase sub-conductors. In view of this, in this implementation, a single-conductor X-ray inspection robot (hereinafter referred to as "robot") is proposed. Figure 1As shown, it includes: a motion platform 11, a walking mechanism, a transmitter 5 and a receiving plate 6. The motion platform 11 has an oblique downward opening 31. The walking mechanism includes a wide U-shaped drive wheel 7, an outer auxiliary wheel 8, an inner auxiliary wheel 9 and a front auxiliary wheel 10. Through the combined design of "wide U-shaped drive wheel 7 + outer auxiliary wheel 8 + inner auxiliary wheel 9 + front auxiliary wheel 10", the robot's adaptability to complex line environments is improved, and X-ray detection of crimping hardware 13 of lines with lateral drainage lines and upper drainage lines can be realized.

[0094] In this implementation, the wide U-shaped drive wheel 7 is arranged on the upper part of the motion platform 11, the outer auxiliary wheel 8 is arranged on the outside of the drive wheel, and the inner auxiliary wheel 9 is arranged on the inside of the drive wheel. The transmitter 5 is arranged at the bottom of the motion platform 11, and the receiving plate 6 is arranged in front of the motion platform 11; the wide U-shaped drive wheel 7 is used to contact the wire to be tested, the outer auxiliary wheel 8 is used to cooperate with the drive wheel to drive the robot to walk when the robot rotates, and the inner auxiliary wheel 9 is used to contact the lateral diversion reinforcement line 29.

[0095] In this implementation, preferably, the robot is hoisted by a drone 3 (the drone 3 here is a form of aircraft. It can be understood that in other implementations, other forms of aircraft can also be used, such as a manned light-load aircraft or an airship, as long as the robot can be stably hoisted. This will not be described in detail here. This embodiment mainly takes the drone 3 as an example). Figure 1 and Figure 2 As shown, the bottom of the drone 3 is connected to an insulating leg 1 and an insulating claw 2, and the top of the motion platform 11 is connected to an insulating lifting mechanism 4. The lifting mechanism here is in the form of a lifting frame. The insulating legs 1, insulating claw 2, and insulating lifting mechanism 4 of the drone 3 are all insulated and made of high-strength, high-insulating epoxy resin (tube, plate) materials to ensure absolute insulation between the drone 3 and the robot.

[0096] like Figure 2 As shown, UAV 3 moves to the lower left ( Figure 2 As shown by the arrow in the figure, the robot moves from the upper direction to the lower direction to drop the wire) until the robot is hung on the wire. Figure 3 As shown, both sides of the wide U-shaped driving wheel 7 are inclined surfaces. Under the action of gravity, the robot slides into the U-shaped wheel groove.

[0097] pass Figure 2It can be seen that for the robot going up and down the line method with a single conductor phase spacing, the phase spacing of the 110kV double-circuit line is about 4 meters (the standard stipulates at least 3.5 meters). Taking into account the safety distance and the characteristics of the single conductor, the single-conductor robot can use a vertical distance of 1 meter. Therefore, this implementation adopts a lateral line entry method as the robot's up and down conductor method, that is, the robot hangs the conductor from one side of the conductor. The longitudinal size of the "UAV 3 + robot" is small, which can meet the detection of the lower phase conductor. Through the lateral hanging method, this implementation method can intersperse the drone 3 between the multiple circuit lines to realize X-ray detection of the double-circuit lower phase sub-conductor crimping hardware 13.

[0098] In this implementation, preferably, the drone 3 is a heavy-load drone 3 that can lift the robot, and an optical camera and an insulating claw 2 are installed on its belly. The insulating claw 2 is installed under the belly of the drone 3 and is an auxiliary connection device for hanging the robot on the overhead transmission line conductor. This implementation is used in conjunction with an observation wingman. The observation wingman is a light drone that can approach the transmission line for observation, and provides high-definition images for ground workers during the entire process of robot detection operations.

[0099] In this implementation, preferably, Figure 4 In the design, the installation positions of various components are reasonably configured. The center of gravity of the robot (it can also be a circular center of gravity range with a small radius with the center of gravity as the origin to enhance the control convenience during lifting) is located below the wide U-shaped drive wheel 7. The center of gravity of the robot is located on a straight line below the drive wheel that is parallel to the line connecting the midpoints of the first drive wheel and the second drive 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 drive wheel. This ensures that the robot has a stable posture when walking on the line and will not overturn.

[0100] The center line of the insulating hoisting mechanism 4 is arranged slightly to the left of the robot's center of gravity 14 (ie, the center line of the insulating hoisting mechanism 4 deviates to the side of the robot's center of gravity 14 away from the opening). Figure 5 As shown, when the drone 3 lifts the robot, the robot will tend to rotate clockwise under the action of gravity, as shown in Figure 6 As shown, the line inlet is tilted downward to facilitate the robot to go online and offline.

[0101] In this implementation, preferably, all mechanisms of the robot are fixed on the motion platform 11 using a specific connection form. The motion platform 11 bracket is welded with lightweight aluminum alloy material, and a metal shielding space is reserved to place the transmitter 5, the receiving board 6, the electronic control element 12 and other components that require electrical shielding. More specifically, the receiving board 6 is probed forward (located in the metal shielding space) to detect the tail of the anti-loosening crimping tube 15. The transmitter 5 is also located in the metal shielding space, and the metal shielding is used to achieve live detection.

[0102] like Figure 4 As shown, the detection part mainly includes a transmitter 5 and a receiving plate 6. The transmitter 5 is arranged horizontally and fixed at the bottom of the moving platform 11. It emits X-rays vertically. The imaging range of the transmitter 5 is a ±20° conical surface. The receiving plate 6 is fixed at the upper end of the moving platform 11 and adopts a forward detection arrangement. Such an arrangement can maximize the coverage of the detector to the compression tube and solve the problem of incomplete detection of the tail 15 of the anti-loosening compression tube. Figure 7 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 size of the "robot + drone" and expanding the longitudinal movement range of the drone 3.

[0103] In this implementation, preferably, the wide U-shaped drive wheel 7 includes a first drive wheel and a second drive wheel arranged in sequence along the forward direction. The first drive wheel and the second drive wheel are both made of silicone rubber with high friction, and serve as the main drive wheel to drive the robot to walk on the line.

[0104] A first outer auxiliary wheel and a first inner auxiliary wheel 9 are correspondingly arranged on both sides of the first drive wheel, and a second outer auxiliary wheel and a second inner auxiliary wheel 9 are correspondingly arranged on both sides of the second drive wheel; the first drive wheel and the second drive wheel are arranged horizontally, 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, and the first inner auxiliary wheel 9 and the second inner auxiliary wheel 9 are arranged vertically.

[0105] In this implementation, preferably, the first outer auxiliary wheel is arranged at an angle of 90° to the first driving wheel, and the second outer auxiliary wheel is arranged at an angle of 90° to the second driving wheel. Figure 4 shown.

[0106] In some other implementations, such as Figure 8 and Figure 9 As shown, the first outer auxiliary wheel is arranged at an angle of 120° to the first driving wheel, and the second outer auxiliary wheel is arranged at an angle of 120° to the second driving wheel. The structures of the first outer auxiliary wheel and the second outer auxiliary wheel are as shown in FIG. Figure 15 shown.

[0107] like Figure 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 wheel hub 21, a rubber wheel 22 and an outer baffle 20. The drive motor is fixed to the motion platform 11 through the motor fixing seat 16; the drive motor 17 is connected to the wheel hub 21 through the motor output flange, and the two ends of the wheel hub 21 are connected to the inner baffle 19 and the outer baffle 20. The outer part of the wheel hub 21 is provided with a rubber wheel 22, and the middle position of the rubber wheel 22 is provided with a U-shaped groove 23.

[0108] In this implementation, preferably, when passing through the wire with the lateral diversion reinforcement line 29, the inner auxiliary wheel 9 and the lateral diversion reinforcement line 29 roll friction to avoid hard friction and improve the robot's passability. Figure 11 As shown, the inner auxiliary wheel 9 includes: a shaft end retaining ring 27, a roller support 24, a roller shaft 26, a nylon roller 28 and a roller bearing 25. The roller shaft 26 is connected to both ends of the roller bearing 25. The outer ring of the roller bearing 25 is connected to the roller support 24. The roller shaft 26 is connected to both ends of the shaft end retaining ring 27. The outer surface of the roller shaft 26 is provided with a nylon roller 28.

[0109] When the robot passes through a conductor with a lateral drainage line, the robot will escape from the main conductor under the action of the lateral drainage line, that is, the main conductor will escape from the U-shaped groove 23 of the robot's wide U-shaped driving wheel 7. At this time, the robot's center of gravity 14 deviates from the center of the conductor. As the deviation increases, the robot will flip over, and the wide U-shaped driving wheel 7 and the corresponding outer auxiliary wheel 8 will form a cross wheel form. The robot continues to walk in this posture. Figure 12 and Figure 13 shown.

[0110] like Figure 14 As shown, according to the principles of mechanics, 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 on the lower left or F2 on the lower right. Since the robot is not subjected to an upward force and has no upward movement tendency, the robot will not fall off the wire.

[0111] In this implementation, preferably, the walking mechanism, such as Figure 16 As shown, the robot also includes front auxiliary wheels 10 arranged at the front of the motion platform 11. These front auxiliary wheels 10 are used to contact the upper diversion reinforcement wire 30. Specifically, when the conductor has a large slope or an upper diversion wire is present, the front of the robot may contact the conductor first. To prevent hard friction between the robot and the conductor, the front auxiliary wheels 10 are installed at the front of the robot. When the robot travels on a horizontal conductor, the front auxiliary wheels 10 do not contact the conductor.

[0112] When the robot passes through the conductor with the upper shunt reinforcement wire 30, Figure 17 As shown, the front auxiliary wheel 10 first contacts the upper diversion reinforcement line 30 and moves upward along the upper diversion reinforcement line 30. The front end of the robot is raised, and the first drive wheel (i.e., the front drive wheel) is in a suspended state. At this time, the front auxiliary wheel 10 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 (i.e., the rear drive wheel).

[0113] In this implementation, preferably, a robot online method and a robot offline method are also proposed, specifically including: the drone 3 hoisting online process and the drone 3 hoisting offline process. This implementation is introduced using pilot control as an example. It can be understood that in some other implementations, the corresponding online and offline controls can also be automatically performed through the control terminal, which will not be repeated here.

[0114] S1: UAV 3 hoisting and online process, specifically including:

[0115] S1.1: Place the robot statically on the ground, away from obstacles and operators.

[0116] S1.2: Observe the wingman take off and approach the planned overhead transmission line. Observe the video images sent back by the wingman to determine the distance between the conductors and the ground wire, and determine whether the distance conditions for hoisting the line are met.

[0117] S1.3: If the lifting distance conditions are met, control UAV 3 to take off to a safe height above the robot and open the insulated claw 2 to the set opening and closing angle;

[0118] S1.4: Control UAV 3 to slowly descend from above the robot. When the insulating claws 2 are located on both sides of the insulating lifting mechanism 4, close the insulating claws 2 to the closed state to connect UAV 3 to the robot.

[0119] S1.5: After confirming that UAV 3 is firmly connected to the robot, control UAV 3 to slowly ascend, lifting the robot vertically from the ground.

[0120] S1.6: After the robot leaves the ground, control UAV 3 to fly above the overhead power line conductors;

[0121] S1.7: Control Drone 3 to slowly descend from above the conductor and adjust the robot's position. Because the robot has a single-sided opening, a sideways (or diagonal) approach is required. That is, the robot hooks the conductor from one side. Control Drone 3 to move the robot's opening to a position diagonally above the conductor, so that the robot's downward-sloping opening faces the conductor.

[0122] S1.8: Control UAV 3 to move the robot horizontally toward the conductor to be tested, bringing the robot's downwardly angled opening closer to the conductor. When the conductor is at the inner center of the robot (i.e., within the center range), the robot stops horizontal movement. At this point, control UAV 3 to move the robot vertically below the conductor to be tested, placing the U-shaped groove 23 of the robot's wide U-shaped drive wheel 7 onto the conductor to be tested.

[0123] S1.9: After confirming, by observing the video feed from the wingman, that all of the robot's wide U-shaped drive wheels 7 are securely in contact with the wires and their positions meet the predetermined operational requirements, the insulated grippers 2 are opened to the set opening and closing angle, separating the drone 3 from the robot.

[0124] S1.10: After confirming that the insulated claw 2 is completely separated from the robot, control the drone 3 to slowly rise above the robot.

[0125] S1.11: After UAV 3 is completely disconnected from the robot, control UAV 3 to fly back to a safe position on the ground.

[0126] S2: The process of hoisting and unloading UAV 3 includes:

[0127] S2.1: After the robot operation is completed, the operator remotely controls the robot to move to a safe location on the overhead transmission line. There are no electrical hardware within 5 meters of this location that could interfere with the lifting operation of UAV 3.

[0128] S2.2: Observe the wingman take off and fly to the vicinity of the planned overhead transmission line installation location. Observe the distance between the robot and the conductors and ground wires by watching the video images sent back by the wingman to determine whether the installation distance is met.

[0129] S2.3: If the lifting distance condition is met, control UAV 3 to take off to a safe height above the robot and open the insulated claw 2 to the set opening and closing angle;

[0130] S2.4: Control UAV 3 to slowly descend from above the robot. When the insulating claws 2 are located on both sides of the insulating lifting mechanism 4, close the insulating claws 2 to the closed state to connect UAV 3 to the robot.

[0131] S2.5: After the pilot confirms that UAV 3 and the robot are connected by observing the wingman, he or she controls UAV 3 to slowly ascend, lifting the robot vertically from the wire. During this process, the pilot carefully observes the images transmitted by the wingman to see if the insulating claw 2 is loose or if the robot collides with the wire.

[0132] S2.6: When the robot is completely free of the overhead wire and the wire is located slightly below the robot's opening, control UAV 3 to move horizontally toward the opposite side of the robot's downward opening.

[0133] S2.7: When the edge of the robot's downward opening is completely clear of the wire, control UAV 3 to fly diagonally upward from the wire to be tested, away from the wire to be tested.

[0134] S2.8: After moving away from the location of the wire to be tested, control UAV 3 to fly to the ground location where the robot is placed;

[0135] S2.9: Control UAV 3 to slowly descend from the ground. During this process, carefully observe whether the robot collides with the ground.

[0136] S2.10: After confirming that the bottom of the robot is in safe contact with the ground and that the robot's body posture is not significantly tilted, open the insulating claws 2 to the set opening and closing angle to separate the drone 3 from the insulating lifting mechanism 4.

[0137] S2.11: After confirming that the insulating claw 2 is completely separated from the robot, control the drone 3 to slowly rise from above the robot, fly back to a safe position on the ground, and shut down.

[0138] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A method for putting a single-conductor X-ray inspection robot online, characterized in that: The robots include: A motion platform and a walking mechanism, wherein the motion platform has an oblique downward opening to form an internal open space, and the walking mechanism includes a drive wheel, an outer auxiliary wheel set, and an inner auxiliary wheel set located within the open space; the drive wheel is arranged in the middle of the motion platform, the outer auxiliary wheel set is arranged on one side of the drive wheel, and the inner auxiliary wheel is arranged on the other side of the drive wheel; Controlling the aircraft to move the robot to an oblique position above the conductor to be tested, so that the oblique downward opening faces the conductor to be tested; Controlling the aircraft to drive the movement of the robot so that the wire to be tested enters the opening space of the robot through the oblique downward opening; When the wire to be tested is located within the center of gravity of the open space of the robot, controlling the aircraft to drive the robot to move vertically so that the driving wheel of the robot falls onto the wire to be tested; After the driving wheel contacts the wire to be tested, the aircraft is controlled to separate from the robot, the robot is put online, and a walking control instruction is sent to the robot to use the driving wheel and the auxiliary wheel to perform multi-wheel coordinated stable walking control.

2. The single-conductor X-ray inspection robot on-line method according to claim 1, characterized in that: Before the robot is moved to an oblique position above the conductor to be tested by the aircraft, the method further includes: Place the robot statically on the ground, away from obstacles and operators; By observing the video images sent back by the wingman, the distance between the conductor to be tested and the ground wire can be determined to determine whether the distance conditions for hoisting the conductor are met. If the lifting distance condition is met, the aircraft is controlled to take off to a safe height above the robot, and the insulated claws of the aircraft are opened to the set opening and closing angle; Controlling the aircraft to descend from above the robot, and when the insulating claws are located on both sides of the hoisting frame of the robot, closing the insulating claws to a closed state to achieve connection between the aircraft and the robot; After confirming that the aircraft is connected to the robot, controlling the aircraft to rise and vertically lift the robot; The aircraft is controlled to fly obliquely above the wire to be tested.

3. The single-conductor X-ray inspection robot on-line method according to claim 1, characterized in that: Controlling the aircraft to drive the movement of the robot so that the wire to be tested enters the opening space of the robot through the oblique downward opening includes: The aircraft is controlled to descend from above the wire to be tested and the position of the robot is adjusted. A lateral wire entry method is adopted, and the robot is laterally hooked into the wire to be tested from one side of the wire to be tested.

4. The single-conductor X-ray inspection robot on-line method according to claim 1, characterized in that: After the driving wheel contacts the wire to be tested, the aircraft is controlled to separate from the robot to complete the online process, including: After confirming, by observing the video images transmitted back by the wingman, that all the driving wheels of the robot are in safe contact with the conductor to be tested and that the position of the robot meets the predetermined operation requirements, the insulating claws of the aircraft are opened to a set opening and closing angle, so that the insulating claws are separated from the hoisting mechanism of the robot; After confirming that the insulating claws are completely separated from the hoisting mechanism of the robot, controlling the aircraft to rise from above the robot; After the aircraft is completely disconnected from the robot, the aircraft is controlled to fly back to a preset safe position.

5. The single-conductor X-ray inspection robot on-line method according to any one of claims 1 to 4, characterized in that: The auxiliary wheels include an outer auxiliary wheel group and an inner auxiliary wheel group, and the driving wheels and the auxiliary wheels are used to perform multi-wheel coordinated stable walking control of the robot, including: 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 move along the wire to be tested; When the robot rotates, the wire to be measured is separated from the driving wheel and contacts the outer auxiliary wheel group to prevent the robot from rolling over; When the robot encounters a lateral flow diversion reinforcement line in front of the robot while walking, the driving wheel and the inner auxiliary wheel group contact the lateral flow diversion reinforcement line at the same time to make the robot walk stably.

6. A single-wire X-ray inspection robot offline method, characterized in that: The robots include: A motion platform and a walking mechanism, wherein the motion platform has an oblique downward opening to form an internal open space, and the walking mechanism includes a drive wheel, an outer auxiliary wheel set, and an inner auxiliary wheel set located within the open space; the drive wheel is arranged in the middle of the motion platform, the outer auxiliary wheel set is arranged on one side of the drive wheel, and the inner auxiliary wheel is arranged on the other side of the drive wheel; Control the aircraft to drive the robot to completely separate from the wire to be tested, and make the wire to be tested be located slightly below the opening space of the robot, and control the aircraft to translate toward the opposite side of the robot's oblique downward opening; When the edge of the obliquely downward opening of the robot is completely separated from the wire to be tested, the aircraft is controlled to fly obliquely upward from the wire to be tested and away from the position of the wire to be tested; After being away from the position of the wire to be tested, the aircraft is controlled to fly to a predetermined ground placement position of the robot to complete the offline of the robot.

7. The single-conductor X-ray inspection robot offline method according to claim 6, characterized in that: Before the robot is driven by the aircraft to completely separate from the wire to be tested, the method further includes: After the robot operation is completed, the robot is controlled to move to a safe position of the wire to be tested, and there is no electrical hardware within a set range around the safe position that interferes with the aircraft lifting operation; The wingman is observed to take off to the vicinity of the intended hoisting position of the wire to be tested, and the distance relationship between the robot and the wire to be tested and the ground wire is observed by observing the video image returned by the wingman to determine whether the hoisting distance conditions are met; If the lifting distance condition is met, the aircraft is controlled to take off to a safe height above the robot, and the insulating claws of the aircraft are opened to the set opening and closing angle; Controlling the aircraft to descend from above the robot, and when the insulating claws are located on both sides of the hoisting mechanism of the robot, closing the insulating claws to a closed state to achieve connection between the aircraft and the robot; After confirming that the aircraft is connected to the robot by observing the wingman, the aircraft is controlled to rise and the robot is vertically lifted from the wire to be tested. During this process, the images sent back by the wingman are observed to see whether the insulating claws are loose and whether the robot collides with the wire to be tested.

8. The single-conductor X-ray inspection robot offline method according to claim 6, characterized in that: Controlling the aircraft to fly to a predetermined ground location for the robot to be placed, thereby completing the robot offline, includes: Controlling the aircraft to descend from above the ground; After confirming that the bottom of the robot is in safe contact with the ground and the robot is not tilted, the insulating claws are opened to a set opening and closing angle to separate the aircraft from the robot's lifting mechanism; After confirming that the insulating claws are completely separated from the hoisting mechanism of the robot, the aircraft is controlled to rise from above the robot, fly back to a safe position on the ground and shut down.

9. A single-wire X-ray inspection robot, characterized in that: include: A motion platform, a walking mechanism, a transmitter and a receiving plate, wherein the motion platform has an oblique downward opening to form an internal open space, and the walking mechanism includes a driving wheel, an outer auxiliary wheel group and an inner auxiliary wheel group located in the open space; The driving wheel is arranged in the middle of the motion platform, the outer auxiliary wheel group 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 front probe of the receiving plate is arranged in front of the motion 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 robot rotates, and the inner auxiliary wheel group is used to contact the lateral diversion reinforcement line. The driving wheel, the outer auxiliary wheel group and the inner auxiliary wheel group are used to perform stable walking control with multi-wheel coordination.

10. The single-wire X-ray inspection robot according to claim 9, characterized in that: The driving wheels include 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 arranged on both sides of the first driving wheel respectively, and a second outer auxiliary wheel and a second inner auxiliary wheel are arranged on both sides of the second driving wheel respectively; The first drive wheel and the second drive wheel are arranged horizontally, the first outer auxiliary wheel forms an angle greater than or equal to 90° with the first drive wheel, the second outer auxiliary wheel forms an angle greater than or equal to 90° with the second drive wheel, and the first inner auxiliary wheel and the second inner auxiliary wheel are arranged vertically.

11. The single-wire X-ray inspection robot according to claim 10, wherein: The center of gravity of the robot is located below the driving wheel and on a straight line below the driving wheel that is 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 the U-shaped groove in the middle of the driving wheel.

12. The single-wire X-ray inspection robot according to claim 10, wherein: 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.

13. The single-wire X-ray inspection robot according to claim 12, wherein: 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-wire 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 through the motor output flange. The inner baffle and the outer baffle 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-wire X-ray inspection robot according to claim 14, characterized in that: When the robot passes through a conductor with a side shunt reinforcement line, the conductor to be tested is separated from the U-shaped groove of the robot under the force of the side shunt reinforcement line, 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 a cross wheel, and the robot continues to walk in the posture of the cross wheel.

16. The single-wire X-ray inspection robot according to claim 9, wherein: The transmitter is arranged horizontally and fixed at the bottom of the motion 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 motion platform and is arranged in a forward-looking manner.

17. The single-wire X-ray inspection robot according to claim 9, characterized in that: The inner auxiliary wheel includes: an axis 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 axis 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-wire 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 toward 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 wire inlet oblique downward.

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

20. A method for controlling the stable walking of a multi-wheeled cooperative robot, characterized in that: Utilizing the single-conductor X-ray inspection robot according to any one of claims 9 to 18, The following processes are included: 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 move along the wire to be tested; When the robot rotates, the wire to be tested is separated from the driving wheel and contacts the outer auxiliary wheel group to prevent the robot from rolling over; When the robot encounters a lateral flow diversion reinforcement line in front of the robot while walking, the driving wheel and the inner auxiliary wheel group contact the lateral flow diversion reinforcement line at the same time to make the robot walk stably.

21. The method for controlling the stable walking of a multi-wheeled cooperative robot according to claim 20, wherein: The walking mechanism also includes a front auxiliary wheel arranged at the front of the motion platform, and 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 auxiliary wheel first contacts the upper shunt reinforcement wire and moves upward along the upper shunt reinforcement wire. The front end of the robot is raised and the 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.

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