Overhead transmission line ground wire detection robot based on multi-sensor composite sensing
By combining multi-sensor composite sensing technology with a self-propelled mechanism, the problems of detection accuracy and coverage of ground wire detection equipment have been solved, enabling comprehensive and accurate detection of ground wires and improving the safety and ease of use of the equipment.
Patent Information
- Application Number
- CN202522227633.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-22
- Publication Date
- 2025-12-02
- Estimated Expiration
- 2035-10-22
AI Technical Summary
Existing grounding wire detection equipment suffers from insufficient detection accuracy, limited coverage, complex structure, difficult maintenance, and the risk of falling off at high altitudes.
Employing multi-sensor composite sensing technology, combined with a self-propelled mechanism, camera, and flaw detection module, including an industrial camera and an eddy current sensor, it achieves accurate detection of surface and internal defects of the ground wire, and enhances safety through structural simplification and anti-detachment structures.
It achieves comprehensive and accurate ground wire detection, simplifies equipment disassembly and maintenance, improves high-altitude stability and safety, and is suitable for long-term tower inspection.
Smart Images
Figure CN223625476U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of cable or wire installation technology, and specifically to a robot for detecting the ground wire of overhead transmission lines based on multi-sensor composite perception. Background Technology
[0002] Overhead transmission lines are a crucial component of the power system, and their safe operation directly impacts the system's stability and reliability. The ground wire, as a vital protective device for overhead transmission lines, is constantly exposed to the natural environment and is susceptible to corrosion from rainwater, lightning strikes, and wind vibrations, leading to defects such as broken strands, corrosion, and cracks. If these defects are not detected and addressed promptly, they can cause the ground wire to break, potentially triggering a serious power outage.
[0003] Currently, ground wire inspection mainly employs methods such as manual inspection, drone inspection, and robotic inspection. Manual inspection is inefficient, labor-intensive, and poses significant safety risks in complex terrain and harsh environments. Drone inspection can achieve rapid inspection over a wide area, but its sensor performance is limited, making it difficult to accurately detect minute defects inside and near the surface of the ground wire. Existing robotic inspection equipment mostly uses a single sensor, such as an image sensor or a single flaw detection sensor, which suffers from insufficient detection accuracy and limited coverage, failing to meet the needs of comprehensive ground wire inspection. Furthermore, existing robots have complex structures, require regular maintenance, have a high failure rate, and are difficult to install and disassemble. Typically, a single operator cannot quickly assemble or disassemble them, which not only affects work efficiency but also poses the risk of equipment falling from heights.
[0004] In summary, improvements are needed to the existing design to enable it to have more accurate and comprehensive inspection capabilities, better high-altitude stability, and easier disassembly and maintenance, thus adapting it to long-term tower-based inspections. Utility Model Content
[0005] This application addresses the problems existing in the prior art by providing an inspection robot that can integrate multiple sensors to achieve accurate and comprehensive detection of surface and internal defects of ground wires. It also features a simple structure, is easy for a single person to disassemble and maintain, and significantly improves overall safety, making it suitable for tower-based operation.
[0006] To achieve the above objectives, the technical solution adopted in this application is as follows:
[0007] This application provides a robot for detecting the ground wire of an overhead transmission line based on multi-sensor composite perception, which mainly includes a self-propelled mechanism, a camera, and a flaw detection module; the camera and the flaw detection module are mounted on the self-propelled mechanism.
[0008] The self-propelled mechanism includes a bracket, a pressure wheel, a drive wheel, and a power unit; the pressure wheel is connected to the bracket via a lifting mechanism; the power unit is connected to the bracket, and the power unit drives the drive wheel to rotate via a transmission mechanism; when in the running position, the pressure wheel and the drive wheel are misaligned to clamp the ground wire;
[0009] The bracket is equipped with an electrical box for installing a controller; the lower part of the bracket is equipped with a counterweight compartment containing a power supply; the bracket is also equipped with an anti-detachment structure for attaching the ground wire.
[0010] The controller is connected to the camera, the flaw detection module, the power unit, and the power supply, respectively.
[0011] Optionally, the flaw detection module includes a U-shaped groove and an eddy current sensor;
[0012] When in the operating position, part of the ground wire is located in the U-shaped groove; multiple eddy current sensors are installed on the inner side and bottom of the U-shaped groove, so that the multiple eddy current sensors are distributed around the ground wire; each eddy current sensor is spaced at the same distance from the ground wire; on the cross-section of the ground wire, the central angles of two adjacent eddy current sensors are the same.
[0013] Optionally, there are multiple clamping wheels, which are symmetrically distributed on both sides of the flaw detection module;
[0014] There are multiple drive wheels, which are symmetrically distributed on both sides of the clamping wheel.
[0015] Optionally, the lifting mechanism includes a lead screw slide, a lifting plate, and a pressure wheel shaft;
[0016] The base of the lead screw slide is fixedly connected to the bracket, and the slider of the lead screw slide is fixedly connected to the lifting plate.
[0017] The lifting plate is arranged horizontally and is equipped with multiple pressing wheel shafts; each pressing wheel shaft is rotatably connected to a pressing wheel.
[0018] Optionally, the lead screw of the lead screw slide is coaxially fixed with an external hexagonal connector;
[0019] The external hexagonal connector is compatible with at least one size of internal hexagonal socket.
[0020] Optionally, the lifting mechanism is installed on the back of the bracket; the bracket is machined with multiple elongated holes, and each pressure wheel shaft passes through a corresponding elongated hole;
[0021] A vibration damping mechanism is provided in the elongated hole; the movable end of the vibration damping mechanism is connected to the pressure wheel shaft, and the fixed end of the vibration damping mechanism is connected to the elongated hole.
[0022] Optionally, the vibration damping mechanism includes an end block and a vibration damping spring;
[0023] Each pressure wheel shaft is fitted with a central connecting block; there are two end blocks, which are respectively installed at both ends of the elongated hole; there are two damping springs, with one end of each damping spring abutting against the central connecting block and the other end abutting against the corresponding end block.
[0024] Optionally, the anti-detachment structure is a one-way quick-release structure, including a C-ring and a stop hook;
[0025] The opening of the C-ring is hinged to the stop hook at one end via a hinge, and the end face of the other end is an inner slope; the end of the stop hook is an outer slope structure; the opening and closing direction of the stop hook is towards the inside of the C-ring.
[0026] A torsion spring is fitted on the hinge shaft to reset the retaining hook;
[0027] The C-shaped ring has an extended insert plate structure on its side; the bracket has a horizontally arranged slot; the insert plate structure slides into the slot, and the insert plate structure and the slot are detachably fixed by screws.
[0028] Optionally, the electrical box is equipped with a cooling fan and heat sink;
[0029] The heat sink is attached to the heat-generating unit or heat transfer unit of the controller.
[0030] Optionally, the controller is equipped with a communication module and a positioning module;
[0031] The communication module includes at least a wireless communication module;
[0032] The positioning module includes at least one of a GPS positioning module or a BeiDou positioning module.
[0033] Compared with the prior art, this application has the following advantages:
[0034] This application features a simple structure and low cost. Through the design of a self-propelled mechanism and the combination of multiple sensors, it enables a wider detection range and more comprehensive and accurate detection results. Furthermore, by relying on the combination of clamping wheels and drive wheels, along with a controller and power supply, long-term automated tower inspection can be achieved. By rationally configuring the structural weight, the high-altitude stability of the self-propelled mechanism can be maintained, and the anti-detachment structure can improve overall safety, which is beneficial for operators working at heights. Attached Figure Description
[0035] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0036] Figure 1 This is a front view of the ground wire detection robot in a specific embodiment of this application;
[0037] Figure 2 This is a perspective view of the front of the ground wire detection robot in a specific embodiment of this application;
[0038] Figure 3 This is a three-dimensional view of the rear of the ground wire detection robot in a specific embodiment of this application;
[0039] Figure 4 This is a schematic diagram of the internal structure of the lifting mechanism in a specific embodiment of this application;
[0040] Figure 5 This is a schematic diagram of the vibration damping mechanism in the installation position in a specific embodiment of this application;
[0041] Figure 6 This is a schematic diagram of the anti-detachment structure in the installation position in a specific embodiment of this application;
[0042] Figure 7 This is a top perspective view of a specific embodiment of this application with the stop hook in the mounting position.
[0043] Figure 8 This is a bottom perspective view of a specific embodiment of this application when the stop hook is in the mounting position.
[0044] In the diagram: 1. Hanger, 2. U-shaped channel, 3. Industrial camera, 4. Pressure roller, 5. Drive wheel, 6. Servo motor, 7. Controller, 8. Counterweight bin, 9. Anti-detachment structure, 10. Ground wire, 11. Electrical box, 12. Reversing reducer, 13. Lifting mechanism, 1301. External hexagonal connector, 1302. Lead screw, 1303. Slide rail, 1304. Slider, 14. Lifting plate, 1401. Pressure roller axle, 15. Slot, 16. Vibration damping mechanism, 1601. End block, 1602. Vibration damping spring, 17. Center connecting block, 901. C-ring, 902. Stop hook, 903. Torsion spring. Detailed Implementation
[0045] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0046] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.
[0047] In the description of this application, it should be understood that the relative relationships indicated by terms such as "front," "rear," "front side," and "back side" are based on the positions shown in the accompanying drawings and are intended to facilitate the description of this application and simplify the description, rather than indicating or implying that the device or element referred to must have a specific position, and therefore should not be construed as a limitation of this application.
[0048] In the description of this application, "multiple" means two or more, unless otherwise expressly and specifically defined.
[0049] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," etc., 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 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 application according to the specific circumstances.
[0050] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.
[0051] It is worth noting that, unless otherwise specified, the methods used in this application are all conventional methods; and the raw materials and equipment used are all conventional commercially available products, and their sources are not specifically limited.
[0052] like Figures 1-8 As shown in the figure, this embodiment provides a robot for detecting the ground wire of an overhead transmission line based on multi-sensor composite perception, which mainly includes a self-propelled mechanism, a camera, and a flaw detection module.
[0053] The self-propelled mechanism includes a mounting bracket 1, a pressure wheel 4, a drive wheel 5, and a power unit. Combined with... Figures 1-3 As shown, the hanger 1 is the main body of the self-propelled mechanism in this embodiment. It has a plate-like structure with an open lower section, and a first horizontal section and a second horizontal section are designed in the middle and bottom, respectively. The first horizontal section is used to install the drive wheel and its components. Since the drive wheel in this embodiment is designed to be on the outer side, and considering the need to ensure a certain structural strength, the first horizontal section is designed to extend to both sides to accommodate the drive wheel installation position. The second horizontal section is located at the bottom of the hanger 1. It is a crossbar structure, and a counterweight compartment 8 is installed on its upper surface for installing the power supply. In this embodiment, a battery pack is selected as the power supply. Since its weight is relatively large compared to other components, it is placed at the bottom as a counterweight. This ensures the stability of the hanger 1, lowering the overall center of gravity, and concentrates more weight on the second horizontal section. When a person lifts the device, the area where their hand grips is the second horizontal section. This significantly reduces the pressure on the wrist from the eccentric torque of the heavy component, facilitating lifting with one or both hands and enabling rapid operation.
[0054] The camera and flaw detection module are mounted on the self-propelled mechanism. In this embodiment, an industrial camera 3 is selected, which is mounted on the protruding support arm of the bracket 1 at an angle. The flaw detection module in this embodiment includes a U-shaped groove 2 and an eddy current sensor. The U-shaped groove 2 is a square groove structure with openings at both ends for the ground wire 10 to pass through, and an open top structure, allowing the ground wire 10 to be wound around into the middle of the groove from above during installation. When in the operating position, part of the ground wire 10 is located in the U-shaped groove 2. Multiple eddy current sensors are installed on the inner side and bottom surface of the U-shaped groove 2. In this embodiment, six sensors are used as an example. These six eddy current sensors are distributed around the ground wire 10. Through geometric design, the ground wire 10 is located in the middle of the groove when clamped by the clamping wheels 4 and driving wheels 5 on both sides. The distance between each eddy current sensor and the ground wire 10 is the same, thereby ensuring that the lift-off value of the coil of the eddy current sensor and the surface of the ground wire is consistent, usually controlled within 0.5mm-1mm. Each coil independently constitutes a detection channel, which can simultaneously collect electromagnetic signals in different circumferential directions of the ground wire, avoiding the failure to detect defects due to the blind zone of a single channel. For example, an internal crack on one side of the ground wire can only be detected by the coil in the corresponding direction. Furthermore, by using an equal-angle array, it is ensured that the central angles of two adjacent eddy current sensors are the same on the cross-section of the ground wire 10. That is, the angle between any two adjacent eddy current sensors and the line connecting them to the center of the ground wire cross-section is a fixed angle, so as to ensure the uniformity of detection.
[0055] like Figure 1 and Figure 2 As shown, the mounting bracket 1 is equipped with an electrical box 11 for mounting the controller 7. It should be noted that... Figure 1 and Figure 2The electrical box 11 does not show an end cover, but in actual operation, the electrical box 11 is a complete box structure with an openable end cover. The controller 7 is equipped with a carrier board, microprocessor, storage medium, and supporting circuitry. The controller 7 receives and processes image signals from the industrial camera 3. Correspondingly, the controller 7 is also equipped with an image recognition module for identifying surface problems on the ground wire. One example is using the YOLOv8 deep learning algorithm to process the image, learning and processing only the smoothness of the ground wire in the image, while simultaneously collecting negative samples of broken strands, brittle strands, and corrosion for training. The trained image recognition model is then encapsulated into an image recognition module. The image recognition module is deployed in the controller 7 and is mainly used to detect obvious defects such as broken strands and corrosion on the ground wire. Furthermore, the controller 7 is also equipped with a signal generator and a signal processor. The signal generator provides an alternating excitation signal to the eddy current sensor, causing the eddy current sensor to generate an alternating magnetic field. When the ground wire is in the alternating magnetic field, eddy currents are induced on its surface. If defects exist inside or near the surface of the ground wire, the distribution of eddy currents will change, which in turn will cause changes in the induced signal output by the eddy current sensor. The signal processor receives the induced signal output by the eddy current sensor and identifies it by configuring a signal processing algorithm in controller 7. One example is to analyze the time and frequency domain characteristics of the signal deviation using a feature extraction algorithm, such as wavelet transform. The signal deviation is the deviation compared to the standard signal of a normal ground wire. The specific feature identification method is as follows:
[0056] Strand breakage defect: This manifests as a sharp drop in amplitude of a certain channel within a preset time period (the difference between the maximum and minimum amplitude is greater than 20% of the average amplitude), and there is no significant change in the signal of adjacent channels. In other words, strand breakage causes local eddy current blockage, and only the corresponding coil signal is abnormal.
[0057] Internal cracks: manifested as a slow decrease in amplitude of multiple adjacent channels within a preset time period (difference between maximum and minimum amplitude / average amplitude: 5%-15%), phase lagging behind the reference phase (5°-10°), cracks extending to the coverage area of multiple coils, and partial blockage of eddy current paths;
[0058] Corrosion defects: manifested as a general decrease in amplitude (3%-8%) in all channels, with no significant change in phase. Corrosion leads to a uniform decrease in the surface conductivity of the ground wire and a decrease in the overall eddy current density.
[0059] The signal results are compared using a comparative algorithm to determine whether defects exist inside and near the surface of the ground wire. Based on image recognition results and eddy current sensor data recognition results, the health status of the ground wire can be determined, and a comprehensive inspection report containing information such as defect location, type, and severity can be generated.
[0060] In a practical test, the ground wire detection robot of this embodiment moves along the ground wire at a speed ranging from 0.1 m / s to 0.3 m / s. The image acquisition module and the multi-channel eddy current sensing flaw detection module work simultaneously. The image acquisition module acquires no less than 25 images per second, processes the images using the YOLOv8 deep learning algorithm, and determines whether the ground wire has defects. The multi-channel eddy current sensing flaw detection module's acquisition unit acquires the amplitude and phase signals of 6 channels every 1 ms. When the module moves to the broken strand position (one steel wire inside the steel core is broken), the 4th channel corresponding to the broken strand area... The coil magnetic field penetrates to the depth covering the broken strand location, blocking the eddy current flow path. The amplitude of this channel drops to 2.0V (amplitude reduction ΔA=20%), and the phase lags by 8° (phase lag angle Δφ=8°). Other channel signals show no significant change. The defect analysis module detects that the signal of the 4th channel exceeds the threshold, while other channels are normal, and determines it to be a local defect. Through feature matching (sharp drop in amplitude and phase lag), the defect type is identified as "broken steel core strand". At this time, the controller 7 sends a signal and calls the industrial camera 3 to collect and save the image information of the defect area and the ground wire location information for user review.
[0061] Optionally, the controller 7 is equipped with a communication module and a positioning module. The communication module includes at least a wireless communication module, such as a 5G communication module, which can send abnormal information to a remote monitoring center or remote server, allowing staff to promptly understand the grounding wire's operational status. The positioning module comprises a dual-mode positioning component consisting of a GPS positioning module and a BeiDou positioning module. Accordingly, when the controller 7 sends abnormal information, it can also package and send the geographic information obtained from the dual-mode positioning. Furthermore, to make the abnormal location more accurate and improve maintenance efficiency, the controller 7 calculates the relative position of the abnormal situation based on the encoder data of the power unit, i.e., the location of the abnormal area on the grounding wire, and packages this information together before sending it through the communication module. It should be noted that the controller 7 in this embodiment integrates the driver of the power unit.
[0062] Optionally, depending on the heat generation of the controller 7, the electrical box 11 is also equipped with an active air-cooling structure, including a cooling fan and heat sink. The heat sink is in contact with the heat-generating unit or heat transfer unit of the controller 7, and works with the cooling fan to accelerate the airflow around the heat sink, improve heat dissipation efficiency, and ensure that the controller operates at a suitable temperature.
[0063] This embodiment features two clamping wheels 4, symmetrically distributed on both sides of the flaw detection module. The clamping wheels 4 are connected to the bracket 1 via a lifting mechanism; specifically, in conjunction with... Figure 3 and Figure 4 As shown, the lifting mechanism 13 includes a lead screw slide, a lifting plate 14, and a pressure wheel shaft 1401.
[0064] The lead screw slide is vertically mounted on the back of the bracket 1, and its base is fixedly connected to the bracket 1. Two parallel slide rails 1303 are provided on the base of the lead screw slide, and the slider 1304 is slidably connected to the slide rails 1303. The slider 1304 is fixedly connected to the horizontally arranged lifting plate 14 by four screws. A pressure wheel shaft 1401 is installed at each end of the lifting plate 14, and each pressure wheel shaft 1401 is rotatably connected to a pressure wheel 4. Furthermore, the upper end of the lead screw 1302 extends through the baffle of the lifting mechanism 13 and is coaxially fixed to an external hexagonal connector 1301, which is compatible with at least one type of internal hexagonal socket. When the operator needs to adjust the height of the lifting plate 14, a portable electric drill can be used with the corresponding internal hexagonal socket to drive the lead screw 1302 to rotate forward and backward, thereby controlling the lifting and lowering of the pressure wheel 4. The advantage of this design is that it can be adjusted using portable tools, eliminating the need for a separate lead screw motor and reducing electrical control components. Furthermore, the linkage is achieved through the lifting plate 14, simplifying the manual adjustment process.
[0065] Correspondingly, multiple elongated holes are machined on the hanger 1, with each clamping wheel shaft 1401 passing through a corresponding elongated hole. One function of the elongated holes is to limit the direction of movement of the clamping wheel shaft 1401. Considering the large amount of disturbance during operation, when the disturbance amplitude increases to a certain extent, the clamping wheel 4 will jump, which may cause the drive wheel 5 to slip against the ground wire 10. Therefore, a damping mechanism is added to each elongated hole to absorb vibration energy, reduce the vibration amplitude, and accelerate the vibration decay rate. Thus, the movable end of the damping mechanism is connected to the clamping wheel shaft, and the fixed end is connected to the elongated hole. Specifically, as shown... Figure 5 As shown, the vibration damping mechanism 16 in this embodiment includes end blocks 1601 and damping springs 1602. A central connecting block 17 is fitted onto each pressure wheel shaft 1401. The central connecting block 17 has a cuboid structure and its two sides are clearance-fitted with elongated slots. The central connecting block 17 has a through hole and is interference-fitted with the pressure wheel shaft 1401. Furthermore, there are two end blocks 1601 of the vibration damping mechanism 16 in each elongated slot, respectively installed at both ends of the slot. There are also two damping springs 1602 in each elongated slot, with one end of each spring abutting against the central connecting block 17 and the other end abutting against the corresponding end block 1601. One design is that when the pressure wheel 4 is in the working position of pressing the ground wire 10, the damping spring on the upper side of the central connecting block 17 is in a compressed state, while the damping spring on the lower side of the central connecting block 17 is in a stretched or original length state.
[0066] There are two drive wheels 5, located on the outer side of the clamping wheel 4. When in the running position, the clamping wheel 4 and drive wheels 5 are misaligned to clamp the ground wire 10. In this embodiment, both the drive wheel 5 and the clamping wheel 4 are I-beam wheels with annular cylindrical groove structures on their surfaces to fit the surface of the ground wire 10. The power unit is selected as a servo motor 6, and the transmission mechanism is selected as a reversing reducer 12. In this embodiment, there are two sets of power units and transmission mechanisms, located at both ends of the aforementioned first horizontal section. Specifically, the servo motor 6 is connected to the reversing reducer 12, and the reversing reducer 12 is fixedly connected to the back of the bracket 1. Its output shaft passes through the shaft hole on the bracket 1 and is coaxially fixed to the corresponding drive wheel 5. The servo motor 6 is connected to the driver in the controller 7 to control the rotation of the servo motor 6, which then drives the drive wheel 5 to rotate through the reversing reducer 12.
[0067] The controller 7 is connected to the power supply in the counterweight chamber 8 via a cable, and is also connected to the industrial camera 3, the flaw detection module and the servo motor 6.
[0068] The bracket is also equipped with an anti-detachment structure 9 for attaching the ground wire 10; there are two anti-detachment structures 9, located between the pressure wheel 4 and the flaw detection module respectively.
[0069] Specifically, the anti-detachment structure 9 in this embodiment is a one-way quick-release structure, such as... Figures 6-8 As shown, it includes a C-ring 901 and a stop hook 902.
[0070] The upper end face of the C-ring 901 is open, and one end of the open end is hinged to the root of the hook 902. The other end face of the C-ring 901 is machined into an inner slope structure. Correspondingly, the end of the hook 902 is an outer slope structure. Therefore, under the action of the two cooperating slope structures, the hook 902 can only move inward, that is, the opening and closing direction of the hook 902 faces the inner side of the C-ring 901. Simultaneously, a torsion spring 903 is fitted on the hinge shaft, which is used to reset the hook 902, keeping the anti-detachment structure in a locked state at all times. When it is necessary to attach the ground wire 10, such as... Figure 6 As shown, the operator first lifts the ground wire detection robot of this embodiment horizontally, positioning the ground wire 10 at the dotted line in the figure. Then, the operator pushes the ground wire detection robot upward, causing the ground wire 10 to move downward relative to the robot and push open the stop hook 902, sliding into the C-shaped ring 901. This completes the hooking of the anti-detachment structure 9. In actual operation, the one-way quick-engagement and normally closed state of the anti-detachment structure 9 prevents the ground wire 10 from moving out of the C-shaped ring 901. Even if the ground wire detection robot of this embodiment is subjected to large disturbances, causing the ground wire 10 to detach from the pressure wheel 4 and the drive wheel 5, the ground wire detection robot will not fall off, thus improving overall safety.
[0071] Furthermore, to facilitate disassembly by operators, this embodiment also features an extended insert plate structure on the lower side of the C-ring 901, and a horizontally arranged slot 15 on the bracket 1. The slot 15 penetrates the bracket 1, and paired protruding edges are welded to the back to form an extension structure of the slot 15. Through-hole mounting holes are machined on the protruding edges. Each insert plate structure slides into its corresponding slot, and internal threads are machined on the lower mounting hole. The insert plate structure and slot are detachably fixed using screws. This design significantly simplifies disassembly operations. When the grounding detection robot of this embodiment needs to be removed, the operator first removes the screws on the slot 15 using a power drill, then replaces the hex socket and adjusts the high-pressure roller 4. As the pressure roller 4 rises, the grounding wire 10 rests against the stop hook 902 and is higher than the upper edge of the U-shaped groove 2. During this process, the operator only needs to support the grounding detection robot. When the pressure wheel 4 is adjusted to the height, the operator holds the second horizontal part with both hands and only needs to move the ground wire detection robot body laterally. The anti-detachment structure 9 will then detach from the hanger 1 and remain on the ground wire 10. This not only makes it easy to disassemble the main body of the device, but also eliminates the worry of parts falling off. After the main body is retrieved, the operator only needs to manually press open the stop hook 902 to remove the anti-detachment structure 9, thus completing the entire disassembly work.
[0072] Finally, it should be noted that the above content is only used to illustrate the technical solution of this application, and is not intended to limit the scope of protection of this application. Simple modifications or equivalent substitutions made by those skilled in the art to the technical solution of this application shall not depart from the substance and scope of the technical solution of this application.
Claims
1. A robot for detecting ground wires of overhead transmission lines based on multi-sensor composite sensing, characterized in that: It includes a self-propelled mechanism, a camera, and a flaw detection module; the camera and the flaw detection module are mounted on the self-propelled mechanism. The self-propelled mechanism includes a bracket, a pressure wheel, a drive wheel, and a power unit; the pressure wheel is connected to the bracket via a lifting mechanism; the power unit is connected to the bracket, and the power unit drives the drive wheel to rotate via a transmission mechanism; when in the running position, the pressure wheel and the drive wheel are misaligned to clamp the ground wire; The bracket is equipped with an electrical box for installing a controller; the lower part of the bracket is equipped with a counterweight compartment containing a power supply; the bracket is also equipped with an anti-detachment structure for attaching the ground wire. The controller is connected to the camera, the flaw detection module, the power unit, and the power supply, respectively.
2. The overhead transmission line ground wire detection robot based on multi-sensor composite sensing according to claim 1, characterized in that: The flaw detection module includes a U-shaped groove and an eddy current sensor; When in the operating position, part of the ground wire is located in the U-shaped groove; multiple eddy current sensors are installed on the inner side and bottom of the U-shaped groove, so that the multiple eddy current sensors are distributed around the ground wire; each eddy current sensor is spaced at the same distance from the ground wire; on the cross-section of the ground wire, the central angles of two adjacent eddy current sensors are the same.
3. The overhead transmission line ground wire detection robot based on multi-sensor composite sensing according to claim 1, characterized in that: There are multiple clamping wheels, which are symmetrically distributed on both sides of the flaw detection module; There are multiple drive wheels, which are symmetrically distributed on both sides of the clamping wheel.
4. The overhead transmission line ground wire detection robot based on multi-sensor composite sensing according to claim 3, characterized in that: The lifting mechanism includes a lead screw slide, a lifting plate, and a pressure wheel shaft; The base of the lead screw slide is fixedly connected to the bracket, and the slider of the lead screw slide is fixedly connected to the lifting plate. The lifting plate is arranged horizontally and is equipped with multiple pressing wheel shafts; each pressing wheel shaft is rotatably connected to a pressing wheel.
5. The overhead transmission line ground wire detection robot based on multi-sensor composite sensing according to claim 4, characterized in that: The lead screw of the lead screw slide is coaxially fixed to an external hexagonal connector; The external hexagonal connector is compatible with at least one size of internal hexagonal socket.
6. The overhead transmission line ground wire detection robot based on multi-sensor composite sensing according to claim 4 or 5, characterized in that: The lifting mechanism is installed on the back of the bracket; the bracket is machined with multiple elongated holes, and each pressure wheel shaft passes through a corresponding elongated hole; A vibration damping mechanism is provided in the elongated hole; the movable end of the vibration damping mechanism is connected to the pressure wheel shaft, and the fixed end of the vibration damping mechanism is connected to the elongated hole.
7. The overhead transmission line ground wire detection robot based on multi-sensor composite perception according to claim 6, characterized in that: The vibration damping mechanism includes an end block and a vibration damping spring; Each pressure wheel shaft is fitted with a central connecting block; there are two end blocks, which are respectively installed at both ends of the elongated hole; there are two damping springs, with one end of each damping spring abutting against the central connecting block and the other end abutting against the corresponding end block.
8. The overhead transmission line ground wire detection robot based on multi-sensor composite sensing according to claim 1, characterized in that: The anti-detachment structure is a one-way quick-release structure, including a C-ring and a stop hook; The opening of the C-ring is hinged to the stop hook at one end via a hinge, and the end face of the other end is an inner slope; the end of the stop hook is an outer slope structure; the opening and closing direction of the stop hook is towards the inside of the C-ring. A torsion spring is fitted on the hinge shaft to reset the retaining hook; The C-shaped ring has an extended insert plate structure on its side; the bracket has a horizontally arranged slot; the insert plate structure slides into the slot, and the insert plate structure and the slot are detachably fixed by screws.
9. The overhead transmission line ground wire detection robot based on multi-sensor composite sensing according to claim 1, characterized in that: The electrical box is equipped with a cooling fan and heat sink; The heat sink is attached to the heat-generating unit or heat transfer unit of the controller.
10. The overhead transmission line ground wire detection robot based on multi-sensor composite sensing according to claim 1, characterized in that: The controller is equipped with a communication module and a positioning module; The communication module includes at least a wireless communication module; The positioning module includes at least one of a GPS positioning module or a BeiDou positioning module.