An aerial line work robot and operating method
By designing an overhead line operation robot, and utilizing a combination of drones, connection modules, and drive modules, efficient docking between drones and power lines was achieved. This solved the problems of complex operation and low efficiency in existing technologies, and improved docking accuracy and ease of operation.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- GUANGDONG ELECTRIC POWER SCI RES INST ENERGY TECH CO LTD
- Filing Date
- 2026-03-10
- Publication Date
- 2026-06-19
AI Technical Summary
Existing aerial work line operation robots face difficulties and low efficiency in the process of docking drones with the lines, especially since the docking accuracy requirements are high and the operation is complex.
The design of the overhead line operation robot includes a drone, a connection module, and a drive module. The connection module consists of a first and second support rod that are perpendicular to each other, a guide component, and wheels. The drone's flight and rotation are controlled to dock with the line, and the guide component and drive module are used to improve the docking accuracy.
This reduces the operational difficulty of docking drones with power lines, improves docking efficiency, ensures a stable connection between drones and power lines, and enables efficient construction operations through the equipment.
Smart Images
Figure CN122246592A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of aerial work robot technology, and in particular to an overhead line work robot and its operation method. Background Technology
[0002] Currently, there are two main types of robots used for high-altitude overhead line operations. One type uses manual labor or hoisting tools to lift and lower the robot to the high-altitude work position. These robots are generally more functional, but they are heavy and inconvenient to use on site. The other type uses drones to hoist the robot with ropes or integrates it directly with the drone. Drone hoisting is affected by the flexibility of the rope, resulting in poor installation accuracy and requiring repeated testing by the pilot. Integrating the robot with the line requires docking the drone with the line so that the drone can connect to the line and move along the line. However, the docking process between the drone and the line also presents operational difficulties and low docking efficiency.
[0003] Therefore, there is an urgent need for an overhead line operation robot and its operation method to solve the above problems. Summary of the Invention
[0004] The purpose of this invention is to provide an overhead line operation robot and its operation method, which reduces the difficulty of docking drones with lines and improves docking efficiency.
[0005] To achieve this objective, the present invention adopts the following technical solution: An overhead power line operation robot has a first horizontal direction and a second horizontal direction that are perpendicular to each other, and includes a drone, a connection module and a drive module; the connection module includes a first support rod, a second support rod, a first guide member, a second guide member, a first walking wheel and a second walking wheel, and the drive module is used to drive the first walking wheel and / or the second walking wheel to rotate; Both the first support rod and the second support rod are connected to the drone at one end and extend upwards towards the drone at the other end. The first support rod and the second support rod are spaced apart along the first horizontal direction and also spaced apart along the second horizontal direction. The side of the first support rod closer to the second support rod along the first horizontal direction is the first side, and the side of the second support rod closer to the first support rod along the first horizontal direction is the second side. The first traveling wheel is located on the first side of the top of the first support rod, and the second traveling wheel is located on the second side of the top of the second support rod. The first guide member is located below the first traveling wheel, with one end connected to the first side of the first support rod and the other end extending towards the wheel groove of the first traveling wheel. The second guide member is located below the second traveling wheel, with one end connected to the second side of the second support rod and the other end extending towards the wheel groove of the second traveling wheel.
[0006] As an improvement to the above technical solution, an auxiliary positioning module is also included. The auxiliary positioning module is located on the top of the UAV and is used to monitor the relative position of the line and the connection module.
[0007] As an improvement to the above technical solution, the first guide member includes a first connecting part and a first guide part. The first connecting part is connected to the first side of the first support rod, and one end of the first guide part is connected to the first connecting part, while the other end is inclined toward the wheel groove of the first traveling wheel. The second guide includes a second connecting part and a second guide part. The second connecting part is connected to the second side of the second support rod. One end of the second guide part is connected to the second connecting part, and the other end is inclined towards the wheel groove of the second traveling wheel.
[0008] As an improvement to the above technical solution, the drive module includes a first drive component and a second drive component. The first drive component is disposed on the first support rod, and the first traveling wheel is drivenly connected to the first drive component. The second drive component is disposed on the second support rod, and the second traveling wheel is drivenly connected to the second drive component.
[0009] As an improvement to the above technical solution, the first support rod and the second support rod are respectively located on both sides of the UAV along the first horizontal direction.
[0010] As an improvement to the above technical solution, it also includes an equipment rack, wherein the equipment is mounted on the drone, and the first support rod and the second support rod are both mounted on the equipment rack.
[0011] A method for operating an overhead line maintenance robot, used for any of the above-mentioned overhead line maintenance robots, includes a docking operation method, the docking operation method comprising the following steps: S1. Control the drone to fly below the line, and make the vertical projection of the line lie in the gap between the first walking wheel and the second walking wheel; S2. Control the drone to rise, so that the first walking wheel and the second walking wheel move above the line; S3. Control the drone to rotate so that both the first support rod and the second support rod abut against the line; S4. Control the drone to descend so that the path enters the wheel grooves of the first and second traveling wheels along the first guide and the second guide.
[0012] As an improvement to the above technical solution, a separation operation method is also included, which comprises the following steps: M1. Control the drone to rise so that both the first and second wheels are disengaged from the track; M2. Control the drone to rotate so that the projection of the line along the vertical direction is located in the gap between the first walking wheel and the second walking wheel; M3. Control the drone to descend so that the first and second wheels move below the track.
[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention relates to an overhead line operation robot and its operating method. The overhead line operation robot has a first horizontal direction and a second horizontal direction that are perpendicular to each other, and includes a drone, a connection module, and a drive module. The connection module includes a first support rod, a second support rod, a first guide member, a second guide member, a first traveling wheel, and a second traveling wheel. The drive module is used to drive the first traveling wheel and / or the second traveling wheel to rotate. One end of each of the first and second support rods is connected to the drone, and the other end extends upwards from the drone. The first and second support rods are spaced apart along the first horizontal direction and also spaced apart along the second horizontal direction. The side of the first support rod closer to the second support rod along the first horizontal direction is designated as the first side, and the side of the second support rod closer to the first support rod along the first horizontal direction is designated as the second side. The first traveling wheel is located on the first side of the top of the first support rod, and the second traveling wheel is located on the second side of the top of the second support rod. A first guide member is located below the first traveling wheel, with one end connected to the first side of the first support rod and the other end extending towards the groove of the first traveling wheel. A second guide member is located below the second traveling wheel, with one end connected to the second side of the second support rod and the other end extending towards the groove of the second traveling wheel. When docking the drone with the power line, the drone is first controlled to fly below the power line, ensuring the vertical projection of the power line lies between the first and second traveling wheels. Then, the drone is controlled to ascend, moving the first and second traveling wheels above the power line. The drone is then controlled to rotate, ensuring both the first and second support rods contact the power line. Finally, the drone is controlled to descend, allowing the power line to pass through the first and second guide members and enter the grooves of the first and second traveling wheels. At this point, the overhead power line operation robot is docked with the power line. Construction work can then be performed on the power line using the equipment mounted on the drone. The drive module can also be used to rotate the first and / or second traveling wheels, allowing the overhead power line operation robot to move along the power line. The positioning function of the first and second support rods, and the guiding function of the first and second guide members, significantly reduce the precision requirements for drone operation during the docking process, thereby reducing operational difficulty and improving docking efficiency. After the drone docks with the line, construction work can be carried out on the line using the onboard equipment. The drive module can also drive the first and / or second wheels to rotate, allowing the overhead line operation robot to move along the line. Attached Figure Description
[0014] Figure 1 This is a schematic diagram of the structure of the overhead line maintenance robot provided in an embodiment of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the structure of the overhead line maintenance robot provided in an embodiment of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the structure of the overhead line maintenance robot provided in an embodiment of the present invention. Figure 3 ; Figure 4 This is a schematic diagram of the overhead line operation robot after it is docked with the line, as provided in an embodiment of the present invention.
[0015] In the picture: X, first horizontal direction; Y, second horizontal direction; 1. Drones; 2. Connection module; 21. First support rod; 211. First side; 212. Third side; 22. Second support rod; 221. Second side; 222. Fourth side; 23. First guide member; 231. First connecting part; 232. First guide part; 24. Second guide member; 241. Second connecting part; 242. Second guide part; 25. First traveling wheel; 26. Second traveling wheel; 27. Wheel groove; 3. Driver module; 31. First driver component; 32. Second driver component; 4. Auxiliary positioning module; 5. Equipment rack; 100. Line. Detailed Implementation
[0016] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.
[0017] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.
[0018] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.
[0019] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.
[0020] like Figures 1-4As shown, this embodiment provides an overhead line operation robot with a first horizontal direction X and a second horizontal direction Y that are perpendicular to each other. The overhead line operation robot includes a drone 1, a connection module 2, and a drive module 3. The connection module 2 includes a first support rod 21, a second support rod 22, a first guide member 23, a second guide member 24, a first traveling wheel 25, and a second traveling wheel 26. Both the first traveling wheel 25 and the second traveling wheel 26 have wheel grooves 27 for accommodating the line 100. The drive module 3 is used to drive the first traveling wheel 25 and / or the second traveling wheel 26 to rotate, so that after the overhead line operation robot docks with the line 100, the rotation of the first traveling wheel 25 and / or the second traveling wheel 26 by the drive module 3 allows the overhead line operation robot to move along the line 100 to adjust its working position. The first support rod 21 and the second support rod 22 are both connected to the drone 1 at one end and extend upwards from the drone 1 at the other end. The first support rod 21 and the second support rod 22 are spaced apart along the first horizontal direction X and spaced apart along the second horizontal direction Y. On the two sides of the first support rod 21 along the first horizontal direction X, the side closer to the second support rod 22 is designated as the first side 211, and the side farther from the second support rod 22 is designated as the third side 212. On the two sides of the second support rod 22 along the first horizontal direction X, the side closer to the first support rod 21 is designated as the second side 221, and the side farther from the second support rod 22 is designated as the fourth side 222. The first traveling wheel 25 is located on the first side 211 at the top of the first support rod 21, and the second traveling wheel 26 is located on the second side 221 at the top of the second support rod 22. The first guide member 23 is located below the first traveling wheel 25, with one end connected to the first side 211 of the first support rod 21, and the other end extending towards the wheel groove 27 of the first traveling wheel 25. The second guide member 24 is located below the second traveling wheel 26, with one end connected to the second side 221 of the second support rod 22, and the other end extending towards the wheel groove 27 of the second traveling wheel 26. The rotation axes of the first traveling wheel 25 and the second traveling wheel 26 are parallel, and the wheel grooves 27 of the first traveling wheel 25 and the second traveling wheel 26 are opposite each other along the first horizontal direction X. Those skilled in the art will understand that the wheel groove 27 of the first traveling wheel 25 surrounds the first traveling wheel 25, and the wheel groove 27 of the second traveling wheel 26 surrounds the second traveling wheel 26.
[0021] In this embodiment, the overhead line operation robot, when docking the drone 1 with the line 100, first controls the drone 1 to fly below the line 100, ensuring that the vertical projection of the line 100 is positioned between the first traveling wheel 25 and the second traveling wheel 26. Then, the drone 1 is controlled to rise, causing the first traveling wheel 25 and the second traveling wheel 26 to move above the line 100. The drone 1 is then controlled to rotate, ensuring that both the first support rod 21 and the second support rod 22 abut against the line 100. Finally, the drone 1 is controlled to descend, allowing the line 100 to pass through the first guide... The guide section 232 and the second guide section 242 enter the wheel grooves 27 of the first traveling wheel 25 and the second traveling wheel 26. At this time, the overhead line operation robot is docked with the line 100. The rotor of the drone 1 is turned off, and then the operation equipment on the drone 1 is used to carry out construction work on the line 100. Alternatively, the first traveling wheel 25 and / or the second traveling wheel 26 can be driven to rotate by the drive module 3 so that the overhead line operation robot can move along the line 100 to the position where it needs to be operated, and then the operation equipment on the drone 1 can be used to carry out construction work on the line 100.
[0022] The positioning function of the first support rod 21 and the second support rod 22, and the guiding function of the first guide member 23 and the second guide member 24, greatly reduce the requirements for the operation precision of the UAV 1 during the docking process with the line 100, thereby reducing the operation difficulty, improving the docking efficiency, and avoiding the collision that may occur when the UAV 1 moves laterally and is mounted on the line 100.
[0023] Optionally, such as Figure 2 As shown, the overhead line operation robot provided in this embodiment also includes an auxiliary positioning module 4. The auxiliary positioning module 4 is located on the top of the drone 1 and is used to monitor the relative position of the line 100 and the connecting module 2. The auxiliary positioning module 4 is communicatively connected to the operator's operating system and can transmit monitoring information back to the operator's operating system, facilitating the operator's determination of the relative position of the line 100 and the connecting module 2. The auxiliary positioning module 4 is a visible light camera or a laser camera. Furthermore, the auxiliary positioning module 4 also includes devices such as a level to further assist the operator in controlling the docking process between the overhead line operation robot and the line 100.
[0024] Optionally, such as Figures 1-3As shown, the first guide member 23 includes a first connecting part 231 and a first guide part 232. The first connecting part 231 is connected to the first side 211 of the first support rod 21. One end of the first guide part 232 is connected to the first connecting part 231, and the other end is inclined towards the wheel groove 27 of the first traveling wheel 25. The first connecting part 231 realizes the connection between the first guide member 23 and the first support rod 21. The first guide part 232 plays a guiding role for the line 100, so that the line 100 can enter the wheel groove 27 of the first traveling wheel 25 along the first guide part 232. The second guide member 24 includes a second connecting part 241 and a second guide part 242. The second connecting part 241 is connected to the second side 221 of the second support rod 22. One end of the second guide part 242 is connected to the second connecting part 241, and the other end is inclined towards the wheel groove 27 of the second traveling wheel 26. The second connecting part 241 realizes the connection between the second guide part 242 and the second support rod 22. The second guide part 242 plays a guiding role for the line 100, so that the line 100 can enter the wheel groove 27 of the second traveling wheel 26 along the second guide part 242.
[0025] Optionally, such as Figures 1-3 As shown, the drive module 3 includes a first drive assembly 31 and a second drive assembly 32. The first drive assembly 31 is mounted on the first support rod 21, and the first traveling wheel 25 is driven by the first drive assembly 31. The first drive assembly 31 drives the first traveling wheel 25 to rotate. The second drive assembly 32 is mounted on the second support rod 22, and the second traveling wheel 26 is driven by the second drive assembly 32. The second drive assembly 32 drives the second traveling wheel 26 to rotate. That is, in this embodiment, the drive module 3 drives both the first traveling wheel 25 and the second traveling wheel 26 to rotate. The rotation of both the first traveling wheel 25 and the second traveling wheel 26 can act as active wheels to move the overhead line operation robot along the line 100. In this embodiment, the first traveling wheel 25 is mounted on the first drive assembly 31, and the second traveling wheel 26 is mounted on the second drive assembly 32.
[0026] Furthermore, such as Figures 1-3 As shown, both the first drive assembly 31 and the second drive assembly 32 include a drive motor and a transmission assembly. The drive motor of the first drive assembly 31 is connected to the first traveling wheel 25 via a corresponding transmission assembly, and the drive motor of the second drive assembly 32 is connected to the second traveling wheel 26 via a corresponding transmission assembly. The specific structure of the transmission assembly can be configured as needed, such as using gear transmission or synchronous belt transmission, etc., which will not be elaborated here. Those skilled in the art will understand that the overhead line operation robot should also include a battery and a controller. The battery is used to power the drive module 3 and the operating equipment mounted on the drone 1, and the controller is used to control the movement of the operating equipment.
[0027] Optionally, such as Figures 1-3 As shown, the first support rod 21 and the second support rod 22 are located on both sides of the UAV 1 along the first horizontal direction X, so as to improve the balance of the UAV 1.
[0028] Optionally, such as Figures 1-3 As shown, the overhead line operation robot provided in this embodiment also includes an equipment frame 5, which is mounted on the drone 1. The first support rod 21 and the second support rod 22 are both mounted on the equipment frame 5. Operation equipment can be installed on the equipment frame 5 of the overhead line operation robot according to operational needs. The operation equipment generally includes two parts: a robotic arm and operation tools. The robotic arm can be an articulated robotic arm or a telescopic mechanism, and the operation tools can be various tools such as electrician's wrenches or grippers, depending on the operation content.
[0029] This embodiment also provides an operation method for an overhead line operation robot, used for the above-mentioned overhead line operation robot, including a docking operation method, which includes the following steps: S1. Control the drone 1 to fly below the line 100, and make the vertical projection of the line 100 lie in the gap between the first walking wheel 25 and the second walking wheel 26. S2. Control the drone 1 to rise so that the first walking wheel 25 and the second walking wheel 26 move above the line 100; S3. Control the drone 1 to rotate so that both the first support rod 21 and the second support rod 22 abut against the line 100; S4. Control the drone 1 to descend so that the line 100 enters the wheel groove 27 of the first traveling wheel 25 and the second traveling wheel 26 along the first guide section 232 and the second guide section 242. The schematic diagram after the overhead line operation robot docks with the line 100 is shown below. Figure 4 As shown.
[0030] During the docking process between the overhead line operation robot and line 100, the auxiliary positioning module 4 monitors the relative position of line 100 and connection module 2, and transmits the monitoring information back to the operator's operating system. The operator can adjust the position of the drone 1 according to the information transmitted back by the auxiliary positioning module 4, thereby reducing the difficulty of operation for the operator.
[0031] The docking operation method provided in this embodiment, through the positioning function of the first support rod 21 and the second support rod 22, and the guiding function of the first guide member 23 and the second guide member 24, greatly reduces the requirements for the operation accuracy of the UAV 1 during the docking process between the UAV 1 and the line 100, thereby reducing the operation difficulty and improving the docking efficiency.
[0032] The overhead line operation robot operation method provided in this embodiment also includes a disengagement operation method, which includes the following steps: M1, control the drone 1 to rise so that both the first walking wheel 25 and the second walking wheel 26 are disengaged from the line 100; M2, control the drone 1 to rotate so that the projection of the line 100 along the vertical direction is located in the gap between the first walking wheel 25 and the second walking wheel 26; M3, control the drone 1 to descend so that the first walking wheel 25 and the second walking wheel 26 move below the line 100.
[0033] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.
Claims
1. An overhead power line operation robot, characterized in that, Having a first horizontal direction (X) and a second horizontal direction (Y) that are perpendicular to each other, the device includes a drone (1), a connection module (2) and a drive module (3); the connection module (2) includes a first support rod (21), a second support rod (22), a first guide (23), a second guide (24), a first walking wheel (25) and a second walking wheel (26); the drive module (3) is used to drive the first walking wheel (25) and / or the second walking wheel (26) to rotate. The first support rod (21) and the second support rod (22) are connected to the UAV (1) at one end and extend upwards from the UAV (1) at the other end. The first support rod (21) and the second support rod (22) are spaced apart along the first horizontal direction (X) and spaced apart along the second horizontal direction (Y). The side of the first support rod (21) closer to the second support rod (22) along the first horizontal direction (X) is the first side (211), and the side of the second support rod (22) closer to the first support rod (21) along the first horizontal direction (X) is the second side (221). The first traveling wheel (25) is located on the first side (211) of the top of the first support rod (21), and the second traveling wheel (26) is located on the second side (221) of the top of the second support rod (22). The first guide (23) is located below the first traveling wheel (25), and one end is connected to the first side (211) of the first support rod (21), and the other end extends toward the wheel groove (27) of the first traveling wheel (25). The second guide (24) is located below the second traveling wheel (26), and one end is connected to the second side (221) of the second support rod (22), and the other end extends toward the wheel groove (27) of the second traveling wheel (26).
2. The overhead line operation robot according to claim 1, characterized in that, It also includes an auxiliary positioning module (4), which is located on the top of the UAV (1) and is used to monitor the relative position of the line (100) and the connection module (2).
3. The overhead line operation robot according to claim 1, characterized in that, The first guide member (23) includes a first connecting part (231) and a first guide part (232). The first connecting part (231) is connected to the first side (211) of the first support rod (21). One end of the first guide part (232) is connected to the first connecting part (231), and the other end is inclined towards the wheel groove (27) of the first walking wheel (25). The second guide member (24) includes a second connecting part (241) and a second guide part (242). The second connecting part (241) is connected to the second side (221) of the second support rod (22). One end of the second guide part (242) is connected to the second connecting part (241), and the other end is inclined towards the wheel groove (27) of the second traveling wheel (26).
4. The overhead line operation robot according to claim 1, characterized in that, The drive module (3) includes a first drive component (31) and a second drive component (32). The first drive component (31) is mounted on the first support rod (21), and the first traveling wheel (25) is connected to the first drive component (31) in a transmission connection. The second drive component (32) is mounted on the second support rod (22), and the second traveling wheel (26) is connected to the second drive component (32) in a transmission connection.
5. The overhead line operation robot according to any one of claims 1-4, characterized in that, The first support rod (21) and the second support rod (22) are located on both sides of the UAV (1) along the first horizontal direction (X).
6. The overhead line operation robot according to claim 5, characterized in that, It also includes an equipment rack (5), which is mounted on the UAV (1), and the first support rod (21) and the second support rod (22) are both mounted on the equipment rack (5).
7. A method for operating an overhead line maintenance robot, characterized in that, The overhead line operation robot according to any one of claims 1-6 includes a docking operation method, the docking operation method comprising the following steps: S1. Control the drone (1) to fly below the line (100) and make the vertical projection of the line (100) located in the gap between the first walking wheel (25) and the second walking wheel (26); S2. Control the drone (1) to rise so that the first walking wheel (25) and the second walking wheel (26) move above the line (100); S3. Control the UAV (1) to rotate so that the first support rod (21) and the second support rod (22) both abut against the line (100); S4. Control the drone (1) to descend so that the line (100) enters the wheel groove (27) of the first walking wheel (25) and the second walking wheel (26) along the first guide (232) and the second guide (242).
8. The method for operating an overhead line maintenance robot according to claim 7, characterized in that, It also includes a separation operation method, which includes the following steps: M1, control the drone (1) to rise so that the first walking wheel (25) and the second walking wheel (26) are both disengaged from the line (100); M2, control the UAV (1) to rotate so that the projection of the line (100) in the vertical direction is located in the gap between the first walking wheel (25) and the second walking wheel (26); M3. Control the drone (1) to descend so that the first walking wheel (25) and the second walking wheel (26) move below the line (100).