Digital track reconstruction robot for assisting urban high-voltage electric tower maintenance

Abstract

The utility model relates to a digital reconstruction track robot for assisting urban high-voltage tower maintenance, an image acquisition module is movably arranged on a track, a communication control module and a battery module are fixed on the side wall of the track, and track driving modules are arranged at four corners of the track; the battery module supplies power to other modules; the image acquisition module is used for acquiring image information and three-dimensional data information of the electric wire and the high-voltage electric tower at a specified position and on the way; the communication control module is used for receiving a ground command signal, sending a movement command to the movement mechanism and sending acquired image information and position information to the ground; the track driving module is used for driving the track to move along the wire. According to the utility model, three-dimensional images can be rapidly transmitted in real time, so that ground workers can conveniently carry out information capture and rapid pre-inspection. Wide-angle capture is realized through the synergistic effect of the track, the image acquisition module and the electric track driving module.

Description

Technical Field

[0001] This utility model belongs to the field of special robot technology, specifically relating to a digital reconstruction track robot that assists in the maintenance of urban high-voltage power towers. Background Technology

[0002] my country boasts a vast territory and the world's largest and most complex power grid system. According to data from the State Grid Corporation of my country, the total length of 110kV high-voltage lines exceeds 1.5 million kilometers. Such a massive power grid presents an unavoidable challenge to power grid inspection, increasing both workload and difficulty. In the past, power grid inspection relied on node detection as a prerequisite, with inspectors using binoculars to observe each point meticulously, or even standing hundreds of meters above the ground to conduct inspections step by step. However, with the explosive growth of my country's power grid and the increasing number of power users, the workload for power equipment maintenance and inspection has also increased dramatically.

[0003] Currently, high-altitude inspection methods are generally inefficient, and manual inspections of the power grid are also inefficient, making it difficult to meet the daily maintenance needs under continuous high-voltage power supply. According to reports from some State Grid branches, a typical shift can only inspect 2-4 towers per day, and ground observation results are also unsatisfactory. Furthermore, manual inspections cannot quickly and accurately capture and record the specific condition of the power grid, which is detrimental to the later processing of power grid data and long-term maintenance records, contradicting the expectations for long-term stable operation and maintenance of the power grid, as well as rapid inspection and personnel deployment.

[0004] By effectively combining multi-angle image capture, back-end digital reconstruction, and wireless communication equipment, the problems of regular maintenance, fault prediction, and real-time information transmission for high-altitude power towers can be effectively solved. However, existing maintenance auxiliary devices are mainly geared towards the process of inspection work and after maintenance. There are no reliable machines or equipment to assist in regular independent pre-inspections. Existing scanners are mostly limited to indoor and specific lighting conditions. They do not perform supplementary calculations for specific conditions and regions. In special weather conditions, faults are more likely to occur, and there is no way to adjust or eliminate the impact. Not only can they not play an auxiliary role, but they may even cause more serious misjudgments.

[0005] Meanwhile, most existing scanners are handheld and have high requirements for lighting. In special circumstances, they have large errors in distance prediction and are prone to damaging curved surfaces, which does not meet the needs of high-altitude operations. Summary of the Invention

[0006] The purpose of this invention is to provide a digital reconstruction track robot to assist in the maintenance of urban high-voltage power towers. It integrates with high-altitude power towers and related high-voltage lines (including three-phase transmission lines and lightning protection wires), conforming to the shape of the power lines to improve ease of integration and feasibility. Through three-dimensional detailed reconstruction of the usage scenario, it enables regular pre-inspection of urban high-voltage power towers, offering advantages such as rapid data transmission and rapid pre-inspection.

[0007] This utility model includes a track, an image acquisition module, a communication control module, a battery module, and a track drive module. The image acquisition module is movably mounted on the track. The communication control module and the battery module are fixed to the side wall of the track. The track drive modules are located at the four corners of the track. The image acquisition module, communication control module, battery module, and track drive module are electrically connected, and the battery module supplies power to the other modules. The image acquisition module is used to acquire image information and three-dimensional data information of power lines and high-voltage towers at a specified location and along the route. The communication control module is used to receive ground command signals, issue motion commands to the motion mechanism, and send the acquired image information and position information to the ground. The track drive module is used to fix the track to the power line while driving the track to move along the power line.

[0008] The image acquisition module includes two integrated multi-module bayonet cameras and an ultrasonic ranging sensor. The ultrasonic ranging sensor for close-range positioning is located below the cameras. The bottom of each integrated multi-module bayonet camera is movably mounted on a track.

[0009] The communication control module includes a directional navigation system, a data processing and main control module, and a wireless communication module. The directional navigation system and the wireless communication module are electrically connected to the data processing and main control module. The data processing and main control module is used to control the operation of each module and receive images or data collected by the corresponding module. The directional navigation system is used for positioning and communicates with the ground terminal through the wireless communication module.

[0010] The data processing and main control module is connected to the integrated multi-module checkpoint camera and ultrasonic ranging sensor via wires. It is used to receive images and data collected by the image acquisition module and distance data collected by the ultrasonic ranging sensor. After performing basic processing on the received images and data, it is handed over to the ground end for digital reconstruction via the wireless communication module.

[0011] The track drive module includes four mechanical clamps and servo motors. The four mechanical clamps are set at the four corners of the track. The position of the wire is installed in each mechanical clamp. A pair of rolling shafts are set opposite each other with the wire as the center line. Each mechanical clamp is equipped with a servo motor on top to control the rotation of the rolling shafts.

[0012] Each of the integrated multi-module bayonet cameras is movably mounted on a track at its bottom via a shaft, bearing, and gear. The inner wall of the track is provided with a rail that meshes with the gear, and the side wall of the track limits the gear.

[0013] The image acquisition module is also equipped with a fan.

[0014] The aforementioned directional navigation system uses the S1216F8-8D module.

[0015] The data processing and main control module uses a Qualcomm Snapdragon processor and an STM32F4 main control chip. The Qualcomm Snapdragon processor integrates 4GB of LPDDR4x system DRAM and a 256GB UFS 2.1 storage card for fast computation and temporary information storage, facilitating the reception and processing of digital signals such as image and location information. It also works with the communication module to communicate with the ground terminal. The STM32F4 main control chip is used to control the micro servo motors and their rotation, enabling coordinated operation of multiple motion systems.

[0016] The wireless communication module uses Bluetooth 5.0 and 5G communication modules and is connected to the data processing and main control module via a serial port.

[0017] The wiring connections between the modules are all distributed along the inner side of the track.

[0018] Compared with the prior art, the present invention has the following advantages:

[0019] 1. After basic processing of the collected images and data, they are transmitted wirelessly to the ground terminal (host computer) for digital reconstruction, enabling real-time and rapid transmission of 3D images, which facilitates information capture and rapid pre-inspection by ground staff.

[0020] 2. Considering the special working environment of high-altitude inspection operations, wide-angle capture is achieved through the coordinated operation of the track, image acquisition module, and electric track drive module; and each component is designed in a modular manner to facilitate the later maintenance and replacement of the robot. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the main structure of this utility model;

[0022] Figure 2 This is a schematic diagram of the rear view structure of this utility model;

[0023] Figure 3 This is a schematic diagram of the structure of this utility model from below;

[0024] Figure 4 for Figure 1 Schematic diagram of the image acquisition module structure;

[0025] Figure 5 for Figure 1 Schematic diagram of the communication control module structure;

[0026] Figure 6 for Figure 1 Schematic diagram of the middle track drive module. Detailed Implementation

[0027] The technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. The described embodiments are only some embodiments of this utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the protection scope of this utility model.

[0028] like Figures 1-3 As shown, a digital reconstruction track robot for assisting in the maintenance of urban high-voltage power towers includes a track 1, an image acquisition module 2, a communication control module 3, a battery module 4, and a track drive module 5. The image acquisition module 2 is movably mounted on the track 1. The communication control module 3 and the battery module 4 are fixed to the side wall of the track 1. The track drive module 5 is located at the four corners of the track. The image acquisition module 2, the communication control module 3, the battery module 4, and the track drive module 5 are electrically connected, and the battery module 4 supplies power to the other modules. The image acquisition module 2 is used to acquire image information and three-dimensional data information of power lines and high-voltage power towers at designated locations and along the route. The communication control module 3 is used to receive ground command signals, issue motion commands to motion mechanisms such as motors and servos, and send the acquired image information and position information to the ground. The track drive module 5 is used to fix the track to the power line while driving the track to move along the power line.

[0029] like Figure 4 As shown, the image acquisition module 2 includes two integrated multi-module bayonet cameras 6 (dual cameras) and an ultrasonic ranging sensor 7. An ultrasonic ranging sensor 7 for close-range positioning is set on the central axis directly below the camera 6. The bottom of each integrated multi-module bayonet camera 6 is movably mounted on the track 1 via a shaft 8, a bearing 9 and a gear 10. The inner wall of the track is provided with a rail that meshes with the gear.

[0030] The image acquisition module 2 is equipped with an SG90 micro servo motor for controlling the rotation of shaft 8. The output shaft of the micro servo motor is connected to one end of shaft 8 via bearing 9, and the other end of shaft 8 is connected to gear 10. The micro servo motor drives shaft 8 to rotate, which in turn drives gear 10 to rotate, causing gear 10 to move along track 1. The track sidewall limits the gear, ensuring that the integrated multi-module bayonet camera 6 does not detach from the track while moving along it under the drive of the gear, thus achieving overall coordinated movement and multi-angle wide-angle capture.

[0031] The image acquisition module 2 is also equipped with a fan. In this embodiment, a small fan of model PD120525S05L is selected for auxiliary heat dissipation. The integrated multi-module bayonet camera 6, ultrasonic ranging sensor 7, micro servo motor, and fan are all mounted on the housing of the image acquisition module 2. The integrated multi-module bayonet camera 6 and ultrasonic ranging sensor 7 are fixed to the side wall of the housing of the image acquisition module 2 through slots, which facilitates distance measurement and image acquisition. The micro servo motor and fan are located inside the housing. The fan dissipates heat from the image acquisition module 2, and the micro servo motor provides the power for the movement of the image acquisition module 2.

[0032] The miniature servo motor, the integrated multi-module bayonet camera and communication control module 3, and the battery module 4 are electrically connected.

[0033] In this embodiment, the image acquisition module 2 is based on two non-contact 3D scanners ZX7M-RANGE7, with its two high-magnification zoom digital cameras and computing module as the main modules. Its shape is designed to better suit the actual situation of this utility model and meet practical usage requirements. Simultaneously, an ultrasonic ranging module URM37V5.0 is selected for distance measurement in actual usage scenarios, enabling the identification and avoidance of potential obstacles on the line. Based on the provided distance data, more accurate distance data is supplemented to the acquired image information. During the measurement process, the module's built-in temperature compensation algorithm avoids ranging errors caused by temperature changes. The non-contact 3D scanner ZX7M-RANGE7 has a built-in 9-axis IMU gyroscope, which performs balance calibration. Data transmission is achieved through a Type-C data interface. Multiple modules work together to achieve 3D scanning of power lines and towers.

[0034] like Figure 5 As shown, the communication control module 3 includes a directional navigation system 11, a data processing and main control module 12, and a wireless communication module 14. The directional navigation system 11 and the wireless communication module 14 are both electrically connected to the data processing and main control module 12. The data processing and main control module 12 is used to control the operation of each module and receive images or data collected by the corresponding module.

[0035] In this embodiment, the directional navigation system 11 uses the S1216F8-8D module to achieve GPS and Beidou dual-mode positioning;

[0036] The data processing and main control module 12 uses a Qualcomm Snapdragon processor and an STM32F4 main control chip. The Qualcomm Snapdragon processor integrates 4GB of LPDDR4x system DRAM memory and a 256GB UFS 2.1 storage card for rapid computation and temporary information storage, facilitating the reception and processing of digital signals such as image and location information. It also works with the communication module to communicate with the ground terminal. Data is transmitted back to the ground terminal (host computer) via Geomagic Studio software and a wireless communication module. The ground terminal (host computer) completes 3D reconstruction by extracting feature lines and constructing surfaces. The STM32F4 main control chip controls the micro servo motors and their rotation, enabling coordinated operation of multiple motion systems. The wireless communication module 14 uses a Bluetooth 5.0 communication module and a 5G communication module, connected to the data processing and main control module 12 via a serial port for long-distance, rapid data transmission.

[0037] The data processing and main control module 12 is connected to the integrated multi-module checkpoint camera 6 and ultrasonic ranging sensor 7 via wires. It is used to receive images and data collected by the image acquisition module 2, as well as distance data collected by the ultrasonic ranging sensor 7. After performing basic processing on the received images and data, it is sent to the ground end (host computer) for digital reconstruction via the wireless communication module 14.

[0038] The wiring connections between the above modules are all distributed along the inner side of the track (which does not affect the movement of gear 10).

[0039] like Figure 6 As shown, the track drive module 5 includes four mechanical clamps 15 and servo motors. The four mechanical clamps 15 are set at the four corners of the track 1 and are fixed to the track by threads. The position of the wire is installed in each mechanical clamp 15, and a pair of rolling shafts 16 are arranged opposite each other with the wire as the center line. Each mechanical clamp 15 is equipped with a servo motor at the top for controlling the rotation of the rolling shafts 16. The friction generated by the relative rotation of the pair of rolling shafts 16 by the servo motor (the two rolling shafts rotate in opposite directions) enables the entire device to move in the direction of the wire.

[0040] The specific application scenario of this embodiment is urban high-voltage power towers and the transmission lines between them. Due to the high-density layout and aesthetic requirements of urban environments, common high-voltage power towers in cities are mainly single-circuit towers, double-circuit towers, steel pipe towers, and compact towers. The specific spacing design standards between each line will refer to the national standard "Technical Specification for Design of Power Facilities" (such as GB / T50063) to ensure that the spacing of transmission lines meets safety and operational requirements. Taking into account the line spacing of common high-voltage power towers at different voltage levels, this embodiment uses a laterally extendable frame rail 1 to achieve a span adjustment of 2 meters to 3.5 meters to adapt to common tower phase line distances. The frame rail 1 of appropriate length can also be set according to the actual application scenario to adapt to different tower phase line distances.

[0041] In this embodiment, the mechanical clamps are based on the Robotiq 2F-85 servo motor clamps, with modifications made to the external shape to better suit this invention. By adjusting the angle, the opposing grips are increased to four retractable jaws. During installation, the four mechanical clamps 15 extend downwards and open to all sides at a certain angle to facilitate wire embedding and ensure gripping stability. After gripping the wire, the clamp-like structure retracts inwards into the upper fixing structure, and the top thread is tightened after retraction to increase stability. Each mechanical clamp is equipped with an HX-06L intelligent bus servo motor at the top for drive.

[0042] In collaborative operation, the entire device moves in a directional manner by receiving signals from the ground mobile terminal, positioning the equipment through the directional navigation system, analyzing the target location by transmitting back the location information, planning the route, capturing and scanning images along the way, and accurately locating the actual position of the transmitted images based on the positioning information, which facilitates the later 3D model reconstruction and fault repair location.

[0043] In current common fault detection methods, fault diagnosis for power transmission lines typically focuses on issues such as short circuits, open circuits, and icing. Robots equipped with electromagnetic induction devices detect line current fluctuations and insulation conditions. Simultaneously, high-definition cameras and radar scanning systems detect foreign objects (such as branches and debris) or potentially short-circuit hazards around the transmission line. If a short-circuit risk is detected (e.g., approaching foreign objects or damaged insulation), the robot can mark the problem area and send a warning to the backend system using on-site detection data (such as images captured by cameras), prompting the removal of obstacles or replacement of insulation. Furthermore, the robot is equipped with high-definition cameras, infrared thermal imagers, and conductor tension sensors to monitor the appearance, temperature changes, and tension distribution of the transmission line in real time. Machine learning models analyze conductor deformation and temperature changes to provide early warnings of potential line breakage risks. If overheating or abnormal tension is detected, the system can automatically mark high-risk areas and notify maintenance personnel. The robot can automatically generate 3D models displaying potential breakage locations.

[0044] Using high-definition cameras and laser scanning technology, the robot can periodically scan the surface structure of the power towers to detect aging problems such as rust, corrosion, and cracks. Through machine learning algorithms, it analyzes the rate of structural deterioration; upon detecting signs of rust or aging, the robot generates a maintenance plan, marking specific areas of the tower requiring repair and suggesting replacement or repair of structural components. Simultaneously, vibration sensors are installed within the robot to monitor the vibration of the power lines and towers. By analyzing vibration frequency, amplitude, and duration, it predicts the presence of wind-induced vibration or secondary oscillations; if abnormal vibrations are detected, the robot can suggest installing dampers or reinforcing fixed support points to reduce the long-term impact of vibration on the power lines.

[0045] In practical implementation, when the tracked robot performs regular high-altitude inspections, it plans the movement path for each transport node and high-voltage power tower during the movement process using triangulation laser ranging, sensors, navigation and positioning systems, and data analysis systems in the image acquisition system. After receiving movement commands, it completes the movement in an intermittent manner, that is, reaching a position point, performing a full-range scan, and then moving to the next position point to achieve full-range scanning. The 3D scanning probe of the image acquisition system and the track drive system perform a full-range stereoscopic scan of the target object, transmitting the information to ground personnel via wireless data transmission. Through digital reconstruction technology, maintenance personnel can quickly and regularly obtain the status and specific information, facilitating pre-inspection of faults and improving detection and maintenance efficiency. During this process, the ultrasonic ranging sensor with built-in temperature and humidity sensors can calculate the actual situation, compensate for the influence of temperature and humidity, reduce external influences, and provide more accurate scanning data for digital reconstruction. After the regular scan, Geomagic... Studio extracts feature lines and reconstructs the surface, achieving reconstruction on the ground equipment section. In summary, this utility model improves inspection efficiency while providing a new method and approach for collaborative operations between high-altitude and ground operations, facilitating the development of work in the inspection area from pre-inspection to collaborative maintenance.

Claims

1. A digital track reconstruction robot for assisting in the maintenance of urban high-voltage power towers, characterized in that: The system includes a track, an image acquisition module, a communication control module, a battery module, and a track drive module. The image acquisition module is movably mounted on the track. The communication control module and the battery module are fixed to the side wall of the track, and the track drive modules are located at the four corners of the track. The image acquisition module, communication control module, battery module, and track drive module are electrically connected, with the battery module supplying power to the other modules. The image acquisition module is used to acquire image information and 3D data of power lines and high-voltage towers at a specified location and along the route. The communication control module is used to receive ground command signals, issue motion commands to the motion mechanism, and send the acquired image information and location information to the ground. The track drive module is used to fix the track to the power line while driving the track to move along the power line. The image acquisition module includes two integrated multi-module bayonet cameras and an ultrasonic ranging sensor. An ultrasonic ranging sensor for close-range positioning is set below the cameras; the bottom of each integrated multi-module bayonet camera is movably mounted on a track. The communication control module includes a directional navigation system, a data processing and main control module, and a wireless communication module. The directional navigation system and the wireless communication module are electrically connected to the data processing and main control module. The data processing and main control module is used to control the operation of each module and receive images or data collected by the corresponding module. The directional navigation system is used for positioning and communicates with the ground terminal through the wireless communication module. The data processing and main control module is connected to the integrated multi-module checkpoint camera and ultrasonic ranging sensor via wires. It is used to receive images and data collected by the image acquisition module and distance data collected by the ultrasonic ranging sensor. After performing basic processing on the received images and data, it is handed over to the ground end for digital reconstruction via the wireless communication module. The track drive module includes four mechanical clamps and servo motors. The four mechanical clamps are set at the four corners of the track. The position of the wire is installed in each mechanical clamp. A pair of rolling shafts are set opposite each other with the wire as the center line. Each mechanical clamp is equipped with a servo motor on top to control the rotation of the rolling shafts.

2. The digital reconstruction track robot for assisting in the maintenance of urban high-voltage power towers as described in claim 1, characterized in that: Each of the integrated multi-module bayonet cameras is movably mounted on a track at its bottom via a shaft, bearing, and gear. The inner wall of the track is provided with a rail that meshes with the gear, and the side wall of the track limits the gear.

3. The digital reconstruction track robot for assisting in the maintenance of urban high-voltage power towers as described in claim 1, characterized in that: The image acquisition module is also equipped with a fan.

4. The digital reconstruction track robot for assisting in the maintenance of urban high-voltage power towers as described in claim 3, characterized in that: The aforementioned directional navigation system uses the S1216F8-8D module.

5. The digital reconstruction track robot for assisting in the maintenance of urban high-voltage power towers as described in claim 1, characterized in that: The data processing and main control module uses a Qualcomm Snapdragon processor and an STM32F4 main control chip. The Qualcomm Snapdragon processor integrates 4-GB LPDDR4x system DRAM memory and a 256-GB UFS 2.1 storage card to achieve fast computing and temporary information storage, which facilitates the reception and processing of digital signals. At the same time, it works with the communication module to communicate with the ground terminal. The STM32F4 main control chip is used to control the micro servo motors and servo motor rotation to achieve coordinated operation of multiple motion systems.

6. The digital reconstruction track robot for assisting in the maintenance of urban high-voltage power towers as described in claim 1, characterized in that: The wireless communication module uses Bluetooth 5.0 and 5G communication modules and is connected to the data processing and main control module via a serial port.

7. The digital reconstruction track robot for assisting in the maintenance of urban high-voltage power towers as described in claim 1, characterized in that: The wiring connections between the modules are all distributed along the inner side of the track.

Images