A mountainous power transmission line inspection and early warning device

Abstract

The present application relates to the technical fields of line inspection, and discloses a kind of inspection early warning equipment of mountain transmission line, including inspection robot, its outside is equipped with the camera for collecting transmission line state image;Pulley block, number is two, is set to the inspection robot above, for hanging and drive the inspection robot along transmission cable walk;It further includes obstacle crossing mechanism, number is two and symmetrically arranged, is set to the inspection robot, for dynamically adjusting the clamping force of the pulley block to cable, to assist the inspection robot to complete obstacle crossing effect;Exhaust mechanism is set to the inspection robot;By adjusting the adhesion between driving wheel and driven wheel, quickly carry out obstacle crossing operation, and during obstacle crossing process, driving wheel and driven wheel are always in contact with obstacle area, ensure overall stability, in the process of inspection, can be quickly to snow, dust actively clean, reduce the process of pre-cleaning, improve inspection efficiency.

Description

Technical Field

[0001] This invention relates to the field of power line inspection technology, specifically to an inspection and early warning device for power transmission lines in mountainous areas. Background Technology

[0002] Power transmission lines in mountainous areas face harsh environments, often traversing jungles and canyons, and encountering challenges such as strong winds, snow, and dust. Manual inspections are difficult, risky, and inefficient, and drone operations rely heavily on the experience of the drone pilots and weather conditions. Therefore, inspection robots are now widely used for these operations. Inspection robots are intelligent devices based on OCR and image recognition technologies, with applications covering finance, power, petrochemicals, and manufacturing. For power transmission line inspections, they are often used in conjunction with motor-driven pulley systems to drive the line. During movement, they monitor the power transmission line in real time, checking for broken strands, damage, or hanging foreign objects, thus completing the inspection.

[0003] Existing inspection robots require the rollers in the two bottom areas to descend sequentially when performing obstacle-crossing operations, and then gradually pass through the obstacle area. In actual use, this method has the following drawbacks: the obstacle-crossing dwell time is too long, resulting in low inspection efficiency; the lower rollers in the corresponding area are in a disengaged state when crossing obstacles, resulting in a decrease in overall stability; and it is not convenient to clean the floating dust and snow on the power transmission line during the inspection process, requiring the use of external drones or pre-processing with debris removal robots, which increases the process and affects inspection efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide an inspection and early warning device for power transmission lines in mountainous areas, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an inspection and early warning device for power transmission lines in mountainous areas, comprising:

[0006] The inspection robot is equipped with a camera on its outside for collecting images of the power transmission line status;

[0007] Two pulley blocks are installed above the inspection robot to suspend and drive the inspection robot to move along the power transmission cable.

[0008] It also includes: two obstacle-crossing mechanisms, arranged symmetrically, mounted on the inspection robot, used to dynamically adjust the clamping force of the pulley group on the cable to assist the inspection robot in completing the obstacle-crossing function;

[0009] The exhaust mechanism, installed on the inspection robot, is used to assist in pushing the inspection robot to move and to remove and prevent dust from the camera area.

[0010] The obstacle-crossing mechanism includes a folding rod and a spring installed on the outside of the pulley block. The spring is located at the bottom end of the folding rod, and a push plate that can move vertically is fixedly connected to the bottom end of the spring.

[0011] Preferably, the exhaust mechanism includes:

[0012] A three-way pipe is installed on the inspection robot;

[0013] A bend is fixedly connected to one end of a tee pipe, with its port facing the movement path of the pulley block;

[0014] The exhaust pipe is fixedly connected to the other end of the T-connector, and the exhaust direction is opposite to the direction of travel of the inspection robot;

[0015] The material of the three-way pipe near the exhaust pipe end is plastic.

[0016] Preferably, the pulley block includes:

[0017] The drive wheel has a drive motor mounted on its outer side;

[0018] There are two driven wheels, both of which are in contact with the outer side of the driving wheel, and the outer sides of the two driven wheels are rotatably connected to a receiving seat;

[0019] The outer side of the receiving seat is fixedly connected to one end of the folding rod, and the receiving seat can move vertically.

[0020] Preferably, the obstacle-crossing mechanism further includes:

[0021] The sleeve is fixedly connected to the outside of the inspection robot, and one end of the folding rod is inserted into and slidably connected to the inside of the sleeve;

[0022] The first electric push rod has its top end fixedly connected to the outside of the push plate, and its bottom end fixedly installed to the inner bottom wall of the sleeve.

[0023] Preferably, one end of the exhaust pipe is hinged to the inspection robot, and a second electric push rod is hinged to the outside of the inspection robot. One end of the second electric push rod is hinged to the outside of the exhaust pipe and is used to drive the exhaust pipe to rotate around the hinge point.

[0024] Preferably, a flexible hose is fixedly connected to the outside of the exhaust pipe, and one end of the flexible hose is fixedly connected to an exhaust box located below the camera.

[0025] Preferably, the top of the exhaust box has two exhaust slots, one of which is inclined.

[0026] Preferably, the outer side of the inspection robot is fixedly connected to an arc-shaped plate located above the camera, and the arc-shaped plate is located above the exhaust box.

[0027] Preferably, an electromagnetic valve is fixedly connected to the outside of the exhaust pipe, hose, and tee pipe, and an electromagnet that is slidably connected to the inside of the sleeve is fixedly installed between the lever and the spring. After the electromagnet is activated, it is magnetically connected to the inner wall of the sleeve.

[0028] Preferably, a miniature air pump is fixedly installed inside the inspection robot, and the output end of the miniature air pump is fixedly connected to one end of a three-way pipe.

[0029] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0030] This invention, by setting up a folding rod, a spring, and a first electric push rod, allows the first electric push rod to pull the end of the spring down during obstacle crossing operations, causing it to stretch and reduce the pressure on the folding rod and the support seat. This makes it easier for the driving wheel and the driven wheel to move in opposite directions, facilitating the movement while maintaining contact with the obstacle area, thus forming a multi-point continuous contact state, ensuring overall stability, and eliminating the need for excessive stops, thereby improving inspection efficiency.

[0031] This invention, by setting up a bend in the tube, allows gas to be introduced into the bend and sprayed into the power transmission line area during the movement of the inspection robot, thus clearing the walking path in advance, reducing the presence of dust and snow, ensuring the stability of the pulley block when passing through the cable, and improving inspection efficiency.

[0032] This invention, by incorporating an exhaust pipe and a flexible hose, allows the exhaust gas to generate a reaction force during normal movement, assisting the inspection robot in its movement, reducing the load on the drive motor, and increasing the robot's single-inspection endurance. Simultaneously, the flexible hose and exhaust box can be used to clean and dust the camera area after gas emission, providing multiple layers of dust protection, reducing accidental contamination of the camera area, ensuring image recognition quality, and improving inspection results. Furthermore, when performing obstacle-crossing operations, the exhaust angle of the exhaust pipe can be adjusted, and corresponding pressurized jets can be applied to assist the inspection robot in slightly lifting, reducing obstacle-crossing difficulty and improving obstacle-crossing efficiency. Attached Figure Description

[0033] Figure 1 A schematic diagram of a preferred embodiment of the inspection and early warning device for power transmission lines in mountainous areas provided by the present invention;

[0034] Figure 2 This is a schematic diagram of the inspection robot and the sleeve provided by the present invention;

[0035] Figure 3 for Figure 2 Enlarged view of A in the middle;

[0036] Figure 4 This is a schematic diagram of the structure of the drive wheel and the bent pipe provided by the present invention;

[0037] Figure 5 An exploded view of the driving wheel and driven wheel provided by the present invention;

[0038] Figure 6 A cross-sectional schematic diagram of the sleeve provided by the present invention;

[0039] Figure 7 This is a schematic diagram of the structure of the miniature air pump and the three-way pipe provided by the present invention;

[0040] Figure 8 This is a schematic diagram of the inspection robot and the arc-shaped plate provided by the present invention;

[0041] Figure 9 This is a cross-sectional schematic diagram of the exhaust box and exhaust channel provided by the present invention.

[0042] In the diagram: 100, Inspection robot; 110, Camera; 120, Curved plate; 130, Miniature air pump; 200, Pulley block; 210, Driving wheel; 220, Driven wheel; 221, Support seat; 300, Obstacle crossing mechanism; 310, Folding rod; 311, Electromagnet; 320, Spring; 321, Push plate; 330, Sleeve; 340, First electric push rod; 400, Exhaust mechanism; 410, T-joint pipe; 420, Bend; 430, Exhaust pipe; 431, Second electric push rod; 432, Hose; 433, Exhaust box; 434, Exhaust trough; 435, Solenoid valve. Detailed Implementation

[0043] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] Please see Figure 1 - Figure 9 As shown, an inspection and early warning device for power transmission lines in mountainous areas includes an inspection robot 100, with a camera 110 installed on its outer side for collecting images of the power transmission line status; and two pulley sets 200, which are set above the inspection robot 100 to suspend and drive the inspection robot 100 to walk along the power transmission cable.

[0045] It also includes two obstacle-crossing mechanisms 300, which are symmetrically arranged and mounted on the inspection robot 100. These mechanisms are used to dynamically adjust the clamping force of the pulley group 200 on the cable to assist the inspection robot 100 in completing the obstacle-crossing function. An exhaust mechanism 400 is mounted on the inspection robot 100 to assist in pushing the inspection robot 100 to move and to remove dust and prevent dust from entering the area of ​​the camera 110. The obstacle-crossing mechanism 300 includes a folding rod 310 and a spring 320 mounted on the outside of the pulley group 200. The spring 320 is located at the bottom end of the folding rod 310, and a vertically movable push plate 321 is fixedly connected to the bottom end of the spring 320.

[0046] The inspection robot 100 is suspended and moves along the power transmission line via the pulley system 200 above. It continuously collects the line status through the camera 110. When it encounters obstacles such as vibration dampers or wire clamps, the spring 320 in the obstacle-crossing mechanism 300 changes its compression, causing the pressure of the lever 310 on the pulley system 200 to change, ensuring the robot passes smoothly. At the same time, the exhaust mechanism 400 continues to operate, providing auxiliary forward thrust to the robot to save energy and extend the single inspection range of the inspection robot 100. When crossing obstacles, the inspection robot 100 is assisted to lift accordingly according to the obstacle area, improving obstacle-crossing efficiency. It can also provide directional airflow to the area of ​​the camera 110, forming a cleaning and dust removal and protective barrier, effectively preventing rain, snow and dust from adhering, and ensuring image quality. Thus, if a warning situation is encountered during the inspection process, such as broken strands, damage, or foreign objects hanging, the user can be notified in a timely manner.

[0047] It should be noted that the inspection robot 100 has a built-in early warning system. Based on the images collected by the camera 110, it uses built-in image recognition algorithms, such as a deep learning-based defect recognition model, to automatically identify and warn of line defects, such as broken strands, damage, foreign objects hanging, hardware failures, and environmental hazards, such as wildfires and tree obstructions. This type of system is a mature existing technology, and its algorithm details are not the focus of this invention, so they will not be elaborated here. The number of coils and elastic coefficient of the spring 320 can be selected according to the actual usage requirements.

[0048] The exhaust mechanism 400 includes: a three-way pipe 410, which is mounted on the inspection robot 100; a bend pipe 420, which is fixedly connected to one end of the three-way pipe 410, with its port facing the movement path of the pulley block 200; and an exhaust pipe 430, which is fixedly connected to the other end of the three-way pipe 410, with the exhaust direction opposite to the travel direction of the inspection robot 100. The material of the end of the three-way pipe 410 near the exhaust pipe 430 is plastic, specifically polyurethane or rubber, which can be selected according to the actual usage requirements.

[0049] When cleaning dust and snow, the gas in the three-way pipe 410 is introduced into the bend pipe 420. Since its port faces the movement path of the pulley block 200, the gas can be applied to the power transmission line area after being sprayed, thus completing the dust and snow cleaning operation. When the inspection robot 100 moves, the exhaust pipe 430 sprays air in the opposite direction of its movement, generating a reaction force to assist movement and increase the single-inspection endurance of the inspection robot 100. When crossing obstacles, such as... Figure 3 As shown, the exhaust pipe 430 can be adjusted to spray gas to the lower right, which helps the inspection robot 100 to lift slightly and provides a slight forward thrust, making it easier to quickly perform obstacle crossing operations. It should be noted that the plastic material design at one end of the three-way pipe 410 allows this section of the pipe to be flexibly bent without affecting the airtightness and airflow, while avoiding fatigue fracture caused by repeated bending of the metal pipe.

[0050] The pulley block 200 includes: a driving wheel 210 with a drive motor mounted on its outer side; two driven wheels 220, both in contact with the outer side of the driving wheel 210, and a support seat 221 rotatably connected to the outer side of the two driven wheels 220; the axes of the driving wheel 210 and the two driven wheels 220 are parallel, and the two driven wheels 220 are mounted on the support seat 221 via axles; wherein, the outer side of the support seat 221 is fixedly connected to one end of the folding rod 310, and the support seat 221 can move vertically.

[0051] During normal operation, the drive wheel 210 and driven wheel 220 clamp and wrap around the power transmission line, working in conjunction with the drive motor to complete the walking operation. When crossing obstacles, the contact force between the drive wheel 210 and driven wheel 220 is reduced, allowing them to move in opposite directions and facilitating passage through obstacle areas. It should be noted that the outer side of the receiving seat 221 is chamfered. The chamfer angle can be adjusted according to actual usage requirements, serving as a guide. For example, when encountering vibration dampers or wire clamps, the chamfered area can pre-contact with and slightly guide the vibration dampers or wire clamps until they enter between the drive wheel 210 and driven wheel 220. For the inspection of different power transmission cables, users can also add corresponding guide plates to the outer side of the receiving seat 221 to assist in entering the obstacle area between the drive wheel 210 and driven wheel 220.

[0052] Since the drive wheel 210 of the pulley block 200 is driven by a drive motor, and the two driven wheels 220, under the preload provided by the spring 320 through the folding rod 310 and the bearing seat 221, together with the drive wheel 210, form a stable three-point clamping, it can provide sufficient driving force and excellent anti-derailment capability.

[0053] The inspection robot 100 is equipped with a steel support frame, and the pulley block 200 is installed on the outside of the steel support frame to support the corresponding components and ensure structural strength.

[0054] The obstacle-crossing mechanism 300 also includes: a sleeve 330, which is fixedly connected to the outside of the inspection robot 100, and one end of the folding rod 310 is inserted into and slidably connected to the inside of the sleeve 330; a first electric push rod 340, the top end of which is fixedly connected to the outside of the push plate 321, and the bottom end of which is fixedly installed to the inner bottom wall of the sleeve 330; one end of the exhaust pipe 430 is hinged to the inspection robot 100 through a hinge seat, and a second electric push rod 431 is hinged to the outside of the inspection robot 100, one end of which is hinged to the outside of the exhaust pipe 430 for driving the exhaust pipe 430 to rotate around the hinge point.

[0055] When overcoming obstacles, the first electric push rod 340 inside the sleeve 330 retracts, pulling the push plate 321 and spring 320 downward as a whole, reducing the clamping force between the front pulley assembly 200 and the line, allowing the driving wheel 210 and driven wheel 220 in the front pulley assembly 200 to quickly open and close to wrap around the obstacle area, and then pass over the highest point of the obstacle; during the obstacle-overcoming process, the second electric push rod 431 can be controlled to turn the exhaust pipe 430 to tilt downward to spray air, and the resulting lift component assists the front end of the robot to lift, reducing the energy consumption for obstacle overcoming. After the front wheels overcome the obstacle, the rear obstacle overcoming mechanism 300 performs a similar action, allowing the inspection robot 100 to pass through the obstacle as a whole;

[0056] It should be noted that the tilt angle of the second electric push rod 431 can be selected according to the actual obstacle crossing requirements; when dealing with special cyclic operations or special power transmission cables, users can add a displacement sensor inside the sleeve 330 to monitor the stroke of the bending rod 310 and prevent overload.

[0057] A flexible hose 432 is fixedly connected to the outside of the exhaust pipe 430, and one end of the flexible hose 432 is fixedly connected to an exhaust box 433 located below the camera 110.

[0058] Gas is introduced into the exhaust box 433 through the hose 432, and then used for dust prevention and removal in the area of ​​camera 110. It should be noted that the exhaust box 433 is equipped with a filter plate inside, which is used to filter and intercept dust and impurities in the gas, reducing the occurrence of gas being sprayed into the area of ​​camera 110. The exhaust box 433 is equipped with an opening and closing door on the side, which is used to periodically open and disassemble the filter plate for cleaning. Users can also add limiting rings to the corresponding areas on the outside of the hose 432 and the three-way pipe 410 according to actual usage needs, and fix them to the outside of the inspection robot 100.

[0059] The top of the exhaust box 433 has two exhaust slots 434, one of which is set at an angle.

[0060] Air jets are emitted from exhaust ducts 434 near the camera 110 area to clean the floating dust in the camera 110 area. One exhaust duct 434 is vertical or slightly facing the mirror surface of the camera 110 to generate a clean airflow; the other exhaust duct 434 is set to the outside at an angle to form an angled air curtain covering the front of the camera 110, blocking external floating dust and snow and reducing the occurrence of dust and snow falling into the camera 110 area.

[0061] An arc-shaped plate 120 is fixedly connected to the outside of the inspection robot 100, which is located above the camera 110 and above the exhaust box 433.

[0062] After the gas is ejected from the corresponding exhaust slot 434, the arc plate 120 will receive the gas and guide some of the gas, so that the gas is blown towards the area in front of the camera 110 to form an air curtain-like enhanced protection. This air curtain is located on the side of the protective air curtain away from the area of ​​the camera 110. Together with the aforementioned protective air curtain, multiple layers of protection are formed to ensure the quality of image capture.

[0063] Solenoid valves 435 are fixedly connected to the outside of exhaust pipe 430, hose 432 and three-way pipe 410. An electromagnet 311 is fixedly installed between the lever 310 and spring 320 and is slidably connected to the inside of sleeve 330. After the electromagnet 311 is activated, it is magnetically connected to the inner wall of sleeve 330.

[0064] The use of solenoid valve 435 facilitates intelligent control of exhaust pipe 430, hose 432 and tee pipe 410, enabling rapid switching between dust removal of the aforementioned power transmission line, dust removal of the camera 110 area and assisted walking and lifting operations. At the same time, the exhaust volume of each pipe can be intelligently adjusted according to actual inspection needs.

[0065] The electromagnet 311 is designed to perform corresponding opening and closing operations under different conditions. For example, during movement, when the spring 320 is compressed and the driven wheel 220 and the driving wheel 210 are under pressure, the electromagnet 311 is activated and magnetically connected to the inner wall of the sleeve 330, maintaining a constant pressure on the cable from the pulley block 200. This ensures stability during movement and reduces unexpected shaking caused by the spring 320. During obstacle crossing, the operation of the front electromagnet 311 can be canceled based on the obstacle information fed back by the camera 110. Then, the spring 320 is adjusted to the corresponding compression or extension state to meet obstacle crossing requirements. At this time, the rear electromagnet 311... 11 and the inner wall of sleeve 330 remain in a magnetic connection state. When the front end moves to overcome obstacles, the front end is in the area surrounding the obstacle and moves while the rear end is in a normal and stable walking state. When it moves to the rear pulley block 200 to overcome obstacles, the above operation is repeated in reverse to ensure stability during the obstacle-crossing process and the walking process. During the obstacle-crossing process, if the outer edge of the obstacle is flat, electromagnet 311 can still be used to lock it, ensuring constant contact while crossing the obstacle, thus improving stability. If the outer edge of the obstacle is irregular, the electromagnet 311 in that obstacle-crossing area is in a deactivated state, and the remaining electromagnets 311 are used for locking and operation to ensure stability.

[0066] It should be noted that during the inspection process, dust removal of the power transmission lines and the area of ​​camera 110 is not continuous. The specific situation can be selected according to the identification of camera 110 and the corresponding power transmission line. When dusting the power transmission lines, the reaction force generated by the exhaust pipe 430 can be offset by the reaction force generated by the bend pipe 420. When dusting non-power transmission lines, it achieves the effect of assisting walking.

[0067] Furthermore, during obstacle crossing, the dust removal of the power transmission line and the dust removal of the camera 110 area are stopped accordingly, and the solenoid valve 435 on the exhaust pipe 430 closes for a preset time and then suddenly opens to ensure the gas injection pressure, so that the auxiliary lifting force is sufficient; the specifications, dimensions, material and wall thickness of the exhaust pipe 430 can be selected according to actual usage requirements, as long as it meets the slight gas compression conditions; in actual use, users can open cable routing holes in the corresponding area on the outside of the sleeve 330 to facilitate the corresponding cable routing.

[0068] The inspection robot 100 has a micro air pump 130 fixedly installed inside, and the output end of the micro air pump 130 is fixedly connected to one end of the three-way pipe 410.

[0069] Starting the miniature air pump 130 allows external gas to be introduced into the three-way pipe 410, completing the gas delivery operation. It should be noted that the specifications of the miniature air pump 130 can be selected according to actual usage requirements.

[0070] Working principle: The inspection robot 100 is placed on the corresponding power transmission cable by a drone. Then, the inspection robot 100 hugs the single power transmission line through two sets of pulleys 200 symmetrically arranged on it. The drive motor drives the active wheel 210 to rotate, providing walking power. At this time, the driven wheel 220 is in contact with the power transmission line and is driven. During the movement, the spring 320 is in a compressed state. When the driven wheel 220 and the active wheel 210 are under pressure, the electromagnet 311 is activated and magnetically connected to the inner wall of the sleeve 330, maintaining a constant pressure on the cable by the pulley group 200, ensuring stability during the movement, reducing accidental shaking caused by the presence of the spring 320, and maintaining a constant pressure on the cable by the pulley group 200. At the same time, the built-in micro air pump 130 is activated to pump in external gas, generating airflow. The airflow passes through the three-way pipe 410 and the air path controlled by the solenoid valve 435.

[0071] When moving, airflow is ejected from the rearward-facing exhaust pipe 430, opposite to the walking direction of the inspection robot 100. This reaction force provides auxiliary thrust to the inspection robot 100, saving energy consumption of the main drive motor, reducing load, and increasing the single-inspection endurance of the inspection robot 100. During dust removal, airflow is guided through the hose 432 to the exhaust box 433 below the camera 110, and ejected from the exhaust slots 434 at two corresponding angles, forming a continuous directional cleaning air curtain and protective air curtain on the lens surface, effectively blowing away and blocking rain, snow, and dust. After the exhaust gas is ejected from the exhaust chute 434, the arc plate 120 will receive the gas and guide some of it, so that the gas is blown towards the area in front of the camera 110 to form an air curtain for enhanced protection. This air curtain is located on the side of the protective air curtain away from the area of ​​the camera 110. Together with the aforementioned protective air curtain, multiple layers of protection are formed to ensure that the camera 110 can capture clear images. Both can be controlled by the corresponding solenoid valve 435 to perform corresponding operations simultaneously and complete gas diversion. However, this will weaken the effect of assisting walking. The specific usage method is selected according to the inspection situation.

[0072] During operation, the built-in early warning system of the equipment analyzes the collected images in real time to provide fault warnings. The user terminal receives the corresponding notification. When there is dust accumulation or snow accumulation, the gas in the three-way pipe 410 can be introduced into the bend pipe 420. Since its port is oriented on the movement path of the pulley block 200, the gas can be sprayed and applied to the power transmission line area to complete the cleaning of dust and snow.

[0073] When the camera 110 or sensor detects an obstacle area such as a vibration damper or wire clamp on the line ahead, the system enters the obstacle-crossing procedure. This is a coordinated process of sequential action of the front and rear obstacle-crossing mechanisms 300. The obstacle-crossing mechanism 300 at the front moves first, its first electric push rod 340 retracts, pulls down the push plate 321 and compresses the spring 320, thereby releasing the clamping force of the front pulley assembly 200 on the line through the bending rod 310. At this time, the front pulley assembly 200 can slightly lift up under the action of contact with the obstacle area during the movement. The chamfered design of its support seat 221 guides the obstacle to slide into the wheel space. At the moment of obstacle crossing, the control system instructs the second electric push rod 431 to adjust the angle of the exhaust pipe 430 to tilt downwards, and may briefly close the solenoid valve 435 of the exhaust pipe 430 to store pressure and then release it violently, generating an upward gas jet force to assist the inspection robot 100 in lifting its front end, allowing it to cross more smoothly. After the inspection robot 100 shifts its center of gravity past the obstacle, the rear obstacle-crossing mechanism 300 performs a similar action, allowing the rear pulley group 200 to pass through the obstacle and complete the entire obstacle-crossing process. During the obstacle-crossing process, the electromagnet 311 is designed to perform corresponding opening and closing operations under different conditions. The operation of the front electromagnet 311 can be canceled in advance based on the obstacle situation fed back by the camera 110. Then, the spring 320 is adjusted to the corresponding compression and tension to meet the obstacle-crossing requirements. At this time, the rear electromagnet 311 and the inner wall of the sleeve 330 are still in a magnetic connection state. When the front walks to cross the obstacle, the front is in the obstacle area and walks, while the rear is in a normal stable walking state. When walking to the rear pulley group 200 to cross the obstacle, the above operation is repeated in reverse to ensure the stability of the obstacle-crossing process and the walking process. During this process, the dust removal of the line and the cleaning air curtain of the camera 110 can be paused.

[0074] The entire device ensures stable clamping during movement, and pneumatic propulsion saves energy. When encountering obstacles, it sequentially and orderly adjusts the clamping and locking of the front and rear pulley groups 200, and provides lift with directional jet propulsion to achieve smooth and low-impact crossing. Through intelligent airflow distribution, it simultaneously solves the problems of line dust removal and camera 110 cleaning and protection without adding additional devices. The device highly integrates walking, obstacle crossing, cleaning and propulsion functions, and coordinates them through a unified intelligent control system, realizing more convenient inspection and early warning operations.

[0075] It should be noted that the electrical components in the entire device are pre-programmed and controlled by the PLC controller built into the inspection robot 100, and the control program is pre-stored. At the same time, the user can log in to the back-end terminal to actively switch the corresponding intelligent operation. This type of technology is a mature technology and will not be described in detail here. The inspection robot 100 is equipped with a rechargeable built-in power supply to power the electrical components of the entire device. The power system has a low battery reminder function.

[0076] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0077] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An inspection and early warning device for power transmission lines in mountainous areas, comprising: The inspection robot (100) has a camera (110) installed on its outside for collecting images of the power transmission line status. Two pulley blocks (200) are installed above the inspection robot (100) to suspend and drive the inspection robot (100) to move along the power transmission cable; Its characteristic is that it further includes: Two obstacle-crossing mechanisms (300) are arranged symmetrically on the inspection robot (100) to dynamically adjust the clamping force of the pulley group (200) on the cable to assist the inspection robot (100) in completing the obstacle-crossing function. An exhaust mechanism (400) is installed on the inspection robot (100) to assist in pushing the inspection robot (100) to move and to remove dust and prevent dust from the camera (110) area; The obstacle-crossing mechanism (300) includes a folding rod (310) and a spring (320) installed on the outside of the pulley block (200). The spring (320) is located at the bottom end of the folding rod (310), and a push plate (321) that can move vertically is fixedly connected to the bottom end of the spring (320). The exhaust mechanism (400) includes: A three-way pipe (410) is installed on the inspection robot (100); The bend (420) is fixedly connected to one end of the tee (410), with its port facing the movement path of the pulley block (200); An exhaust pipe (430) is fixedly connected to the other end of a three-way pipe (410), with the exhaust direction opposite to the travel direction of the inspection robot (100); The material of the end of the three-way pipe (410) near the exhaust pipe (430) is plastic; The pulley system (200) includes: The drive wheel (210) has a drive motor mounted on its outer side; There are two driven wheels (220), both of which are in contact with the outer side of the driving wheel (210). The outer sides of the two driven wheels (220) are rotatably connected to the bearing seats (221). The outer side of the receiving seat (221) is fixedly connected to one end of the folding rod (310), and the receiving seat (221) can move vertically; One end of the exhaust pipe (430) is hinged to the inspection robot (100), and a second electric push rod (431) is hinged to the outside of the inspection robot (100). One end of the second electric push rod (431) is hinged to the outside of the exhaust pipe (430) to drive the exhaust pipe (430) to rotate around the hinge point.

2. The inspection and early warning device for power transmission lines in mountainous areas according to claim 1, characterized in that, The obstacle-crossing mechanism (300) also includes: The sleeve (330) is fixedly connected to the outside of the inspection robot (100), and one end of the folding rod (310) is inserted into and slidably connected to the inside of the sleeve (330); The first electric push rod (340) has its top end fixedly connected to the outside of the push plate (321) and its bottom end fixedly installed to the inner bottom wall of the sleeve (330).

3. The inspection and early warning device for mountain power transmission lines according to claim 2, characterized in that: A flexible tube (432) is fixedly connected to the outside of the exhaust pipe (430), and one end of the flexible tube (432) is fixedly connected to an exhaust box (433) located below the camera (110).

4. The inspection and early warning device for mountain power transmission lines according to claim 3, characterized in that: The top of the exhaust box (433) has two exhaust slots (434), one of which is inclined.

5. The inspection and early warning device for mountain power transmission lines according to claim 4, characterized in that: The inspection robot (100) has an arc-shaped plate (120) fixedly connected to its outer side above the camera (110), and the arc-shaped plate (120) is located above the exhaust box (433).

6. The inspection and early warning device for mountain power transmission lines according to claim 3, characterized in that: Solenoid valves (435) are fixedly connected to the outside of the exhaust pipe (430), hose (432) and three-way pipe (410). An electromagnet (311) is fixedly installed between the folding rod (310) and the spring (320) and is slidably connected to the inside of the sleeve (330). After the electromagnet (311) is activated, it is magnetically connected to the inner wall of the sleeve (330).

7. The inspection and early warning device for power transmission lines in mountainous areas according to claim 2, characterized in that: The inspection robot (100) has a micro air pump (130) fixedly installed inside, and the output end of the micro air pump (130) is fixedly connected to one end of the three-way pipe (410).

Images