High-altitude cable inspection device and physical detection method of high-altitude high-voltage power transmission network

Abstract

The invention provides a high-altitude cable inspection device, which comprises a base frame, a first hanging walking part, a second hanging walking part and an obstacle crossing part, and is characterized in that the base frame comprises a first transverse guide rail and a second transverse guide rail, and a longitudinal beam is connected between the first transverse guide rail and the second transverse guide rail; the first hanging walking part is mounted on the first transverse guide rail, and a first driving hanging wheel and a first driven wheel are arranged on the first hanging walking part; the second hanging walking part is mounted on the second transverse guide rail, and a second driving hanging wheel and a second driven wheel are arranged on the second hanging walking part; the obstacle crossing part is installed on the longitudinal beam, a clamping jaw is arranged above the obstacle crossing part, and the clamping jaw can clamp and wind a cable in a telescopic mode. The invention further provides a physical detection method of the high-altitude high-voltage power transmission network, the high-altitude cable inspection device is used, and a camera is installed on the device. The first hitching walking part and the second hitching walking part automatically walk along a high-altitude cable, and the obstacle crossing part is matched with the two walking parts to automatically bypass an obstacle.

Description

Technical Field

[0001] This invention relates to the technical field of high-altitude cable inspection, and in particular to a safe, reliable, and automated device for high-altitude cable inspection and a physical inspection method for high-altitude high-voltage power transmission networks. Background Technology

[0002] Currently, in today's power industry, high-voltage cables form the core framework of the power transmission network, and their stable operation is directly related to the stability of the power supply for the entire society. However, high-voltage cables are laid outdoors year-round, subjected to the corrosive effects of wind, sun, rain, and frost, as well as mechanical stress. Over time, potential faults such as insulation aging and line wear accumulate. Traditional manual maintenance requires maintenance personnel to climb to high altitudes and inspect sections using simple tools, which is not only extremely inefficient but also poses significant safety risks to maintenance personnel working at heights. With rapid economic development, society's dependence on electricity is increasing daily, and existing maintenance methods can no longer meet the urgent need to ensure the stability of the power supply.

[0003] Therefore, how to safely, reliably, and fully automate the inspection and testing of high-altitude cables, especially high-altitude high-voltage transmission networks, is an urgent problem that the industry needs to solve. Summary of the Invention

[0004] A primary objective of this invention is to overcome at least one of the deficiencies of the prior art and to provide a safe, reliable, and fully automated high-altitude cable inspection device and a physical inspection method for high-altitude high-voltage power transmission networks.

[0005] To achieve the above-mentioned objectives, the present invention adopts the following technical solution:

[0006] According to one aspect of the present invention, a high-altitude cable inspection device is provided for performing online full-line visual inspection of high-altitude cables, comprising:

[0007] The base frame includes a first transverse guide rail and a second transverse guide rail, both of which extend laterally, and a longitudinal beam is provided between the first transverse guide rail and the second transverse guide rail.

[0008] The first mounting and traveling part is mounted on the first transverse guide rail. The first mounting and traveling part is provided with a first drive wheel and a first driven wheel, which clamp the cable.

[0009] The second mounting and traveling part is mounted on the second transverse guide rail. The second mounting and traveling part is provided with a second drive wheel and a second driven wheel, which clamp the cable.

[0010] The obstacle-surmounting part is installed on the longitudinal beam, and a clamping jaw is arranged above the obstacle-surmounting part, and the clamping jaw can elastically clamp the cable.

[0011] According to an embodiment of the present application, the base frame comprises a bottom frame, and the first and second lateral rails are respectively installed on opposite ends of the bottom frame.

[0012] According to an embodiment of the present application, the longitudinal beam comprises a guide rail, and the lower part of the obstacle-surmounting part is movably matched with the guide rail.

[0013] According to an embodiment of the present application, the obstacle-surmounting part comprises a support, an obstacle-surmounting elastic mechanism and the clamping jaw, the support is adjustably installed on the longitudinal beam, the obstacle-surmounting elastic mechanism is installed on the support, and the clamping jaw is installed on the obstacle-surmounting elastic mechanism.

[0014] According to an embodiment of the present application, the clamping jaw comprises a lateral mounting seat and a clamping block, the lateral mounting seat is installed on the top of the obstacle-surmounting elastic mechanism, a lateral extending groove is arranged on the lateral mounting seat, the clamping block comprises a moving part and two clamping blocks, the moving part is matched arranged in the groove, the two clamping blocks are oppositely connected on the upper part of the moving part, and a space for clamping the cable is formed between the two clamping blocks.

[0015] According to an embodiment of the present application, the first hanging and walking part comprises a first lifting mechanism, and the second hanging and walking part comprises a second lifting mechanism, the first driven wheel is installed on the first lifting mechanism, and the second driven wheel is installed on the second lifting mechanism.

[0016] According to an embodiment of the present application, the first and second lifting mechanisms each comprise a driving member, a driving rod, a moving block and a guide part, the driving member is drivingly connected with the driving rod, the driving block is installed on the driving rod and is lifted and lowered under the guidance of the guide part, and the first and second driven wheels are each installed on the driving block.

[0017] According to an embodiment of the present application, the first lifting mechanism is installed on a first lateral moving mechanism, the second lifting mechanism is installed on a second lateral moving mechanism, the first lateral moving mechanism is movably matched with the first lateral rail, and the second lateral moving mechanism is movably matched with the second lateral rail.

[0018] According to another aspect of the present application, there is provided a physical detection method for high-altitude high-voltage power transmission network, using the high-altitude cable inspection device as described above, with a camera mounted thereon, for visual inspection of the cable during the walking of the device, and feedback to a remote monitoring system.

[0019] According to one specific embodiment of the present application, when the device is walking, the first hanging walking part is located in front, the clamping jaw of the obstacle crossing part does not clamp around the cable, and the device walks under the joint action of the first hanging walking part and the second hanging walking part;

[0020] When the device encounters an obstacle on the cable, the obstacle information is sensed by the detection device, the clamping jaw acts and clamps around the cable;

[0021] The first hanging walking part moves outward along the first transverse guide rail to bypass the obstacle, and the device continues to move forward under the joint action of the second hanging walking part and the obstacle crossing part;

[0022] After the first hanging walking part bypasses the obstacle, the first hanging walking part resets and hangs on the cable;

[0023] The clamping jaw releases the cable, and the device walks under the joint action of the first hanging walking part and the second hanging walking part;

[0024] After the obstacle crossing part passes the obstacle, the clamping jaw acts and clamps around the cable;

[0025] The second hanging walking part moves outward along the second transverse guide rail to bypass the obstacle, and the device continues to move forward under the joint action of the first hanging walking part and the obstacle crossing part;

[0026] After the second hanging walking part bypasses the obstacle, the second hanging walking part resets, the clamping jaw releases the cable, and the device continues to walk and inspect under the joint action of the first hanging walking part and the second hanging walking part.

[0027] From the above technical solutions, the high-altitude cable inspection device and the physical detection method for high-altitude high-voltage power transmission network of the present application have the following advantages and positive effects:

[0028] The first hanging walking part and the second hanging walking part of the present application automatically walk along the high-altitude cable, and the obstacle crossing part cooperates with the two walking parts to automatically bypass the obstacle, completing full-line automatic walking detection without human intervention, with high safety factor. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is a schematic diagram of the three-dimensional structure of the high-altitude cable inspection device of the present application;

[0030] Figure 2 is a schematic view of the overhead cable inspection device according to the present application from above;

[0031] Figure 3 is a schematic view of the second hanging and walking part of the overhead cable inspection device according to the present application;

[0032] Figure 4 is a schematic view of the obstacle crossing part of the overhead cable inspection device according to the present application.

[0033] Figure number explanation:

[0034] 1: base frame, 10: bottom frame, 11: first lateral guide rail, 12: second lateral guide rail, 13: longitudinal beam, 14: first driving structure, 15: second driving structure, 2: first hanging and walking part, 21: first driving pulley, 22: first driven pulley, 3: second hanging and walking part, 31: second driving pulley, 32: second driven pulley, 4: obstacle crossing part, 41: clamping jaw, 411: lateral mounting seat, 412: clamping block, 42: support, 43: obstacle crossing telescopic mechanism, 51: driving member, 52: driving rod, 53: moving block, 54: guide part. DETAILED DESCRIPTION

[0035] Example embodiments now will be described more fully hereinafter with reference to the accompanying drawings. Example embodiments, however, can be implemented in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the example embodiments to those skilled in the art. Like reference numerals refer to like elements throughout the figures, and thus description of the same will be simplified or omitted.

[0036] In the following description of the various examples of the present application, reference is made to the accompanying drawings, which form a part hereof, and in which are shown by way of illustration various example structures, systems, and steps in which aspects of the application can be practiced. It is to be understood that other specific arrangements of parts, structures, example devices, systems, and steps can be utilized and that structural and functional modifications can be made without departing from the scope of the present application. Also, while the terms "top," "bottom," "front," "back," "side," and the like can be used in this specification to describe one or more features of the examples of the application, these terms are used herein as a matter of convenience, e.g., based on the example's orientation in the figures. Nothing in this specification should be construed as requiring a specific three dimensional orientation of structures in order to fall within the scope of the application.

[0037] As Figure 1 and Figure 2As shown in the drawings, the high-altitude cable inspection device of the present application is used for visual inspection of high-altitude cable, comprising a base frame 1, a first hanging walking part 2, a second hanging walking part 3 and an obstacle crossing part 4. The base frame 1 comprises a first transverse guide rail 11 and a second transverse guide rail 12, both of which extend in the transverse direction, and a longitudinal beam 13 is arranged between the first transverse guide rail 11 and the second transverse guide rail 12. The first hanging walking part 2 is installed on the first transverse guide rail 11, and the first hanging walking part 2 is provided with a first driving hanging wheel 21 and a first driven wheel 22, which clamps the cable. The second hanging walking part 3 is installed on the second transverse guide rail 12, and the second hanging walking part 3 is provided with a second driving hanging wheel 31 and a second driven wheel 32, which clamps the cable. The obstacle crossing part 4 is installed on the longitudinal beam 13, and a clamping jaw 41 is arranged above the obstacle crossing part 4, which can be telescopically clamped around the cable.

[0038] As shown in the drawings, Figure 1 According to one embodiment of the present application, the base frame 1 comprises a bottom frame 10, and the first transverse guide rail 11 and the second transverse guide rail 12 are respectively installed on the opposite ends of the bottom frame 10.

[0039] As shown in the drawings, Figure 4 According to one embodiment of the present application, the obstacle crossing part 4 comprises a support 42, an obstacle telescopic mechanism 43 and a clamping jaw 41, the support 42 is adjustably installed on the longitudinal beam 13, the obstacle telescopic mechanism 43 is installed on the support 42, and the clamping jaw 41 is installed on the obstacle telescopic mechanism 43. According to one embodiment of the present application, the clamping jaw 41 comprises a transverse mounting seat 411 and a clamping block 412. The transverse mounting seat 411 is installed on the top of the obstacle telescopic mechanism 43, and the transverse mounting seat 411 is provided with a transversely extending groove, and the clamping block 412 comprises a moving part and two clamping blocks, the moving part is arranged in the groove, and the two clamping blocks are arranged on the upper part of the moving part in opposite connection, and the space for clamping the cable is formed between the two clamping blocks.

[0040] As shown in the drawings, Figure 3As shown, according to one embodiment of the present application, the first hanging walking part 2 comprises a first lifting mechanism, the second hanging walking part 3 comprises a second lifting mechanism, the first driven wheel 22 is installed on the first lifting mechanism, and the second driven wheel 32 is installed on the second lifting mechanism. According to one embodiment of the present application, the first lifting mechanism and the second lifting mechanism each comprise a driving member 51, a driving rod 52, a moving block 53, and a guide part 54. The driving member 51 is in transmission connection with the driving rod 52, the driving block 53 is installed on the driving rod 52 and is lifted and lowered under the guidance of the guide part 54, and the first driven wheel 22 and the second driven wheel 32 are each installed on the driving block 53. According to one embodiment of the present application, the first lifting mechanism is installed on the first transverse moving mechanism, and the second lifting mechanism is installed on the second transverse moving mechanism. The first transverse moving mechanism moves in cooperation with the first transverse guide rail, and the second transverse moving mechanism moves in cooperation with the second transverse guide rail.

[0041] According to another aspect of the present application, a physical detection method of an aerial high-voltage power transmission network is provided. The aerial cable inspection device as described above is used. A camera is installed on the device. The cable is visually inspected during the walking of the device, and feedback is given to a remote monitoring system.

[0042] According to one embodiment of the present application, when the device is walking, the first hanging walking part 2 is located in front, the clamping jaw 41 of the obstacle crossing part 4 does not clamp the cable, and the device walks under the joint action of the first hanging walking part 2 and the second hanging walking part 3. When the device encounters an obstacle on the cable, the obstacle information is sensed by the detection device, the clamping jaw 41 acts and clamps the cable. The first hanging walking part 2 moves outward along the first transverse guide rail 11 to bypass the obstacle, and the device continues to move forward under the joint action of the second hanging walking part 3 and the obstacle crossing part 4. After the first hanging walking part 2 bypasses the obstacle, the first hanging walking part 2 resets and hangs the cable. The clamping jaw 41 acts to release the cable, and the device walks under the joint action of the first hanging walking part 2 and the second hanging walking part 3. After the obstacle crossing part 4 passes the obstacle, the clamping jaw 41 acts and clamps the cable. The second hanging walking part 3 moves outward along the second transverse guide rail 12 to bypass the obstacle, and the device continues to move forward under the joint action of the first hanging walking part 2 and the obstacle crossing part 4. After the second hanging walking part 3 bypasses the obstacle, the second hanging walking part 3 resets, the clamping jaw 41 releases the cable, and the device continues to walk and inspect under the joint action of the first hanging walking part 2 and the second hanging walking part 3.

[0043] From the above technical solutions, the aerial cable inspection device and the physical detection method of the aerial high-voltage power transmission network of the present application have the following advantages and positive effects:

[0044] The application automatically walks along the aerial cable through the first and second hanging walking parts 2 and 3, and automatically bypasses the obstacles through the obstacle bypassing part 4, to complete the automatic walking detection on the whole line without manual intervention, and has a high safety factor.

[0045] During normal operation, the base 1 carries other components to move on the aerial cable. The first driving structure 14 drives the first hanging walking part 2 to move on the first transverse guide rail 11, and the second driving structure 15 drives the second hanging walking part 3 to move on the second transverse guide rail 12. The first and second hanging walking parts 2 and 3 each include a driver to drive the first and second driving sprockets 21 and 31 to act, so that the device can automatically move along the cable. The first and second driving sprockets 21 and 31 are matched with the first and second driven wheels 22 and 32, respectively, to tightly contact the surface of the cable, and realize the movement of the device on the cable by using the friction force.

[0046] The first and second lifting mechanisms are installed with the first and second driving sprockets 21 and 31 and their driving components, which can adapt to the position changes and angle deviations that may occur during the operation of the robot to a certain extent, and ensure the stability and reliability of power transmission.

[0047] The clamping jaws 41 can be adjusted by telescopic transmission according to the diameter and other parameters of the cable during operation, so as to clamp the cable with appropriate force and ensure the stability of the robot during operation to prevent slipping and other phenomena.

[0048] The double-head driving can also play a role in some cases, which can provide additional power support, such as when it is necessary to quickly adjust the position of some components, the double-head driving can work with the walking driving and other work to improve work efficiency.

[0049] Before encountering obstacles, the device detects the obstacle information in front through sensors and other detection devices, and transmits the information to the control system. The control system issues corresponding action instructions according to the preset program and algorithm.

[0050] First, the obstacle bypassing part 4 moves to the position on the longitudinal beam 13, the obstacle telescopic mechanism 43 is raised, and the clamping blocks 412 start to act. The positions and postures of the two clamping blocks 412 can be adjusted accordingly to adapt to the shape and position of the partition rod and the suspended weight hammer.

[0051] During the obstacle bypassing process, the power output is appropriately adjusted to slow down the forward speed of the device, so as to more smoothly bypass the obstacles. By adjusting the position of the moving block 53, the center of gravity distribution of the components of the robot is changed, and the stability of the robot during the obstacle bypassing is improved.

[0052] When the obstacle target is a spacer on a high-voltage line, as the robot continues to move forward, the obstacle crossing part 4 gradually approaches the obstacle, and by using the unique arc-shaped design of the clamping jaw 41, it can better fit the surface of the cable. The adjustment of the opening and closing degree of the clamping jaw 41 and the adjustment of the extension position can exert a clamping force corresponding to the cable model, ensuring that the device will not fall off during the process of crossing the obstacle.

[0053] During the entire obstacle crossing process, the first hanging walking part 2 is fine-tuned on the first transverse guide rail 11 according to the actual situation, and the second hanging walking part 3 is fine-tuned on the second transverse guide rail 12 according to the actual situation, so as to accurately control the positions of various parts of the device, and ensure that the device can smoothly cross various complex obstacles, such as long suspended hammers and oblique spacers. For example, when encountering a higher obstacle, by adjusting the heights of the first hanging walking part 2, the second hanging walking part 3 and the obstacle crossing part 4, the device as a whole can be lifted to a certain height, facilitating the better play of the obstacle crossing part 4.

[0054] It should be understood by those skilled in the art to which the present application pertains that the specific structures and processes shown in the foregoing detailed implementation part are only exemplary and not limiting. Moreover, those skilled in the art can combine the various technical features shown above in various possible ways to form new technical solutions, or make other modifications, which all belong to the scope of the present application.

Claims

1. An aerial cable inspection apparatus for performing on-line, full-line visual inspection of aerial cables, comprising: The utility model relates to a high altitude cable inspection device, including: A base frame includes a first transverse guide rail and a second transverse guide rail, and a longitudinal beam is arranged between the first transverse guide rail and the second transverse guide rail; A first hanging walking part is installed on the first transverse guide rail, and a first driving hanging wheel and a first driven wheel are arranged on the first hanging walking part; A second hanging walking part is installed on the second transverse guide rail, and a second driving hanging wheel and a second driven wheel are arranged on the second hanging walking part; An obstacle crossing part is installed on the longitudinal beam, and a clamping jaw is arranged above the obstacle crossing part, and the clamping jaw can be telescopically clamped around the cable.

2. The high-rise cable inspection apparatus of claim 1, wherein: The base frame includes a bottom frame, and the first transverse guide rail and the second transverse guide rail are respectively installed on opposite ends of the bottom frame.

3. The high-rise cable inspection apparatus of claim 1, wherein: The longitudinal beam includes a guide rail, and the lower part of the obstacle crossing part can be movably matched with the guide rail.

4. The high-rise cable inspection apparatus of claim 3, wherein: The obstacle crossing part includes a support, an obstacle crossing telescopic mechanism and the clamping jaw, the support is adjustably installed on the longitudinal beam, the obstacle crossing telescopic mechanism is installed on the support, and the clamping jaw is installed on the obstacle crossing telescopic mechanism.

5. The high-rise cable inspection apparatus of claim 4, wherein: The clamping jaw includes a transverse mounting seat and a clamping block, the transverse mounting seat is installed on the top of the obstacle crossing telescopic mechanism, the transverse mounting seat is provided with a transversely extending groove, the clamping block includes a moving part and two clamping blocks, the moving part is matched and arranged in the groove, the two clamping blocks are oppositely connected and arranged on the upper part of the moving part, and the two clamping blocks form a space for clamping the cable.

6. The high-rise cable inspection apparatus of claim 1, wherein: The first hanging walking part includes a first lifting mechanism, and the second hanging walking part includes a second lifting mechanism, the first driven wheel is installed on the first lifting mechanism, and the second driven wheel is installed on the second lifting mechanism.

7. The aerial cable inspection apparatus of claim 6, wherein: The first lifting mechanism and the second lifting mechanism each include a driving member, a driving rod, a moving block and a guide part, the driving member is drivingly connected with the driving rod, the driving block is installed on the driving rod and is lifted and lowered under the guidance of the guide part, and the first driven wheel and the second driven wheel are each installed on the driving block.

8. The aerial cable inspection apparatus of claim 6, wherein: The first lifting mechanism is installed on a first transverse moving mechanism, the second lifting mechanism is installed on a second transverse moving mechanism, the first transverse moving mechanism moves in cooperation with the first transverse guide rail, and the second transverse moving mechanism moves in cooperation with the second transverse guide rail.

9. A method for physical detection of a high-altitude high-voltage power transmission network, characterized in that: The device is provided with a camera, and the cable is visually inspected during walking of the device and is fed back to a remote monitoring system.

10. The physical detection method of the high altitude high voltage power transmission network according to claim 9, wherein: When the device is walking, the first hanging walking part is located in front, the clamping jaw of the obstacle crossing part does not clamp the cable, and the device walks under the joint action of the first hanging walking part and the second hanging walking part. When the device encounters an obstacle on the cable, the gripper acts and clamps around the cable by detecting the obstacle information through the detection device; The first hanging walking part moves outward along the first transverse guide rail to bypass the obstacle, and the device continues to move forward under the joint action of the second hanging walking part and the obstacle-crossing part; After bypassing the obstacle, the first hanging walking part resets and hangs the cable; The gripper releases the cable, and the device walks under the joint action of the first hanging walking part and the second hanging walking part; After the obstacle-crossing part passes the obstacle, the gripper acts and clamps around the cable; The second hanging walking part moves outward along the second transverse guide rail to bypass the obstacle, and the device continues to move forward under the joint action of the first hanging walking part and the obstacle-crossing part; After bypassing the obstacle, the second hanging walking part resets, the gripper releases the cable, and the device continues to walk and check under the joint action of the first hanging walking part and the second hanging walking part.

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