A roller with grooves for inspecting overhead lines and a self-propelled inspection device equipped with the roller.

Abstract

The present invention provides a roller with grooves for overhead line inspection that can reliably overcome large obstacles such as torsion prevention dampers D1, double torsional dampers, and Christmas tree-shaped dampers installed on overhead lines such as power lines with steep inclines and large gradients (approximately 30 degrees), and a self-propelled inspection device equipped with this roller. [Solution] The V-shaped groove roller is equipped with at least one pair of elastic convex material parts 2 positioned opposite the V-shaped groove where overhead wires W such as electric wires are arranged. The convex parts of the elastic convex material act as locking members that serve as a foothold for overcoming obstacles, and also exert elastic force to facilitate overcoming large obstacles such as torsion prevention dampers D1, double torsional dampers, and Christmas tree-shaped dampers.

Description

Technical Field

[0001] The present invention relates to a roller having a groove for overhead line inspection used in an overhead line inspection device for inspecting an overhead line while traveling on the overhead line such as an electric wire, and a self-propelled inspection device equipped with the same.

Background Art

[0002] Overhead lines such as electric wires and transmission lines are subject to external damage and internal corrosion due to aging deterioration, and thus need to be inspected regularly. In the inspection of such transmission lines, there were cases where people rode on the transmission lines, but the inspection work by people was dangerous and required a temporary stop of power transmission. For these reasons, a self-propelled electric wire inspection device for inspecting the condition of a transmission line while traveling on the transmission line has been developed (for example, Patent Document 1). The electric wire inspection device of this Patent Document 1 has traveling wheels that ride on an overhead electric wire and an electric wire inspection unit that detects abnormalities such as damage to the electric wire, and has a structure in which the traveling wheels are run on the electric wire. This device travels while automatically adjusting its balance to inspect overhead lines such as electric wires. In addition, an embodiment suspended on an overhead electric wire installed between towers has been disclosed, but the application of the overhead line inspection device according to the present invention is not limited to overhead electric wires. The overhead line inspection device according to the present invention can be applied to, for example, an OPGW (composite overhead line) installed between towers and can be applied to an overhead line arranged above a railway track (FIG. 8). Patent Document 2 discloses “an overhead line inspection device including a pair of spaced driving means arranged above an overhead line, one or more motors for driving these driving means, and a framed frame that rotatably supports the pair of driving means at an upper portion, wherein the driving means is attached to the outer periphery of a rigid rim and has an annular rubber tire provided with a groove formed of a hyperbolic gentle curved surface on the outer periphery that is operable to overcome a twist prevention damper or a snow adhesion prevention ring provided on the overhead line, and the rubber tire extends in a direction obliquely intersecting with the direction in which the overhead line extends and is continuously provided with a belt-shaped uneven portion that is closed in a V shape so as to form a vertex from the outer edge toward the central portion on the outer peripheral surface.” (Claim 1) (FIG. 9).

Prior Art Documents

[0003] [Patent Document 1] Japanese Patent Publication No. 2003-79018 [Patent Document 2] Patent No. 6000109 [Overview of the project] [Problems that the invention aims to solve]

[0004] Here, obstacles D in overhead lines such as power lines include snow-resistant rings D2 and armor rods D3, but the largest obstacles are torsion dampers D1, double torsional dampers D4 and Christmas tree-shaped dampers D5. However, with the conventional groove rollers described above, while they can run without any particular problems on overhead power lines W with parallel wiring or on gently sloping wiring, they cannot overcome large obstacles such as steeply sloped wiring sections or dampers D1 to prevent twisting, even when they are in a nearly balanced state. The applicant experimentally manufactured a comparative example equivalent to the V-shaped groove roller described in Patent Document 2 (Figure 10 shows a V-shaped groove roller assuming the V-shaped groove roller described in Japanese Patent Publication No. 6000109), and conducted operational verification tests when there were large obstacles such as twist-preventing dampers D1 in parallel wiring. The applicant confirmed that, when there are large obstacles such as twist-preventing dampers D1 in a state where the electric wires are arranged in a parallel state, conventional products are not only unable to overcome these large obstacles such as twist-preventing dampers D1 in a parallel state (it is impossible to overcome them due to their shape; (Figure 5(a))), but also unable to overcome large obstacles such as twist-preventing dampers D1 even at a slight inclination angle. Furthermore, no products have been developed that can overcome large obstacles D such as double torsional dampers (products that suppress slight breeze vibrations that occur in power transmission lines) D4 or Christmas tree-shaped dampers (products used in special spans such as strong wind areas and long spans) D5 (Figure 5(b)). Therefore, the object of the present invention is to provide a roller having grooves for overhead line inspection that can reliably overcome large obstacles such as torsion prevention dampers D1, double torsional dampers D4, and Christmas tree-shaped dampers D5 that are placed on overhead lines such as power lines with steep slopes (approximately 30 degrees), and a self-propelled inspection device equipped with the roller. [Means for solving the problem]

[0005] The present invention relates to a grooved roller for overhead line inspection, such as a V-shaped grooved roller or a U-shaped grooved roller, which is mounted on an inspection device for inspecting overhead lines such as electric wires and used to overcome obstacles such as torsion prevention dampers, and is characterized in that it comprises at least one pair of elastic convex material parts positioned opposite the V-shaped groove in which the overhead line is arranged, and the convex parts of the elastic convex material members serve as a foothold for overcoming the obstacles, and exert elastic force to deform in accordance with the shape of obstacles such as torsion prevention dampers, double torsional dampers (products that suppress slight breeze vibrations that occur in power transmission lines), and large obstacles D such as Christmas tree-shaped dampers (products used in areas with strong winds or for special spans such as long spans) D5. According to the present invention, when the elastic convex material comes into contact with an obstacle such as a damper for an overhead wire, the convex portion of the elastic convex material acts as a locking member for overcoming the obstacle, and the material repeatedly returns to its original state (repeatedly locking in the concave and concave state). Therefore, even in steep slopes with a large incline, the material can reliably and balancedly overcome obstacles such as dampers for preventing twisting. Furthermore, the elastic convex material also serves to position overhead wires such as electric wires on the upper end side of V-shaped grooves or U-shaped grooves, preventing them from deviating from that position.

[0006] The aforementioned elastic convex material is a hollow member with a hollow interior that is positioned to protrude into the V-shaped groove or U-shaped groove of the V-shaped roller, and is characterized in that when it comes into contact with an obstacle such as a torsion damper, a double torsional damper, or a Christmas tree-shaped damper, it deforms in accordance with the shape of the obstacle and locks into place. According to the present invention, since the elastic convex material is a hollow member with an internal hollow structure, the locking of the uneven state due to the elasticity is reliably repeated, so that it can reliably overcome large obstacles such as torsion dampers, double torsional dampers, and Christmas tree-shaped dampers, even in steep slopes with a large incline angle.

[0007] The V-shaped grooves and U-shaped grooves are made of rigid urethane, and the elastic convex members are made of a synthetic resin or rubber that is softer than the rigid urethane. Although overhead wires such as electric wires are often made of metal, even if they have snow-resistant rings or arm rods on their outer circumference, these components serve to prevent wear on the V-shaped grooves and U-shaped grooves. According to the present invention, since the material of the elastic convex member is made of a synthetic resin or rubber that is softer than the rigid urethane, the locking of the uneven state due to the elasticity is reliably repeated, so that it can reliably overcome obstacles such as dampers for torsion prevention even in steep slopes with a large incline angle.

[0008] The present invention is characterized in that the elastic convex members protrude in a D-shape at a height parallel to the V-shaped groove of the V-shaped groove roller or the U-shaped groove of the U-shaped groove roller, and are provided opposite each other at predetermined intervals of 90 degrees, 60 degrees, or 30 degrees. According to the present invention, even irregularly shaped obstacles such as anti-torsion dampers can easily be locked into the aforementioned uneven state (a state that acts as a foothold) from their outer circumference, and even snow-resistant rings and armor rods can be easily locked into the aforementioned uneven state from their outer circumference. Furthermore, when inserting overhead wires such as electric wires, it also has the effect of preventing them from coming off the tip of the V-shaped groove, regardless of whether the diameter is large or small.

[0009] The present invention is a self-propelled inspection device equipped with a roller having grooves for inspecting overhead lines, and is characterized by having a speed adjustment mechanism for adjusting its travel speed. According to the present invention, the speed of the elastic convex material can be adjusted when it comes into contact with an obstacle such as a torsion prevention damper, thus enabling stable operation of the self-propelled inspection device regardless of its shape, size, or the influence of wind. [Effects of the Invention]

[0010] According to the present invention, when overhead wires such as electric wires pass inside a V-shaped or U-shaped groove, the convex portion serves as a foothold to overcome obstacles such as dampers that prevent twisting, maintaining smooth movement. Furthermore, the roller has grooves for inspecting overhead wires, characterized in that it deforms by elastic force to conform to the shape of obstacles such as dampers, and returns to its original state after overcoming the obstacles. The elastic convex material also serves to prevent overhead wires such as electric wires from flying out of the upper tip of the V-shaped or U-shaped groove. In other words, when inserting overhead wires such as electric wires, it has the effect of preventing them from coming out of the tip of the V-shaped groove, regardless of whether their diameter is large or small. [Brief explanation of the drawing]

[0011] [Figure 1a] This figure shows the configuration of an elastic convex material attached to a roller having grooves such as V-shaped or U-shaped grooves, used in an overhead line inspection device according to one embodiment of the present invention. [Figure 1b] This figure shows the configuration of an elastic convex material attached to a roller having grooves such as V-shaped or U-shaped grooves, used in an overhead line inspection device according to one embodiment of the present invention. [Figure 1c] This figure shows the configuration of an elastic convex material attached to a roller having grooves such as V-shaped or U-shaped grooves, used in an overhead line inspection device according to one embodiment of the present invention. [Figure 1d] This figure shows the configuration of an elastic convex material attached to a roller having grooves such as V-shaped or U-shaped grooves, used in an overhead line inspection device according to one embodiment of the present invention. [Figure 1e]It is a diagram showing the configuration of an elastic convex member attached to a roller having a groove such as a V-shaped or U-shaped groove used in an overhead line inspection device according to an embodiment of the present invention. [Figure 2] It is a perspective view showing a V-shaped groove roller that straddles the twist prevention roller according to the above embodiment. [Figure 3] It is a front view showing the configuration of the overhead line inspection device according to the above embodiment. [Figure 4] It is a perspective view showing the configuration of the overhead line inspection device according to the above embodiment. [Figure 5a] It is a diagram explaining that an experiment was conducted with an experimental device to determine whether the overhead line inspection device according to the above embodiment can surely perform an operation of getting over a large obstacle even at a location with a steep slope having a large inclination angle. [Figure 5b] It is a longitudinal sectional view of the drive means provided in the overhead line inspection device according to the above embodiment, and is a state diagram in which a twist prevention damper and a snow adhesion prevention ring are attached to an overhead line. [Figure 6a] It is a diagram for explaining the control unit of the overhead line inspection device according to the present invention. [Figure 6b] It is a diagram for explaining the control unit of the overhead line inspection device according to the present invention. [[ID=(23]] [Figure 7a] It is a side view for explaining an example of a Christmas tree type damper. [Figure 7b] It is a side view for explaining an example of a Christmas tree type damper. [Figure 8] It is a perspective view for explaining an example of a conventional V-shaped groove roller. [Figure 9a] It is a perspective view for explaining a conventional V-shaped groove roller and an overhead line inspection device. [Figure 9b] It is a perspective view for explaining a conventional V-shaped groove roller and an overhead line inspection device. [Figure 10] It is a trial production drawing of a V-shaped groove roller assuming the V-shaped groove roller described in Japanese Patent No. 6000109 of the conventional example.

Embodiments for Carrying Out the Invention

[0012] Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. The description will use an example in which the invention is attached to and applied to an overhead line inspection device according to one embodiment of the present invention. Furthermore, although the description will use an example using a V-shaped groove roller, it is also applicable to rollers having grooves such as U-shaped grooves of a U-shaped groove roller.

[0013] The overhead line inspection device 10 of this embodiment comprises a V-shaped groove roller 1 that travels along the power line while installed on the power line, and a housing-type self-propelled overhead line inspection device 11. The V-shaped groove roller 11 is located inside the housing 12 and includes an imaging unit 13, a control unit (controller) 14, and an illumination unit, etc. Furthermore, the overhead line inspection device 10 is equipped with a motor that drives a pair of spaced-apart drive means 8, and the pair of drive means 8 are positioned above the overhead line W. A battery is connected to the motor by wiring (not shown) and supplies power to the motor. The imaging means 13 takes images of the appearance of the overhead line W, such as power lines, and detects whether the elastic convex material 2 or the elastic convex material 2 has come into contact with a large obstacle D such as a twist prevention damper D1, and sends this information to the control unit 14. When the pair of motors 16m rotate synchronously in one direction, the pair of drive means 8 rotate, allowing the overhead line inspection device 10 to move along the power line W. When the pair of motors 16m rotate synchronously in the other direction, the drive means 8 rotate, allowing the overhead line inspection device 10 to travel along the power line W (Figure 4). The control unit 14 includes a speed adjustment function 19 that adjusts the travel speed when it comes into contact with a large obstacle D such as a twist prevention damper D1, a communication unit 20, and a wire inspection unit 6 (Figure 6(a)(b)). The control device (PC controller) 14 is connected to the housing-type self-propelled inspection device 11 and the imaging unit 13 via a wired or wireless communication circuit, and controls the operation of the self-propelled inspection device 11 and the imaging unit 130 (Figure 4(a)(b). The controller (control unit) 14 is, for example, a small general-purpose computer (for example, a single-board computer). The control unit 14 includes a motor control unit that controls the operation of the motor 16m and a camera control means 17 that controls the operation of the imaging means. The battery is electrically connected to the housing-type self-propelled inspection device 10 and the imaging means 21 via cables, etc., and supplies power to the housing-type self-propelled overhead line inspection device 10 and the imaging means 21. The system also includes a driving unit 8, a wireless transceiver 16, and a control unit 9, and the microcomputer 9 of the control unit 14 controls the motor drive circuit to operate the driving motor (driving means) 8.

[0014] Furthermore, the overhead line inspection device 10 is provided with left and right gaps 15b, 15b on the left and right sides where the V-shaped groove roller 1 is attached, and a large gap 15a below where the V-shaped groove roller 1 is attached. The reason why the left and right gaps 15b, 15b are made larger than those of conventional products is to allow the wires that spread in the left and right directions of the double torsional damper (a product that suppresses slight breeze vibrations that occur in power transmission lines) D4 and the Christmas tree-shaped damper (a product used in areas with strong winds or special spans such as long spans) D5 to pass through (Figure 6(b)). The reason why the large gap 15a below where the V-shaped groove roller 1 is attached is made larger than that of conventional products is to allow the wires that spread in the up and down directions of the Christmas tree-shaped damper (a product used in areas with strong winds or special spans such as long spans) D5 to pass through (Figure 6(a)).

[0015] (First embodiment: Configuration of the V-shaped groove roller 1) The V-shaped groove roller 1 has an elastic convex material 2 attached to a V-shaped roller 3 (Figures 1 and 2). The elastic convex material 2 can be attached to and removed from the V-shaped roller 3 by two screws. The elastic convex material 2 has a length of 30 mm, a width of 21 mm, and a height of 14 mm, and has a hollow D-shape (solid material), and its surface 2b has a nearly hemispherical shape (D-shape).

[0016] The elastic convex material 2 is arranged opposite to each other at 90-degree intervals around the circumference. In addition to 90-degree intervals, it can also be arranged at 60-degree or 30-degree intervals. However, it is not limited to these, and it is also possible to arrange it over the entire V-shaped groove 1a of the V-shaped groove roller 1. In any case, when it comes into contact with an obstacle such as a twist-preventing damper D1 or a snow-resistant ring D2, it deforms by collapsing, becoming a foothold to overcome obstacles D1 to D3. Furthermore, due to its elasticity, it repeatedly changes its uneven surface, allowing it to overcome even obstacles D with a steep slope of about 30 degrees (Figure 5).

[0017] The V-shaped groove roller 1 has an elastic convex material 2 attached to the V-shaped groove 1a. The inclination angle of the V-shaped groove 1a is set to 50 degrees, and the elastic convex material 2 is attached to the upper side of the V-shaped groove 1a with its height parallel to the height of the elastic convex material 2. The elastic convex material 2 is made of synthetic resin or rubber and is composed of a hemispherical shape (D-shaped on the surface side) 2b with an internal hollow 2a. In the hard urethane V-shaped groove roller 1, the elastic convex material 2 is arranged in pairs facing each other on the left and right sides, spaced apart at 90-degree intervals along the circumference. Therefore, when an obstacle D such as a torsion prevention damper comes into contact with it, the internally hollow elastic convex material 2 grips it in a balanced manner, acting as a foothold (locking member) for the obstacle D, making it possible to overcome the obstacle D reliably and easily. Furthermore, once the obstacle D is overcome, it returns to its original D shape (Figure 1(a)). In addition, by returning to the original state, overhead wires W such as electric wires are prevented from coming out of the V-shaped groove 1a. The elastic convex material 2 is made of rigid urethane so that when the elastic convex material 2 comes into contact with the rigid urethane, wear will not occur. Furthermore, the imaging means 21 is equipped with a speed adjustment function 19 that adjusts the running speed of the control unit 14 while displaying the state of contact with an obstacle D such as a twist-prevention damper D1 when it comes into contact with the obstacle (Figure 6). This is because when the elastic convex material 2 comes into contact with an obstacle D, it is affected by the tilting or change in speed of the V-groove roller 1, so the speed is adjusted accordingly. Normally, the elastic convex material 2 is adjusted to decelerate when it comes into contact with an obstacle D. Then, after passing the obstacle D, it increases its speed and continues to run. It is also optional, depending on the implementation, to use the imaging means 21 to image the position of overhead wires W such as electric wires to confirm whether the overhead wires W are located in the side groove at the tip of the V-groove roller 1, and whether the overhead wires W are in contact with the elastic convex material 2.

[0018] The overhead power lines (wires) W are fitted with torsion dampers D1 and armor rods D3 to prevent snow accumulation and protect the wires W from damage. The torsion dampers D1 have weights that swing to counteract vibrations of the power lines W caused by wind, thereby dampening the vibrations of the power lines W.

[0019] In this embodiment, the elastic convex material 2 was manufactured in several shapes using TPU material (examples and comparative examples were produced). TPU material is an abbreviation for thermoplastic polyurethane resin, a type of plastic that has impact resistance and flexibility. It also possesses the impact resistance and flexibility characteristic of polyurethane. First, a D-shaped sponge (solid) was created, which was easy to climb over, but had low durability because the corners cracked. Also, while the D-shaped sponge has the advantage of being easy to climb over due to its flexible material, it has the disadvantage of being too soft and tearing. The square sponge shape is significantly more durable in terms of shape, but the sponge material itself lacks durability. The D-shaped rubber (solid) has low flexibility, so it doesn't grip (lock on) and cannot climb over steep slopes. However, because it is solid, it has high durability. These results indicate that the highly durable rubber D-shaped roller exhibits moderate elasticity due to its hollow shape 2a, resulting in excellent performance in overcoming large obstacles D. Furthermore, considering its relationship with the hard urethane V-shaped groove roller 1, a softer synthetic resin is also preferable as a material for the elastic convex material 2 because the D-shape (approximately hemispherical) of the hollow shape 2a is easily deformed and exhibits excellent elasticity.

[0020] (experiment) Experiments were conducted using experimental apparatus 15A with a V-shaped groove roller 1 having a D-shaped hollow section 2a, with overhead wires W such as electric wires with a large inclination angle positioned at approximately 30 degrees, and obstacles D such as torsion prevention dampers, snow-resistant rings 7, and armor rods D3 placed on the overhead wires W (Figure 5(a)). Then, an experiment was conducted to see if the self-propelled inspection means 10 of the embodiment could improve the frictional resistance of its tread surface and easily overcome obstacles D such as torsion prevention dampers D1 and snow-resistant rings 7 (Figure 1(a)). Here, the torsion prevention damper D1 has a central protrusion D1a and weights on both sides, and may be placed on top of the armor rod D3, and is the largest obstacle D (Figure 5(a)). In this regard, a comparative example corresponding to the V-shaped groove roller described in Patent Document 2 was experimentally manufactured (Figure 10 shows a V-shaped groove roller assuming the V-shaped groove roller described in Japanese Patent Publication No. 6000109), and an operation confirmation test was conducted when there was a large obstacle such as a twist-preventing damper D1 in a parallel wiring state. However, when there is a large obstacle such as a twist-preventing damper D1 in a state where the electric wires are arranged in a parallel state, conventional products cannot overcome this large obstacle such as the twist-preventing damper D1 in a parallel state (it is impossible to overcome it due to its shape; (Figure 5(a))). In other words, it is impossible for the V-shaped groove roller assuming the V-shaped groove roller described in Japanese Patent Publication No. 6000109 to overcome the part D1a that supports the weight, but in the V-shaped groove roller 1 of this embodiment, since the elastic convex material 2 is arranged at equal intervals, it is possible to overcome the part D1a that supports the weight even with a twist-preventing damper D1 of an irregular diameter. Furthermore, experiments were conducted using experimental apparatus 15B to determine whether it could overcome large obstacles D, such as a double torsional damper (a product that suppresses slight breeze vibrations that occur in power transmission lines) D4 and a Christmas tree-shaped damper (a product used in areas with strong winds or for special spans such as long spans) D5 (Figure 5(b)(c)). In this case, the Christmas tree-shaped damper D5 is arranged so that the wires are spread out in the vertical direction, or the wires are arranged on the left and right sides. However, the other configurations are the same as those of the anti-twist damper D1. Therefore, according to this embodiment, it can handle an inclination angle Cd of approximately 30 degrees, just like the anti-twist damper D1. Furthermore, experiments were conducted to determine whether the elastic convex member 2 could be positioned opposite each other at a predetermined distance inside the V-shaped groove, with a predetermined distance between it and the gap portion that is not positioned opposite it, and whether it could be positioned above the V-shaped member so as not to come into contact with the overhead wire located at the tip of the V-shaped groove. As a result, it was found that even when colliding with a large obstacle D, such as a torsion prevention damper D1, at a steep slope with a large inclination angle Cd of approximately 30 degrees, the elastic convex material 2 can use it as a foothold to perform a balanced and reliable climbing motion (Figures 5(a), 5(b)).

[0021] The elastic convex material 12 has a hollow D-shape (solid), and its surface is approximately hemispherical (D-shaped). The elastic convex material 12 is arranged opposite each other at 30-degree intervals, but it can also be arranged at 60-degree intervals or 30-degree intervals. In the wiring of power transmission lines (overhead lines) W, even if obstacles D are present, it is possible to overcome obstacles D with a large slope Cd of about 30 degrees, similar to the first embodiment.

[0022] In this embodiment, the type of damper that can be overcome has been mainly described as a torsion prevention damper (a product that prevents twisting of the power line due to snow accumulation that rotates and grows along the outer layer of the power line, thereby preventing heavy snow accumulation). However, it can also be applied to larger obstacles D, such as a double torsional damper (a product that suppresses slight wind vibrations that occur in power transmission lines) D4, or a Christmas tree-shaped damper (a product whose basic operating principle is the same as a double torsional damper, but whose characteristics are superior to a double torsional damper, and which is used in areas with strong winds or for special spans such as long spans) D5. Furthermore, although the example was described using a V-shaped groove roller 1, it can also be applied to rollers with grooves such as U-shaped groove rollers. [Explanation of symbols]

[0023] 1. A roller with grooves for inspecting overhead lines (grooved rollers such as V-shaped or U-shaped groove rollers), 1a V-shaped groove, 2 Elastic convex member, 2a Hollow portion, 2b Surface (approximately hemispherical surface, D-shaped surface), 3 V-shaped grooves and U-shaped grooves, 8. Driving means, 10 Self-propelled inspection device, 13 Imaging means, 14 Control means, 15a Large void, 15b Left and right voids, 16A, 16B Experimental apparatus, Cd tilt angle, D Large obstacle, D1 Anti-torsion damper, D2 Anti-snow ring, D3 Armor rod, D4 Double Torsional Damper, D5 Christmas tree-shaped damper, W: Overhead wires, overhead transmission lines

Claims

1. A roller having grooves for inspecting overhead lines, used in an overhead line inspection device that inspects overhead lines while traveling on them, comprising at least one pair of elastic convex material portions arranged opposite to the V-shaped groove on which the overhead lines are arranged, wherein the convex portions of the elastic convex material portion serve as locking members that act as a foothold for overcoming obstacles, and exert elastic force to overcome large obstacles such as torsion prevention dampers, double torsional dampers, and Christmas tree-shaped dampers.

2. The roller having grooves for overhead line inspection according to claim 1, characterized in that the elastic convex material is an internally hollow member that protrudes into the V-shaped groove of the V-shaped roller, and when it comes into contact with a large obstacle such as a torsion damper, a double torsional damper, or a Christmas tree-shaped damper, the internally hollow member collapses to become a locking member that acts as a foothold for overcoming the large obstacle such as the damper, and also exerts elastic force to overcome the large obstacle such as the torsion damper.

3. A roller having grooves for inspecting overhead lines according to claim 1, characterized in that the material of the V-shaped groove is hard urethane, and the material of the elastic convex member is made of a synthetic resin or rubber that is softer than the hard urethane.

4. The roller having grooves for inspecting overhead lines according to claim 1, characterized in that the elastic convex member protrudes convexly at a height parallel to the V-shaped groove of the V-shaped groove roller and is provided opposite to it at a predetermined distance of about 90 degrees.

5. The roller having grooves for inspecting overhead lines according to claim 1, characterized in that the elastic convex members protrude in a D-shape at a height parallel to the V-shaped groove of the V-shaped groove roller, and are provided opposite each other at predetermined intervals of 90 degrees, 60 degrees, or 30 degrees.

6. A self-propelled inspection device equipped with a V-shaped grooved roller for overhead line inspection according to any one of claims 1 to 5, characterized in that it is equipped with a speed adjustment function that adjusts the travel speed when the imaging means images or comes into contact with a large obstacle such as a torsion prevention damper, a double torsional damper, or a Christmas tree-shaped damper, or the speed is adjusted by the speed adjustment function while the imaging means photographs the state in which the elastic convex material is riding over a large obstacle such as a torsion prevention damper, a double torsional damper, or a Christmas tree-shaped damper.

7. A self-propelled inspection device equipped with a grooved roller for overhead line inspection according to any one of claims 1 to 5, characterized in that left and right gaps for passing large obstacles such as double torsional dampers and Christmas tree-shaped dampers (in the case of Christmas tree-shaped dampers, wires that spread out to the left and right) are formed on the left and right sides of the grooved roller, or a large gap for passing large obstacles such as Christmas tree-shaped dampers (in the case of Christmas tree-shaped dampers, wires that spread out vertically) is formed below the grooved roller.

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