Overhead transmission line lead acceptance robot system and control method

Abstract

The invention relates to an overhead transmission line wire acceptance robot system and a control method. The overhead transmission line wire acceptance robot system has the functions of multi-dimensional adjustment, dynamic clamping, profiling obstacle crossing and visual recognition. Wire specification adaptation is achieved through self-adaptive spacing adjustment, obstacle crossing is completed based on cooperation of elastic clamping and turnover type obstacle crossing, and wire surface defect detection is implemented by adopting a multi-angle visual acquisition technology. According to the system, the motion stability is enhanced through composite driving control, the acceptance efficiency is improved by combining an intelligent control algorithm, the modular architecture design supports multi-split conductor scene application, and the characteristics of high-precision detection and full-process automatic operation are achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of aerial work robots and relates to an overhead power transmission line conductor acceptance robot system and a control method. Background Art

[0002] With the rapid development of the power industry, overhead transmission lines play a key role in power transmission. The inspection and maintenance of overhead transmission lines are crucial to ensuring the safety and stability of power systems. However, traditional manual inspection methods are not only time-consuming and labor-intensive, but also pose safety risks and lack reliability. In high-altitude working environments, manual operations are more susceptible to factors such as weather and lighting, leading to unreliable inspection results. In recent years, with the development of robotics and artificial intelligence, an increasing number of research institutions have begun exploring the application of automation technology to the inspection and acceptance of overhead transmission lines. In particular, advances in visual inspection technology have enabled robots to efficiently and accurately identify and determine the status of overhead transmission lines in complex environments. Furthermore, the application of obstacle-crossing technology enables robots to autonomously navigate and safely overcome various obstacles.

[0003] While some research has explored the integration of overhead transmission line inspection and robotics, practical applications still face numerous challenges, such as environmental adaptability, real-time data processing capabilities, and intelligent decision-making. To reduce the incidence of transmission line damage, there is an urgent need for a conductor inspection robot capable of inspecting overhead transmission lines, promptly identifying and repairing problems, thereby preventing conductor failure and reducing the risk of property damage. For example, patent publication number CN107086489A discloses a detachable obstacle-crossing robot arm for overhead high-voltage transmission lines. The arm comprises a cross-locking mechanism, a gear pair wire-holding mechanism, a slope-adaptive guide mechanism, a push rod brake mechanism, and a rack-and-pinion mechanism. The robot arm is capable of locking and detaching, rapidly opening and closing the support arm, maintaining stability during travel, locking and releasing the running wheels, and adapting to slopes to prevent overturning. This invention features adaptive slope and obstacle-crossing locking functions, optimizing obstacle crossing methods and making the process more flexible. However, it also struggles to address the issues of slippage and insufficient stability during travel on transmission lines.

[0004] It can be seen that although the existing technology has made some progress in the design of obstacle crossing devices, further improvement and innovation are still needed in improving the stability, anti-slip performance and scope of application during the acceptance process of overhead transmission line conductors, so as to better cope with the operation challenges of transmission lines in harsh environments. Summary of the Invention

[0005] Technical purpose: To overcome the problems of low efficiency, uneven acceptance quality and high risk factor of manual operation when workers are inspecting and accepting conductive wires, the present invention provides an overhead transmission line conductor acceptance robot system and control method, which can significantly improve the work efficiency of overhead transmission line conductor acceptance.

[0006] Technical solution: To achieve the above technical objectives, the present invention adopts the following technical solution:

[0007] An overhead transmission line conductor acceptance robot system includes an adaptive spacing adjustment device, a winding and tensioning device, a flip-type obstacle crossing device, and a multi-angle visual acquisition device;

[0008] Two winding tensioning devices are provided at the top of the adaptive spacing adjustment device, and the adaptive spacing adjustment device is used to adjust the horizontal spacing between the two tensioning devices;

[0009] The wire winding and tensioning device includes two sets of beams with adjustable vertical spacing, each set of beams is provided with at least two flip-type obstacle-crossing devices and at least one multi-angle visual acquisition device, each flip-type obstacle-crossing device is provided with a flip arm and a running wheel mounted on the end of the flip arm, and the flip-type obstacle-crossing devices provided on the upper and lower sets of beams are the same in number and are positioned vertically opposite to each other. The wire winding and tensioning device achieves elastic clamping of the overhead transmission line conductor by the running wheel by adjusting the vertical spacing of each set of beams;

[0010] The multi-angle visual acquisition device includes an angle-adjustable bracket, a plurality of miniature camera detection modules installed on the angle-adjustable bracket, and a laser ranging module installed on each group of beams.

[0011] Preferably, the adaptive spacing adjustment device includes a transverse frame and multiple longitudinal connectors. The transverse frame is a rectangular structure with adjustable width and fixed length. The longitudinal connectors are arranged at each top corner of the transverse frame. The two ends of the beam in the winding and tensioning device are fixed between the longitudinal connectors at the two ends of the long side of the transverse frame.

[0012] Preferably, the adaptive spacing adjustment device comprises: a plurality of carbon fiber rods, a horizontal telescopic rod, a screw motor, a carbon fiber rod stabilizing baffle, a longitudinal support rod baffle, a telescopic rod support bearing, a bearing support baffle member, a longitudinal fiber rod, a shaft sleeve, a fixed baffle and a carbon fiber rod fixing block;

[0013] The carbon fiber rods are connected end to end and fixed at the connection by a carbon fiber rod stabilizing baffle to form a quadrilateral frame. One end of the quadrilateral frame extends out of the carbon fiber rod stabilizing baffle and is connected to one end of the horizontal telescopic rod. The horizontal telescopic rod passes through the carbon fiber rod fixing block and the other end is fixed by the carbon fiber rod stabilizing baffle. The screw motor drives the screw to rotate and realize the extension and retraction of the telescopic rod, forming a horizontal frame with adjustable width and fixed length.

[0014] The bottom end of the longitudinal fiber rod is fixed to the four top corners of the transverse frame by arranging a longitudinal support rod baffle, a telescopic rod support bearing and a bearing support baffle member, and a shaft sleeve is arranged at the top end of the longitudinal fiber rod to form a longitudinal connecting member.

[0015] Preferably, the wire winding tensioning device further comprises: a wire winding motor fixed base, a wire winding shaft, a wire winding wheel, a wire winding wheel fixed base, a guide shaft fixed seat, a guide shaft fixed baffle, a laser ranging module, a camera module connector, a walking wheel fixed baffle, a wire winding motor, a wire winding motor fixed baffle, a shock absorbing spring and a vertical telescopic rod;

[0016] The guide shaft fixing seats are arranged at both ends of the lower crossbeam, the guide shaft fixing baffles are arranged at both ends of the upper crossbeam, the bottom end of the vertical telescopic rod is connected to the adaptive spacing adjustment device, and the top end passes through the guide shaft fixing seat, the shock-absorbing spring and the guide shaft fixing baffle;

[0017] The winding motor fixed base and the winding wheel fixed base are arranged at the bottom of the lower crossbeam, the winding motor fixed baffle and the winding motor are installed at the bottom of the winding motor fixed base, the winding shaft and the winding wheel are installed on the winding wheel fixed base, and the winding wheel is provided with a tensioning rope;

[0018] Laser ranging modules are provided at both ends of the upper beam, and a camera module connector and a walking wheel fixing baffle are provided on the upper beam. The top of the camera module connector is used to install a multi-angle visual acquisition device, and the walking wheel fixing baffle is used to install a belt-type flip-type obstacle crossing device.

[0019] Preferably, the flip obstacle overcoming device installed on the upper beam is set as a gear-type flip obstacle overcoming device, including: a clamping wheel flip arm bracket, a flip arm stroke bracket, a stroke bracket connecting pin, a clamping wheel flip arm drive motor, a transmission gear, a driven rack, a clamping wheel flip arm and a clamping wheel, forming a gear transmission structure.

[0020] Preferably, the flip obstacle crossing device arranged on the lower crossbeam is configured as a belt-type flip obstacle crossing device, including: a flip arm bracket base plate, a flip arm bracket, a flip arm support bearing, a flip arm support shaft, a flip arm drive motor fixed baffle, a flip arm drive motor and a walking wheel flip arm to form a belt transmission structure.

[0021] Preferably, the multi-angle visual acquisition device further comprises: a rotating motor fixing bracket, a transmission shaft, a rotating motor, a first-level connecting rod, a second-level rotating servo, a second-level connecting rod, a third-level rotating servo, a third-level connecting rod, a second-level micro camera detection module, a first-level micro camera detection module, a transmission baffle, and a first-level rotating servo;

[0022] The rotating motor is installed on a rotating motor fixing bracket, the output end of the rotating motor is connected to the transmission baffle through a transmission shaft, the first-level connecting rod, the second-level connecting rod, and the third-level connecting rod are connected in sequence through pin shafts and the rotation angle is adjusted by the corresponding rotating servo to form an angle-adjustable bracket; the second-level micro camera detection module is installed on the third-level connecting rod, and the first-level micro camera detection module is installed on the first-level connecting rod.

[0023] A control method for an overhead transmission line conductor acceptance robot system is provided, wherein the control method is applied to a four-split conductor, a six-split conductor, or an eight-split conductor, and comprises the following walking control steps:

[0024] According to the specifications of the transmission line to be accepted, the spacing of the running wheels in the winding and tensioning device is adjusted through the adaptive spacing adjustment device;

[0025] When the transmission line acceptance robot system is ready to enter the line, the winding tensioning device is adjusted to increase the distance between each set of running wheels, and the laser ranging module and multi-angle visual acquisition device are used to measure the distance to confirm that the running wheels in the system are fully entered.

[0026] After the wire is fed in, the winding motor of the winding tensioning device starts working, so that the tension rope of the internal winding wheel is kept taut, and the upper and lower tensioning wheels clamp the entire wire;

[0027] The hub motor of the traveling wheel in the belt-type flip-type obstacle crossing device starts to work, causing the entire transmission line acceptance robot system to move forward.

[0028] Preferably, the method further includes the following obstacle control steps:

[0029] When the multi-angle visual acquisition device detects an obstacle, the laser ranging module is used to measure the distance, and the entire transmission line acceptance robot system continues to move forward. When the preset obstacle crossing distance is reached, the drive motor of the front-end walking wheel starts to work, causing the corresponding flip arm to rotate outward. When the obstacle crossing angle is reached, the entire transmission line acceptance robot system continues to move forward;

[0030] When the upper and lower flip arms at the front end of the travel direction completely cross the obstacle, the drive motor of the corresponding travel wheel reverses, clamps the wire, and continues to move forward;

[0031] The traveling wheels at the rear of the traveling direction sequentially overcome obstacles according to the obstacle-overcoming method.

[0032] Preferably, during the obstacle surmounting process, the multi-angle vision acquisition device is driven by a rotating motor to rotate outwards. After the obstacle surmounting is completed, the rotating motor is reversed to reset the corresponding multi-angle vision acquisition device.

[0033] Beneficial effects: Due to the adoption of the above technical solution, the present invention has the following beneficial effects:

[0034] (1) The system structure of the present invention is simple, the manufacturing and maintenance costs are low, the operation is flexible and convenient, and it effectively avoids collision or hooking with various obstacles on the wire during the acceptance process, and can solve the problem of most existing wire acceptance robots slipping on the wire.

[0035] (2) The present invention can automatically identify and adapt to various types and shapes of obstacles, such as anti-vibration hammers, spacer bars, etc., collect images through a camera module, use machine vision technology for image recognition, and combine the coordinated control of the adaptive spacing adjustment device and the flip-type obstacle crossing device to achieve obstacle recognition and crossing, which can greatly improve acceptance efficiency and reduce the cost and risk of manual acceptance.

[0036] (3) The system of the present invention has a compact structure and low space requirements. It is suitable for most overhead transmission lines and has strong adaptability. It can effectively perform long-distance continuous acceptance work, reducing dependence on manual assistance, thereby reducing operating costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a schematic diagram of the overall structure of an overhead transmission line conductor acceptance robot system according to the present invention;

[0038] Figure 2 It is a structural schematic diagram of the adaptive spacing adjustment device;

[0039] Figure 3 is a front view schematic diagram of the adaptive spacing adjustment device;

[0040] Figure 4 It is a structural explosion diagram of the adaptive spacing adjustment device;

[0041] Figure 5 Schematic diagram of the structure of the winding tensioning device;

[0042] Figure 6 It is a front view schematic diagram of the winding and tensioning device;

[0043] Figure 7 This is a schematic diagram of the structure explosion of the winding tensioning device;

[0044] Figure 8 It is a schematic diagram of the structure of the belt-type flip-over obstacle crossing device;

[0045] Figure 9 for Figure 8 Exploded diagram of the structure of the mid-belt flip-over obstacle crossing device;

[0046] Figure 10 It is a schematic diagram of the structure of the gear-type flip-type obstacle crossing device;

[0047] Figure 11 for Figure 10 Exploded diagram of the structure of the gear-type flip obstacle-crossing device;

[0048] Figure 12 It is a structural diagram of a multi-angle visual acquisition device;

[0049] Figure 13 This is an exploded diagram of the multi-angle visual acquisition device;

[0050] Among them, 1-adaptive spacing adjustment device, 2-winding tensioning device, 3-flip obstacle crossing device, 4-multi-angle visual acquisition device, 100-conductor;

[0051] 101-carbon fiber rod, 102-horizontal telescopic rod, 103-screw motor, 104-carbon fiber rod stabilizing baffle, 105-longitudinal support rod baffle, 106-telescopic rod support bearing, 107-bearing support baffle member, 108-longitudinal fiber rod, 109-sleeve, 110-fixed baffle, 111-carbon fiber rod fixing block;

[0052] 201 - Winding motor fixed base, 202 - Winding spool gasket, 203 - Winding spool, 204 - Winding wheel, 205 - Winding wheel fixed base, 206 - Guide shaft fixed seat, 207 - Guide shaft fixed baffle, 208 - Laser ranging module, 209 - Camera module connector, 210 - Travel wheel fixed baffle, 211 - Crossbeam, 212 - Winding motor, 213 - Winding motor connector, 214 - Winding motor fixed baffle, 215 - Shock-absorbing spring, 216 - Vertical telescopic rod;

[0053] 301- flip arm bracket base plate, 302- flip arm bracket, 303- flip arm support bearing, 304- flip arm support shaft, 305- flip arm drive motor fixed baffle, 306- flip arm drive motor fixed bearing, 307- flip arm drive motor, 308- flip arm drive motor support baffle, 309- flip arm drive motor fixing part, 310- flip arm drive shaft sleeve, 311- travel wheel bearing seat, 312- hub motor rubber bag, 313- hub motor drive shaft, 314 hub motor, 315- wheel hub, 316- travel wheel flip arm;

[0054] 317-clamping wheel flip arm bracket, 318-clamping wheel flip arm stroke bracket, 319-stroke bracket connecting pin, 320-clamping wheel flip arm drive motor, 321-transmission gear, 322-driven rack, 323-clamping wheel flip arm, 324-clamping wheel;

[0055] 401-rotating motor fixing bracket, 402-transmission shaft, 403-rotating motor, 404-first-level connecting rod, 405-second-level rotating servo, 406-second-level connecting rod, 407-third-level rotating servo, 408-third-level connecting rod, 409-second-level micro camera detection module, 410-first-level micro camera detection module, 411-transmission baffle, 412-first-level rotating servo. DETAILED DESCRIPTION

[0056] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0057] Example 1

[0058] This embodiment proposes a robot system for inspecting and accepting conductors of overhead transmission lines. Figure 1 As shown, it includes: an adaptive spacing adjustment device 1, a winding tensioning device 2, a flip obstacle crossing device 3 and a multi-angle visual acquisition device 4.

[0059] like Figures 2 to 4 As shown, the adaptive spacing adjustment device 1 includes: a carbon fiber rod 101, a horizontal telescopic rod 102, a screw motor 103, a carbon fiber rod stabilizing baffle 104, a longitudinal support rod baffle 105, a telescopic rod support bearing 106, a bearing support baffle member 107, a longitudinal fiber rod 108, a shaft sleeve 109, a fixed baffle 110 and a carbon fiber rod fixing block 111.

[0060] The adaptive spacing adjustment device 1 is used to adjust the obstacle crossing spacing of the entire obstacle crossing mechanism. Its main purpose is to adapt to overhead transmission lines of different specifications, so that the obstacle crossing system can reach a level where one obstacle crossing mechanism can adapt to various types of conductors, which greatly improves the scalability of the obstacle crossing system.

[0061] The ends of the carbon fiber rod 101 are fixed to the carbon fiber rod fixing block 111, and the stability of the two carbon fiber rods 101 is ensured by the carbon fiber rod stabilization baffle 104. The screw motor drives the screw to rotate and transmits power through the threaded hole on the carbon fiber rod fixing block 111, ensuring that the telescopic rod 102 can be extended and retracted to different lengths. The telescopic rod 102 passes through the telescopic rod support bearing 106, which serves as the support point of the telescopic rod 102. The longitudinal fiber rod 108 is used to enable the winding tensioning device 2 to adjust its height up and down.

[0062] like Figures 5 to 7As shown, the wire winding tensioning device 2 includes: a wire winding motor fixed base 201, a wire winding shaft gasket 202, a wire winding shaft 203, a wire winding wheel 204, a wire winding wheel fixed base 205, a guide shaft fixed seat 206, a guide shaft fixed baffle 207, a laser ranging module 208, a camera module connector 209, a walking wheel fixed baffle 210, a crossbeam 211, a wire winding motor 212, a wire winding motor connector 213, a wire winding motor fixed baffle 214, a shock-absorbing spring 215 and a vertical telescopic rod 216.

[0063] The main purpose of the wire tensioning device 2 is to control the tensioning wire wrapped around it via a drum motor 212, thereby closing the distance between the upper and lower obstacle-crossing legs, thereby clamping the upper and lower power transmission lines and preventing the mechanism from slipping on the conductors. The device is also equipped with a laser ranging module 208, which can detect the distance between obstacles and the upper and lower baffles in real time. The device's shock-absorbing spring 215 also provides a certain degree of shock absorption.

[0064] The wire tensioning device 2 uses a winding motor 212 to retract the winding wheels 204, fixed at four endpoints, under the action of the same winding wire. This retracts the vertical telescopic rod 216, allowing the running wheels fixed to the running wheel fixing baffle 210 to clamp the wire. When release is required, the motor reverses, and the damping spring 215 activates the wire tensioning device 2 to return to its original state. During this process, the laser ranging module 208 can also detect the distance to the obstacle ahead and the distance between the upper and lower beams 211.

[0065] The winding motor 212 is fixed to the winding motor fixed base 201, which is fixed to two crossbeams 211, providing fixed support. The two crossbeams 211 are mounted in parallel and secured together by the running wheel fixed baffle 210 and the camera module connector 208. The winding wheel 204 helps to wind the wire, or tension rope, securely around the interior of the upper and lower wheel assembly 2. The vertical telescopic rod 216 is designed to enable the entire mechanism to move downward along the vertical telescopic rod 216 when the winding motor 212 is tightened.

[0066] In the present invention, the flip-type obstacle-crossing device 3 comprises a belt-type flip-type obstacle-crossing device mounted on the lower crossbeam 211 and a gear-type flip-type obstacle-crossing device mounted on the upper crossbeam 211. The running wheel obstacle-crossing devices 3 are arranged in pairs on two sets of crossbeams 211 with adjustable longitudinal spacing, forming multiple pairs of vertically opposed running wheels. The multi-split conductor to be inspected is routed between the two sets of crossbeams 211. The upper running wheels engage the upper conductor of the multi-split conductor by pressing down on it, while the lower running wheels engage the lower conductor by supporting it.

[0067] like Figures 8 and 9As shown, the belt-type flip obstacle crossing device includes: a flip arm bracket base plate 301, a flip arm bracket 302, a flip arm support bearing 303, a flip arm support shaft 304, a flip arm drive motor fixed baffle 305, a flip arm drive motor fixed bearing 306, a flip arm drive motor 307, a flip arm drive motor support baffle 308, a flip arm drive motor fixing part 309, a flip arm drive shaft sleeve 310, a walking wheel bearing seat 311, a hub motor rubber bag 312, a hub motor drive shaft 313, a hub motor 314, a hub 315, and a walking wheel flip arm 316.

[0068] The belt-type flip obstacle surmounting device rotates the flip arm support shaft 304 via the flip arm drive motor 307, which then drives the wheel flip arm 316 via a belt drive to achieve the upward and downward rotational obstacle surmounting motion. The flip arm drive motor 307 is fixed to the flip arm drive motor fixing plate 305, which is bolted to the base below. The wheel bearing seat 311 is fixed to the flip arm 316, providing support for the wheel. The wheel hub motor 314 is nested within the wheel hub 315, and the wheel hub motor rubber coating 312 is wrapped around the wheel hub 315 to prevent slipping, forming a self-propelled wheel.

[0069] like Figure 10 and Figure 11 As shown, the gear-type flip obstacle surmounting device 3 includes a clamping wheel flip arm bracket 317, a flip arm travel bracket 318, a travel bracket connecting pin 319, a clamping wheel flip arm drive motor 320, a transmission gear 321, a driven rack 322, a clamping wheel flip arm 323, and a clamping wheel 324. The four clamping wheels are controlled by a gear transmission, thereby improving control accuracy and clamping force. The clamping wheel flip arm drive motor drives the clamping wheels forward on the conductor, thereby driving the entire system forward. When surmounting an obstacle, the corresponding motor drives the flip arm to rotate and move it to the outside of the conductor, thereby achieving the obstacle surmounting purpose.

[0070] like Figures 12 to 13 As shown, the multi-angle visual acquisition device 4 includes: a rotating motor fixing bracket 401, a transmission shaft 402, a rotating motor 403, a primary connecting rod 404, a secondary rotating servo 405, a secondary connecting rod 406, a tertiary rotating servo 407, a tertiary connecting rod 408, a secondary micro-camera detection module 409, a primary micro-camera detection module 410, a transmission baffle 411, and a primary rotating servo 412. The primary connecting rod 404, the secondary connecting rod 406, and the tertiary connecting rod 408 are sequentially connected by pins and their rotation angles are adjusted by the corresponding rotating servos, forming a multi-joint angle-adjustable bracket. The secondary micro-camera detection module 409 is mounted on the tertiary connecting rod 408, and the primary micro-camera detection module 410 is mounted on the primary connecting rod 404.

[0071] The multi-angle visual acquisition device 4, constructed with the aforementioned structure, inspects wires. By controlling the servos at the joints, it can achieve 360-degree inspection of the wires, extending the inspection range and improving the accuracy and efficiency of inspection and acceptance. Through precise image data acquisition, the device not only promptly detects wire defects or damage but also effectively reduces the missed inspection rate during the inspection and acceptance process, ensuring high-quality completion of the inspection and acceptance work.

[0072] When encountering an obstacle, the rotating motor 403 drives the transmission baffle 411 and the multiple micro camera detection modules installed thereon to rotate together, thereby achieving the purpose of bypassing the obstacle.

[0073] The present invention provides an overhead transmission line conductor acceptance robot system that can be applied to four-split conductors. The control process is described in detail as follows:

[0074] Step 1: According to the existing transmission line specifications, the spacing of the obstacle crossing system is adjusted by the adaptive spacing adjustment device 1 so that it can meet the working conditions;

[0075] Step 2: When the obstacle crossing system is ready to feed the line, the winding tensioning device 2 is used to increase the distance between the upper and lower wheels to prevent the running wheels from hitting the line when feeding. The laser radar and visual detection module are used to measure the distance to ensure that the running wheels of the entire system have fully fed the line.

[0076] Step 3: After the wire is fed in, the motor of the winding tensioning device 2 starts working to keep the tensioning rope inside it taut. The flip obstacle crossing device 3 starts working to make the corresponding upper and lower running wheels clamp each wire of the four-split wire. Then, the driving motor of the running wheel drives the running wheel to rotate, so that the whole system moves forward.

[0077] Step 4: When the multi-angle visual acquisition device 4 detects an obstacle, it measures the distance through the laser ranging module, and the entire system continues to move forward. When the obstacle crossing distance is reached, the front-end flip arm motor of the flip obstacle crossing device 3 starts to work, causing the upper and lower flip arms to rotate outward. When the obstacle crossing angle is reached, the entire system continues to move forward. When the first upper and lower flip arm completely crosses the obstacle, the flip arm motor reverses, clamps the wire, and continues to move forward. The following three sets of upper and lower wheels follow this step to cross the obstacle in turn.

[0078] In process five, during the obstacle crossing process, the multi-angle visual acquisition device rotates outward at the drive of the rotating motor to prevent it from hitting the wire during the obstacle crossing process. After crossing the obstacle, the rotating motor reverses and resets.

[0079] If the overhead power transmission line conductor acceptance robot system of the present invention is applied to eight-split conductors, the number of corresponding flip-type obstacle-crossing devices 3 and multi-angle visual acquisition devices 4 can be adjusted. It has been verified that the overhead power transmission line conductor acceptance robot system of the present invention uses an adaptive spacing adjustment device 1, a winding tensioning device 2, a flip-type obstacle-crossing device 3 and a multi-angle visual acquisition device 4 to collaboratively control four groups of upper and lower flip arms to open and clamp in sequence to bypass obstacles. In this process, the hub motor drives the entire system to move forward, and the camera detection module and the laser ranging cooperate with each other to detect obstacles, so that the accuracy of obstacle crossing is guaranteed, effectively improving the efficiency of the robot's obstacle crossing, and avoiding the high risks and unqualified maintenance quality brought by manual maintenance. The conductor acceptance robot has a reasonable structure and a high degree of automation. It not only provides a new option for conductor acceptance, but is also more suitable for mass production and has broad application prospects.

[0080] The proposed visual inspection and obstacle avoidance system not only enables high-precision monitoring of the conductor condition of overhead transmission lines but also maintains stable operation in complex operating environments, driving the power industry towards intelligent and automated development. This research direction will provide new solutions for future overhead transmission line acceptance inspections and has broad application prospects.

[0081] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the above embodiments do not limit the present invention in any form, and any technical solutions obtained by equivalent replacement or equivalent transformation fall within the scope of protection of the present invention.

Claims

1. A robot system for inspecting and accepting conductors of overhead power transmission lines, characterized by: It comprises an adaptive spacing adjustment device (1), a winding tensioning device (2), a flip-type obstacle crossing device (3) and a multi-angle visual acquisition device (4); Two winding tensioning devices (2) are provided at the top of the self-adaptive spacing adjustment device (1), and the self-adaptive spacing adjustment device (1) is used to adjust the horizontal spacing between the two tensioning devices (2); The wire winding and tensioning device (2) comprises two groups of crossbeams (211) with adjustable vertical spacing, each group of crossbeams (211) is provided with at least two flip-type obstacle-crossing devices (3) and at least one multi-angle visual acquisition device (4), each flip-type obstacle-crossing device (3) is provided with a flip arm and a running wheel mounted on the end of the flip arm, the flip-type obstacle-crossing devices (3) provided on the upper and lower groups of crossbeams (211) are the same in number and are positioned vertically opposite to each other, and the wire winding and tensioning device (2) achieves elastic clamping of the overhead transmission line conductor by the running wheel by adjusting the vertical spacing of each group of crossbeams (211); The multi-angle visual acquisition device (4) comprises an angle-adjustable bracket, a plurality of miniature camera detection modules mounted on the angle-adjustable bracket, and a laser distance measurement module (208) mounted on each set of crossbeams (211).

2. The overhead power line conductor acceptance robot system according to claim 1, characterized in that: The adaptive spacing adjustment device (1) comprises a transverse frame and a plurality of longitudinal connectors. The transverse frame is a rectangular structure with adjustable width and fixed length. The longitudinal connectors are arranged at each vertex of the transverse frame. The two ends of the crossbeam (211) in the winding tensioning device (2) are fixed between the longitudinal connectors at the two ends of the long side of the transverse frame.

3. The overhead power line conductor acceptance robot system according to claim 2, characterized in that: The self-adaptive spacing adjustment device (1) comprises: a plurality of carbon fiber rods (101), a horizontal telescopic rod (102), a screw motor (103), a carbon fiber rod stabilizing baffle (104), a longitudinal support rod baffle (105), a telescopic rod support bearing (106), a bearing support baffle member (107), a longitudinal fiber rod (108), a shaft sleeve (109), a fixed baffle (110) and a carbon fiber rod fixing block (111); The carbon fiber rods (101) are connected end to end and the connection is fixed by a carbon fiber rod stabilizing baffle (104) to form a quadrilateral frame. One end of the quadrilateral frame extends out of the carbon fiber rod stabilizing baffle (104) and is connected to one end of a horizontal telescopic rod (102). The horizontal telescopic rod (102) passes through a carbon fiber rod fixing block (111) and the other end is fixed by the carbon fiber rod stabilizing baffle (104). The screw motor (103) drives the screw to rotate to achieve the telescopic rod (102) to extend and retract, forming a horizontal frame with adjustable width and fixed length. The bottom end of the longitudinal fiber rod (108) is fixed to the four top corners of the transverse frame by arranging a longitudinal support rod baffle (105), a telescopic rod support bearing (106) and a bearing support baffle member (107), and a shaft sleeve (109) is arranged at the top end of the longitudinal fiber rod (108) to form a longitudinal connecting member.

4. The overhead power line conductor acceptance robot system according to claim 1, characterized in that: The wire winding tensioning device (2) further comprises: a wire winding motor fixed base (201), a wire winding shaft (203), a wire winding wheel (204), a wire winding wheel fixed base (205), a guide shaft fixed base (206), a guide shaft fixed baffle (207), a laser distance measurement module (208), a camera module connector (209), a walking wheel fixed baffle (210), a wire winding motor (212), a wire winding motor fixed baffle (214), a shock absorbing spring (215) and a vertical telescopic rod (216); The guide shaft fixing seat (206) is arranged at both ends of the lower crossbeam (211), and the guide shaft fixing baffle (207) is arranged at both ends of the upper crossbeam (211). The bottom end of the vertical telescopic rod (216) is connected to the adaptive spacing adjustment device (1), and the top end passes through the guide shaft fixing seat (206), the shock-absorbing spring (215) and the guide shaft fixing baffle (207); The winding motor fixed base (201) and the winding wheel fixed base (205) are arranged at the bottom of the lower crossbeam (211); the winding motor fixed baffle (214) and the winding motor (212) are installed at the bottom of the winding motor fixed base (201); the winding shaft (203) and the winding wheel (204) are installed on the winding wheel fixed base (205); and the winding wheel (204) is provided with a tension rope; Laser ranging modules (208) are provided at both ends of the upper crossbeam (211), and a camera module connector (209) and a running wheel fixing baffle (210) are provided on the upper crossbeam (211). The top of the camera module connector (209) is used to install a multi-angle visual acquisition device (4), and the running wheel fixing baffle (210) is used to install a flip-type obstacle crossing device (3).

5. The overhead power line conductor acceptance robot system according to claim 1, characterized in that: The flip-type obstacle-crossing device (3) mounted on the upper crossbeam (211) is configured as a gear-type flip-type obstacle-crossing device, comprising: a clamping wheel flip arm bracket (317), a flip arm travel bracket (318), a travel bracket connecting pin (319), a clamping wheel flip arm driving motor (320), a transmission gear (321), a driven rack (322), a clamping wheel flip arm (323) and a clamping wheel (324), forming a gear transmission structure.

6. The overhead power line conductor acceptance robot system according to claim 1, characterized in that: The flip-type obstacle-crossing device (3) arranged on the lower crossbeam (211) is configured as a belt-type flip-type obstacle-crossing device, comprising: a flip arm bracket base plate (301), a flip arm bracket (302), a flip arm support bearing (303), a flip arm support shaft (304), a flip arm drive motor fixed baffle (305), a flip arm drive motor (307) and a walking wheel flip arm (316) forming a belt transmission structure.

7. The overhead power line conductor acceptance robot system according to claim 1, characterized in that: The multi-angle visual acquisition device (4) further comprises: a rotating motor fixing bracket (401), a transmission shaft (402), a rotating motor (403), a first-level connecting rod (404), a second-level rotating steering gear (405), a second-level connecting rod (406), a third-level rotating steering gear (407), a third-level connecting rod (408), a second-level micro camera detection module (409), a first-level micro camera detection module (410), a transmission baffle (411) and a first-level rotating steering gear (412); The rotating motor (403) is mounted on a rotating motor fixing bracket (401); the output end of the rotating motor (403) is connected to a transmission baffle (411) via a transmission shaft (402); a primary connecting rod (404), a secondary connecting rod (406), and a tertiary connecting rod (408) are sequentially connected via pins and the rotation angles are adjusted via corresponding rotating steering gears, thereby forming an angle-adjustable bracket; a secondary micro camera detection module (409) is mounted on the tertiary connecting rod (408), and a primary micro camera detection module (410) is mounted on the primary connecting rod (404).

8. A control method for an overhead power line conductor acceptance robot system, characterized in that: The overhead transmission line conductor acceptance robot system according to claim 1 is applied to a four-split conductor, a six-split conductor, or an eight-split conductor, comprising the following walking control steps: According to the specifications of the transmission line to be inspected and accepted, the spacing of the running wheels in the winding and tensioning device (2) is adjusted by the adaptive spacing adjustment device (1); When the power transmission line acceptance robot system is ready to enter the line, the winding tensioning device (2) is adjusted to increase the distance between each set of running wheels, and the laser distance measurement module (208) and the multi-angle visual acquisition device (4) are used to measure the distance to confirm that the running wheels in the system are fully entered; After the wire is fed in, the winding motor (212) of the winding tensioning device (2) starts to work, so that the tensioning rope of the internal winding wheel is kept taut, and the upper and lower tensioning wheels clamp the entire wire; The running wheels in the flip-over obstacle crossing device (3) start to work, causing the entire power transmission line acceptance robot system to move forward.

9. The control method of the overhead power line conductor acceptance robot system according to claim 8, characterized in that: The following obstacle control steps are also included: When the multi-angle visual acquisition device (4) detects an obstacle, the laser distance measurement module (208) is used to measure the distance, and the entire power transmission line acceptance robot system continues to move forward. When the preset obstacle crossing distance is reached, the driving motor of the frontmost walking wheel in the walking direction is activated, causing the corresponding flip arm to rotate outward. When the obstacle crossing angle is reached, the entire power transmission line acceptance robot system continues to move forward. When the upper and lower flip arms at the front end of the travel direction completely cross the obstacle, the drive motor of the corresponding travel wheel reverses, clamps the wire, and continues to move forward; The traveling wheels at the rear of the traveling direction sequentially overcome obstacles according to the obstacle-overcoming method.

10. The control method of the overhead power line conductor acceptance robot system according to claim 9, characterized in that: The following obstacle control steps are also included: During the obstacle crossing process, the multi-angle vision acquisition device (4) rotates outwards under the drive of the rotary motor. After the obstacle crossing is completed, the rotary motor is reversed to reset the corresponding multi-angle vision acquisition device.

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