• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    insulator string detection robot system. an intelligent insulator string inspection robot system, which is used to detect horizontal deformation double insulator strings, and comprises a robot motion system and an information processing system. the robot motion system part comprises: a mechanism connection plate (2); an ascent apparatus (5); a guide apparatus for guiding strings of insulators, which is provided on two sides of an advancing direction of the mechanism connection plate (2) and coincides with the double strings of insulators to be detected; a control unit, which generates a drive apparatus being connected to the ascent apparatus (5), so as to control the angle deviation between a front group and a rear group of ascending arms (50); and a human-machine control terminal, which is communicatively connected to the control unit via a wireless communication unit, so as to remotely control the ascent apparatus (5). The robot system is compact in structure and fast in movement speed.
    公开号:BR112015016252B1
    申请号:R112015016252-5
    申请日:2013-12-16
    公开日:2022-01-18
    发明作者:Lei Han；Tao Cao；Chongguang Fu；Deli Zhao；Yongsheng Zhang；Daqing Sun；Hongyu Li
    申请人:State Grid Intelligence Technology Co., Ltd.；
    IPC主号:
    专利说明:

    FIELD
    [001] The present application relates to an inspection robot system for insulator strings, for inspection of insulator strings used in a voltage tower. BACKGROUND
    [002] With the continuous development of China's power system, the safe and stable operation of the power grid receives more and more attention. Especially in ultra-high voltage and extra-high voltage transmission systems being vigorously developed in recent years, safe operation of insulators directly determines the level of investment and safety of the entire system. To ensure the electrical safety of the transmission line, after the high voltage transmission line has been operated for a period of time, it is especially required to inspect the electrical performance of the transmission line, and it is especially required to inspect the performance of the transmission line. Isolation safety of insulators, to prevent some bad phenomena, such as short circuit or open circuit.
    [003] An insulator is an insulating element used on a high voltage overhead transmission line to connect a conductor to an iron tower and has two basic functions including supporting the conductor and preventing current from flowing back to earth. and both functions must be guaranteed. The insulator will not fail because of all kinds of electrical voltages resulting from varying ambient conditions and electrical load, otherwise the insulator will not generate the desired effect, which will impact the usage and operating life of the entire line.
    [004] The insulator strings can be divided into vertical insulator strings, horizontal insulator strings and inclined insulator strings according to the installation structure, apparently due to the requirement for the installation, generally, of vertical insulator strings not are absolutely vertical, strings of insulators arranged within a certain range of angles around the vertical direction can be referred to as strings of vertical insulators. A basic structural feature of the insulator chain is that an insulator chain is composed of several sections and a formation space, in general, exists between the sections.
    [005] A pole tower, configured to withstand the voltage of the conductor and using chains of voltage insulators to hang the conductor or split the conductor is referred to as a voltage tower, which is a tower that drags the conductor in a substantially horizontal direction. , apparently not absolutely horizontal, due to the effect of gravity. The insulator chain here on the voltage tower is usually the horizontal insulator chain.
    [006] With the demand for popularization of humanized operation and the development of intelligent robots, more and more intelligent robots are required for power line inspection or equipment inspection. In China Utility Model Patent No. CN201331558Y, an insulator inspection robot having a two-rail wheel structure is disclosed and is used to inspect double strings of horizontal insulators. The robot traverses the forming space via the rail and locking devices on two sides of the rail guide the robot's forward direction. However, apparently, the robot having the rail structure or the wheel structure is not suitable for the inspection of the vertical insulator string and, in general, a guide structure is required to assist the robot in the forward direction to ensure the operation. safe from the robot, so the structure is complicated. Another obvious aspect is that most of the insulator strings are ceramic parts and have a very smooth surface, which is disadvantageous for the robot to obtain a good triggering environment.
    [007] A robot that can be used to inspect the vertical insulator string is disclosed in China Utility Model Patent No. CN202013392U. The robot includes two symmetrically arranged annular supports and the two annular supports are provided, respectively, with an ascent mechanism and the two ascending mechanisms are connected by a connecting plate. In order to be suitable for climbing in the vertical insulator string, the climbing mechanism includes two symmetrically arranged guide rails, and the two guide rails are provided, respectively, with a foot retention mechanism and a foot retention mechanism. it also includes a sliding device and an oscillating device. The slide device includes a foot retention slider slidably arranged on the guide rail and the rocker device includes a rocker switch sleeve, the rocker switch sleeve is connected to the foot retainer slide via a bearing, thus the structure is complicated. Also, in practical application, a series of motions are required to cooperate with each other, which can inevitably cause a problem of cooperation between the various motion links, thus, the efficiency is low. In addition, the robot has a large volume, so it is not easy to drive, but most of the power lines are in the field, so the defects of being non-portable will seriously affect the convenience of use. robot real.
    [008] A robot disclosed in China Patent No. CN1165775C includes an annular support that can be placed like a sleeve on the body of the insulator. The annular support is equipped with a lifting mechanism and an inspection probe. Evidently, since two ends of the insulator string are connected, in order to fit the annular support on the insulator string like a sleeve, it is necessary to provide an auxiliary structure to cooperate with the annular support, otherwise the installation cannot be fulfilled. The auxiliary structure, such as a structure having two sections or more than two sections, which are joined together, is complicated. In addition, the robot still uses a guide rail structure in cooperation with a clamping grip structure, thus, it also has a large volume, a heavy body, and is not easy to carry. Also, the clamping jaw structure moves slowly, thus, it has a low inspection efficiency. Normally, this kind of inspection robots need to carry out inspection in case of power outage, which can affect the normal operation of the line. SUMMARY
    [009] Therefore, an objective of the present application is to provide a robot system for inspecting a string of insulators used in a voltage tower, which has a compact structure and a fast movement speed.
    [010] An intelligent inspection robot system for insulator strings is configured to inspect double strings of horizontal voltage insulators and includes a robot motion system and an information processing system.
    [011] The robot motion system part includes:
    [012] - a mechanism connection board;
    [013] - an ascent device, arranged at least on one side of the mechanism connecting plate in a forward direction and the ascent device having a group of front ascending arms and a group of rear ascending arms; wherein a drive shaft is connected to a midportion of each of the up arms and each of the up arms is an axially symmetrical lever, taking an axis of the drive shaft as a reference;
    [014] a guide device, configured to guide the robot on the insulator chains, arranged on two sides of the mechanism connection plate in the forward direction, and configured to correspond to the double insulator chains to be inspected;
    [015] an inspection equipment, arranged on the mechanism connection plate;
    [016] a control unit, having an output connected to a drive device of the ascent device and configured to control a difference in rotation angle between the group of front climb arms and the group of rear climb arms; and
    [017] a human-machine control terminal in communication connection with the control unit via a wireless communication unit and configured to remotely control the ascent device.
    [018] In the intelligent inspection robot system for insulator strings according to the present order, a structural way of using rising arms for driving is adopted and two pairs of rising arms driving alternately and the robot running speed It depends on the rotation speed of the riser arms and the rotation speed of the riser arms will not be affected by the insulator structure, thus the desired inspection speed can be obtained. The lifting arm is a lever and has a relatively simple structure, a compact overall structure and is portable, thus having a wide range of applications.
    [019] In a more improved solution, in the intelligent inspection robot system for insulator strings, in the case where the climbing device is arranged on one side of the mechanism connecting plate in the forward direction, only one side of the plate connecting mechanism is equipped with the climbing device, thus the structure is more compact. The guide device includes a first guide portion disposed on an underside of the climbing device, which can further simplify the structure.
    [020] In the intelligent inspection robot system for insulator strings, the first guide portion includes four skis, which are arranged in a circumferential direction of the insulator strings to be inspected and distributed in the form of an isosceles trapezoid, the entire first Guide portion forms a V-shaped groove structure, to match the equivalent cylindrical surface of insulator strings, and has reliable guide performance. The length of a plate surface of a sliding plate of each of the skis is greater than one insulator chain pitch and less than three times the insulator chain pitch, thus, under the premise of meeting the In normal application, fewer insulators are connected between ends of the ski.
    [021] Also, in the intelligent inspection robot system for insulator chains, the length of the ski slide plate plate surface is twice the pitch of the insulator chain, which not only allows the structure to be compact, but it also ensures the reliability of operation.
    [022] Also, referring to the V-shaped groove structure, for the intelligent inspection robot system, it is still optional that a portion, fitting with the guide portion of the insulator chain, has an angle smaller than or equal to 180 degrees and greater than or equal to 120 degrees and the guide portion is a symmetrical plane structure, taking a vertical plane as a reference, therefore, a structure, in which two sides are boundary in cooperation with the action of the gravity, is formed, to realize a safe guiding effect and a safe position restraining effect.
    [023] Preferably, each group of risers has two risers and the two risers are arranged symmetrically taking a vertical plane as a reference. The two riser arms are located on two sides of the vertical symmetry plane of the insulator strings and form a pair of extrusion pressures, which are internal and balanced, thus the riser arms can be guided by themselves while achieving a motivating force for advancement. A frame, connecting the front ascending arms and the rear ascending arms, is a frame having a telescopic structure, thus obtaining the adaptability design between the space between the double rotation axes of the ascending device and the pitch of the double insulator strings, thus the inspection robot for insulator strings can be employed in situations with various voltage degrees and various transmission lines.
    [024] Also, in the intelligent inspection robot system for insulator chains, one of the two groups of ascending arms is equipped with a sensor to detect a rotation angle of the ascending arm for feedback control of a rotational speed of the ascending arm. ascent arm, to allow the ascent device to run more smoothly.
    [025] Preferably, in the intelligent inspection robot system for insulator strings, in order to allow the riser arm to work smoothly and safely, a pair of sensors is provided for position feedback in the circumferential direction of the riser arm to split an axial region of the riser arm into two sections and configured to perform speed matching feedback control of the group of riser arms in different sections and the other group of riser arms is controlled to be running at a uniform speed.
    [026] Preferably, in the intelligent inspection robot system for insulator chains, the difference in the rotation angle between two groups of rising arms is controlled by a differential movement of the motors or by a delay movement output directly from the lifting unit. control, to allow the difference in angle of rotation between the front lift arm group and the rear lift arm group to be variable within a predetermined region around 90 degrees, to ensure drive reliability.
    [027] In a preferred structure of the intelligent inspection robot system for strings of insulators, the inspection equipment includes an inspection apparatus of an inspection instrument type and an inspection device configured to inspect the resistance of an insulator and the inspection device includes a pair of probes that are connected via a sync connection rod and a control actuator configured to drive the sync connection rod to allow the probes to oscillate.
    [028] Preferably, in the intelligent inspection robot system for insulator chains, for more convenient control of the robot, a visible light camera, connected to the control unit, and an image processing unit are further provided, which are configured to recognize edge position information from the insulator strings, for output and control of the position of the riser device in the insulator strings. Thereby, in detecting edge position information, inspection robot can capture device image by visible light camera conducted on inspection robot according to insulator inspection robot stop in insulator strings and perform processing of figure and pattern recognition in the device image in order to recognize the edge position information of the insulator strings, thus determining the edge position information of the insulator string inspection robot.
    [029] Improvements in the intelligent inspection robot system for insulator strings are realized on the conveyor and when the conveyor satisfies the condition of being able reliably on the insulator strings used in a voltage tower, the inspection equipment can be equipped with various inspection equipment available.
    [030] According to the above solutions, for a clearer understanding of the above solutions, the following advantages are described together with preferable modalities.1. The support seat and support frame, which are provided for mounting the motor shafts on a front side and a rear side of the body, may employ an adjustable telescopic frame, to adapt to insulator strings of various frame heights.2 . The support arm on the body is realized as an adjustable telescopic frame and is easy to replace, to adapt to insulator chains of various frame heights and disc diameters.3. An intelligent control system design is adopted in order to improve the adaptability of working in forward and backward directions. 4. With wireless monitoring technique, a handheld terminal is adopted to remotely control the robot's body operation.5. With a remote image management technique, video acquisition information of robot body is displayed by a video player of terminal, thus, video of robot motion state and image information of insulator sheet can be observed at the same time.6. With a pattern recognition technology, the relative position of the inspection robot in the insulator chains can be determined by analyzing the image information of the insulators acquired in the robot's operation.7. With an edge detection technique, the edge position information of the insulator strings is determined by a sensor fusion technology, combining an ultrasonic sensor, a photoelectric sensor and a pattern recognition technology.8. With a synchronous inspection technology, the inspection robot works in the same direction and inspects the double strings of insulators synchronously, for inspection information from the sheet of insulators.9. A device for detecting insulator resistance, a device for detecting the robot in order to carry out inspection. BRIEF DESCRIPTION OF THE DRAWINGS
    [031] To more clearly illustrate the modalities of the present application or the technical solutions in the third conventional connection, drawings referred to to describe the conventional modalities or technology will be described below in the present document. Of course, the drawings in the description below are just a few examples of the present application and for the person skilled in the art, other drawings can be obtained based on these drawings without any creative efforts.
    [032] Figure 1 is a schematic view showing the structure of an intelligent inspection robot for insulator chains according to the present application.
    [033] Figure 2 is a schematic view showing the structure of an inspection device.
    [034] Figure 3 is a schematic view showing the structure of an ascent device.
    [035] Figure 4 is a block diagram showing the principle of a wireless communication module.
    [036] Figure 5 is a block diagram showing the principle of an insulator string inspection robot control system.
    [037] Figure 6 is a sketch view showing the structure of the insulator string inspection robot.
    [038] Figure 7 is a sketch view showing the function of the insulator string inspection robot.
    [039] Figure 8 is a flowchart showing the motion control of the insulator string inspection robot.
    [040] Figure 9 is a flowchart showing the initialization of the insulator string inspection robot.
    [041] Figure 10 illustrates stages of interaction between the insulator string inspection robot and a antecedent control system.
    [042] Figure 11 is a control block diagram of an electrical system.
    [043] Reference Numbers in Figures:
    [044] 1 inspection instrument
    [045] 2 engine connection board
    [046] 3 power supply
    [047] 4 adapter
    [048] 5 ascent device
    [049] 6 protective cover
    [050] 7 communication antenna
    [051] 8 inspection device
    [052] 9 auxiliary lift ski
    [053] 10 ultrasonic and photoelectric sensor
    [054] 11 secondary connection platform
    [055] 12 visible microcamera
    [056] 21 sync connection rod
    [057] 23 support and fixing seat
    [058] 24 control actuator
    [059] 25 probe connection rod
    [060] 26 probe
    [061] 27 control actuator connection rod
    [062] 28 inspection connection rod
    [063] 41 motor shaft
    [064] 42 roller
    [065] 43 support seat
    [066] 44 bearing end cover
    [067] 45 shaft end cover
    [068] 46 support frame
    [069] 47 engine
    [070] 48 position limit switch
    [071] 49 position limit seat
    [072] 50 climb arm
    [073] 51 positioning platform
    [074] 52 big gear wheel
    [075] 53 pinion
    [076] 54 engine seat
    [077] 55 arm frame
    [078] 56 bearing
    [079] 61 remote remote controller smart MCU
    [080] 62 remote controller power system
    [081] 63 remote controller display part
    [082] 64 controller storage part
    [083] 65 central wireless Wi-Fi module
    [084] 66 Master Control Unit MCU
    [085] 67 inspection module
    [086] 68 motion trigger module alarm
    [087] 69 indication system and
    [088] 71 central control unit
    [089] 72 information acquisition module
    [090] 73 motion trigger I
    [091] 74 motion trigger II
    [092] 75 speed feedback encoder I
    [093] 76 Speed Feedback Encoder II
    [094] 77 wireless signal receiving module
    [095] 78 inspection instrument trigger control module
    [096] MI DC motor I and
    [097] MII direct current motor II DETAILED DESCRIPTION
    [098] For those skilled in the art, for a better understanding of solutions to embodiments of the present application, the embodiments of the present application are described in detail together with drawings and embodiments described hereinafter.
    [099] It should be appreciated that the emphasis here is placed on describing improvements in a conveyor. An inspection instrument 1 and an inspection device 8, shown in figure 1, are carried on the conveyor in such a way that the corresponding reliability of the platform can be ensured and the person skilled in the technical exchange processing module will know how to transport the inspection instrument 1 of inspection device 8. Therefore, the conveyor is described here briefly and can be known to the person skilled in the art according to the related technology in the field.
    [0100] It will also be appreciated that the present robot system is a typical electromechanical product, which includes a mechanical part and a control part, and the control part may also be referred to as an electrical part.
    [0101] It should be appreciated that in the description, for example, guide devices are located respectively on two sides of a mechanism connecting plate 2, however, that does not necessarily mean that guide parts on both sides employ the same principle and structure, nor does it necessarily mean that they are absolutely symmetrical.
    [0102] It should be appreciated that in the description, for example, the mechanism connecting plate 2 functions as a transport platform for transporting objects, which does not necessarily mean that the mechanism connecting plate 2 is a shaped element. of plate. Therefore, in the description, the terms used here are mainly for the expression of a specific object and a technical matter to be addressed and are not limited directly by the name.
    [0103] In some embodiments, a mechanical part of an intelligent inspection robot system for insulator strings shown in Figure 1 is configured to inspect double strings of horizontal voltage insulators and includes a Mechanism 2 connection plate.
    [0104] Mechanism connecting plate 2 functions as a conveyor and a connecting body and, as shown in figure 1, the conveyor is preferably located in the gap between the insulator strings (i.e. the double strings of umbrella-shaped objects connected in series in the figure), to ensure that the conveyor's center of gravity falls in the middle between the two chains of insulators, in which case, the conveyor can have a high operating stability. It should be noted that this conveyor case can have a high stability of operation. It should be noted that structurally the width of Mechanism Connection Plate 2 is constrained by the space between the two insulator strings, however it is not an absolute constraint, as shown in Figure 1, Mechanism Connection Plate 2 is pushed upwards by other parts of the robot, to locate the main body structure of the Mechanism Connection Board 2 above the double insulator strings.
    [0105] Through the use of synchronous inspection technology of double insulator strings, the adverse effect for inspection caused by position deviation of insulator strings is eliminated, and the inspection robot work efficiency and insulator inspection accuracy of faults are improved.
    [0106] The robot is equipped with a climbing device 5, configured to provide a driving force for the conveyor. The ascent device 5 can be arranged in two basic ways. In some embodiments, a one-sided drive way is employed, wherein the climbing device 5 is arranged on one side of the mechanism connecting plate in the forward direction. As shown in figures 1 and 3, the climbing device 5 is connected to the mechanism connecting plate 2 by a support frame 46. The one-sided drive way has a simple structure and a torque generated due to the one-sided drive can be balanced through the structural manner in which the ascent device has a group of front ascending arms 50 and a group of rear ascending arms 50, thus ensuring safe operation of the ascending device.
    [0107] In other embodiments, a bilateral drive way can be adopted, that is, another ascent device is still symmetrically provided on the other side of the mechanism connection plate 2. This structure has a good drive performance, however, it is relatively complicated and needs to ensure synchronization of the drive on both sides.
    [0108] Obviously, to satisfy the continuous drive requirement, during ascent, there is always one of the two groups of ascending arms acting on the insulator, which is embodied in the structure as the distance between the center of the group of ascending arms front and rear riser arms group must conform to a pitch of the insulator string and an external insulator profile, which can therefore be easily calculated by the person skilled in the art. In another application, the climbing device can be configured to have a structural form of being adjustable in the forward-reverse direction to form a structure where the distance between the centers of the climbing arms is adjustable. Support frame 46, as shown in Figure 3, is connected to the frame of each of the front motor shaft 41 and rear motor shaft 41 via an adjustable connection structure, for example, the support frame 46 is a sleeve. and the frame is a shaft for cooperation with the sleeve, and the movable connection between the shaft and the sleeve is constrained by a pre-tightened screw, to form an adjustable structural shape, so it can be applied to inspect insulators with various steps and multiple external profiles.
    [0109] In some embodiments, as shown in Figure 3, each of the raising arms 50 is a lever connected, orthogonally, to a drive shaft and being axially symmetrical along the geometric axis of the drive shaft. As shown in figure 3, the motor shaft 41 is a connecting body and the middle portion of the raising arm 50 is connected to the motor shaft to be driven by the motor shaft 41.
    [0110] In other embodiments, the riser arm 50 must not necessarily be connected orthogonally to the drive shaft, such as the motor shaft 41 shown in figure 3, in fact, the motor shaft 41 is taken as a base of connection, the outwardly radiating riser arm can be deflected by a certain angle to accommodate the distance between a right pair of rollers 42 and a left pair of rollers 42, which are arranged oppositely as shown in figure 3 .
    [0111] The way of driving, mainly the way of driving the motor shaft 41, is obtained by a relatively simple structure, which will not be described in this document. As shown in figure 3, each of the front lift arms group and the rear lift arms group is each equipped with an independent motor 47 and is driven by the respective motor 47 and other control modes need to be provided additionally to ensure the synchronization. In other embodiments, synchronous control can be accomplished by synchronizing structures, such as a gear transmission. Structural shapes such as gear transmission can ensure that the front climbing device and rear climbing device groups have a relatively fixed rotation angle, which can more easily ensure the continuity of driving force.
    [0112] Of course, for the structure using respective motors to drive the climbing devices, as shown in figure 3, the rotation angles of the climbing devices are also easy to adjust, which can be readily appreciated by the person skilled in the art. .
    [0113] It should also be appreciated that in the way of driving conventional robots, the way of driving, synchronously, a front and a back is adopted, in general and in this description, different hardware configurations for different ways of driving will be provided below in this document. It can be appreciated that synchronous triggering is an option and another option is asynchronous triggering. However, it should be appreciated that the pair of front risers and the pair of rear risers are synchronous in all cycles, but not necessarily synchronous in a specific cycle.
    [0114] A control unit, for example a central control unit 71 shown in figure 5, has an output connected to a motor of the motor shaft 41, to control the operating state of the risers. A simpler option is to use the power supply control, which has a simple structure and to ensure the accuracy of the control, as shown in figure 5, it is preferable to adopt a closed loop control. Even if feed control is used, a desired speed match can also be achieved as long as a transmission part is reasonably arranged.
    [0115] Some components are described broadly, for example, a human-machine control terminal is described here only briefly, which will be described in detail in subsequent contents. In the field of inspection robots for insulator strings, a control unit and a man-machine control terminal are generally provided, and of course, with the basic configuration, the person skilled in the art can obtain corresponding configuration without making any efforts. creative. This kind of robots will be equipped with a safe guide device, to guide the robot's movement direction in the insulator chain. In the structure shown in figure 1, in order to adapt to the double chains of insulators, the guide device, which has a symmetrically arranged structure as shown in figure 1, can be employed, for example, an auxiliary support ski 9, as shown in figure 1.
    [0116] An inspection apparatus is provided on the mechanism connecting plate and a corresponding inspection apparatus is driven on the mechanism connecting plate according to a matching inspection function.
    [0117] If the climbing device 5 is arranged on one side of the mechanism connecting plate in the forward direction, the guide device includes a first guide portion disposed on a lower side of the climbing device 5. As shown in the figure 1, a group of auxiliary support skis 9 are arranged on the underside of the climbing device 5.
    [0118] It should be appreciated that, in the chain of insulators applicable in the present application, the robot is trapped in the chain of insulators by gravity, therefore, with respect to the stability of operation, the issues of center of gravity and balance in the left - right direction need to be considered.
    [0119] Of course, as long as the center of gravity falls in the middle of the double chains of insulators, their balance will normally not be a problem, however, the more seriously the center of gravity shifts to one side, the worse the stability. However, the side on which the ascent device 5 is located has a large weight, a lift reaction force may be generated during ascent, which may have a certain deflection effect. on a heavier side, which makes it easier to take a pull on the drive.
    [0120] The auxiliary lift ski 9, as shown in figure 1, forms a semi-enclosed structure, which can form a secure restraint. Of course, if the auxiliary support ski 9 as shown in figure 1 is arranged on one side of the double strands of insulators, a guide portion having a relatively simple structure can be arranged on the other side of the double strands of insulators, for example , a sliding plate, or a simple ski, and the ski may be located on an upper bar side of the insulator string on that side and may also be located on an outer side of the insulator string on this side, which may, of course, have a good sustaining effect, too. The ski's guiding effect is secondary and the emphasis is on its lifting effect, thus simplifying the structure.
    [0121] Still, with respect to the semi-enclosed structure of the auxiliary support ski 9, as shown in figure 1, the first guide portion includes four skis that are arranged in a circumferential direction of the insulator string to be inspected and are arranged in the form of an isosceles trapezoid and the length of a surface of a ski sliding plate is more than one pitch and less than three times the pitch of the insulator chain, to satisfy the requirement of safe operation, and the ski has a structure with two Upward angled ends, to satisfy the requirement to guide forward-backward steering movement.
    [0122] The ski can be rigidly connected to maintain the structure, as shown in figure 1, and can also be realized as a structural form provided with an elastic portion and a middle portion that is connected via a joint, to allow the ski to have a backward and forward tilt function. Correspondingly, the elastic portion, such as a spring, is connected on an anterior side and a posterior side of the pivot point of the ski to form a restoration structure and, if the ski has a short length, e.g. a pitch, the Safe operation of the robot can be ensured by the ski's adaptive tilt control. It should be appreciated that the rigid connection can also achieve operating stability, and the operating stability is better.
    [0123] To ensure the stability of operation, of course, the ski slide plate surface length is set as twice the pitch, in order to ensure that the ski can have two points supported on the outer periphery of the two insulators at any stage , thus stability can be ensured. Also, the structure of the ski is compact and only two insulators are connected between the ends of the ski at the same time. However, if the ski slide plate surface length is greater than one pitch and less than twice the pitch, at most two insulators are connected between the ends of the ski.
    [0124] Of course, when the ski slide plate surface length is more than twice the pitch and less than three times the pitch, the ski will have better operating stability, but may have a slightly long structure, however. , most of the time, only two insulators are connected between ends of the ski, equally.
    [0125] Regarding the semi-enclosed structure, if the connecting element between the skis has enough elastic deformation capacity, the semi-enclosed structure can be greater than 180 degrees, for example, a spring strip can be used to connect the skis in the same side. In this way, better operating stability can be obtained, and the vibration is small and the effect to the electronic device, which is driven, is relatively small.
    [0126] For ease of use, a portion, joining with the guide portion, of the insulator string is at an angle less than or equal to 180 degrees and greater than or equal to 120 degrees and the guide portion has a structure symmetrical plane, taking the vertical plane to form a secure gripping and positioning effect.
    [0127] Also, in order to ensure drive reliability, each group of risers 50 has two risers and the two risers are arranged symmetrically, taking the vertical plane as a reference plane, thus, the drive device itself has a certain guiding effect.
    [0128] Preferably, the two groups of risers 50 are driven synchronously and the risers in each group are connected in series by the respective motor shaft 41 to be driven synchronously, as shown in figure 3, which changes the sliding friction to rolling friction.
    [0129] Also, to better control the robot's operation, a motor axis is equipped with a position detection sensor. The position detection sensor can be embodied as a small encoder. For more accurate detection, the frame can be provided with a position limiting switch 48 and the raising arm 50 is provided with a positioning platform 51 and position detection can be achieved by the interaction between the position limiting switch 48 and the positioning platform 51 in a predetermined phase position.
    [0130] In some embodiments, a difference between the rotation angles of two groups of climb arms 50 is set to 90 degrees, to obtain a reasonable and continuous drive force.
    [0131] Further, for adaptation to the various species of insulator sheets, the difference between angles of rotation of the two groups of the raising arms 50 can be controlled and adjusted by a differential movement or a delay movement of the motors 47, to allow the difference between the rotation angles of the two groups of the raising arms 50 is around 90 degrees, thus obtaining a smoother drive way. For example, in the case where the intelligent inspection robot for insulator strings moves forward in the direction of movement along the insulator strings, the difference between rotation angles of the two groups of riser arms 50 is a certain value around of 90 degrees and the certain value needs to be set according to the actual insulator string; and in the case where the intelligent inspection robot for the insulator chains moves backwards in the direction of movement along the insulator chains, the difference between the rotation angles of the two groups of the raising arms 50 is controlled and adjusted by the differential movement or retarding movement of the motors 47 to be another determined value around 90 degrees and can be appreciated by the person skilled in the art which is determined to simplify the description. Also, for example, in the case where the intelligent inspection robot for insulator strings moves on the insulator strings, according to the condition of the insulator strings line, the difference between rotation angles of the two groups of the rising arms 50 It is controlled and adjusted by the differential movement or retarding movement of the motors 47 to be a certain value around 90 degrees and this kind of movement has good driving performance, but the control process is relatively complicated and it is necessary to perform adjustment of synchronization with the movement of the lift arms 50.
    [0132] In a better embodiment, after a long-term study, the inventor proposes a better way of control, a hardware configuration corresponding to the way of control is provided, in which one of the two groups of the climb arms 50 is provided with a sensor to detect the angle of rotation of the ascending arm, to feed back and control the rotational speed of the ascending arm, thus, the ascending arm without being equipped with the sensor is controlled to rotate at a uniform speed and the ascending arm equipped with of the sensor can be controlled in another way based on the sensor.
    [0133] The sensor can be a standalone encoder, which has a compact structure and small installation space, but has a high cost. Otherwise, two sensors, such as the position limiting switch, can be used, which have a low cost and a simple structure. In the other way, only position control is needed. Of course, the aforementioned encoder can determine the referred position precisely by acquiring the rotation angles.
    [0134] Through the sensor, with the technique of double arms ascending alternately and coordinately, limitation for the height of the insulator chain robot limited by the equalization ring of the overhead transmission line is eliminated and the integrity of the inspection state of all the insulator chains is performed.
    [0135] The transported inspection apparatus has been described before here and in this document is focused on illustrating the way of mounting the conveyor device on the mechanism connection plate 2, to lower the center of gravity and allow the load to be distributed as evenly as possible. possible. As shown in figure 1, the inspection apparatus includes the inspection instrument 1 arranged on the upper side of the mechanism connecting plate 2 and the inspection device 8 arranged on a lower side of the mechanism connecting plate 2 for inspecting the resistance of the mechanism. insulator. The inspection device 8 is a movable component, so being mounted on the underside of the mechanism connecting plate 2 can have better stability during movement. To avoid hindrance, a robot power supply 3 can be arranged on the upper side of the mechanism connection plate 2.
    [0136] With respect to the inspection device, as shown in figures 1 and 2, a pair of probes 26 are pendant and can be driven by a sync connection rod 21 connected orthogonally to the rear ends of the probes, to form an oscillating structure . In use, the probes 26 can swing to either side of the forward direction to perform inspection of the insulators on the side to which the probes swing. The inspection device is connected to the underside of the mechanism connection plate 2 via a supporting and clamping seat 22, which forms the frame of the inspection device, and a control actuator 24 can be directly connected to the timing connection rod. 21 and can also be connected to one of the probes 26 via a control actuator connecting rod 27 of a four-link drive mechanism.
    [0137] Further, to simplify the model, the timing transmission in this document is accomplished by using a gear to drive the rotor shaft 41 to rotate. As shown in figure 1, the motor 47 is driven by a single stage gear, formed by a large gear wheel 52 and a pinion 53. This way is just a kind of motion transmission ways and other transmission structures having the same effects as single stage gear transmission such as timing belt transmission, flexible shaft transmission and chain transmission and extended transmission structures based on the corresponding transmission ways will not be illustrated here one by one and all these modes of transmission will fall within the scope of this application. In addition, the drive motor can also be installed in the way in which drive shafts at two ends are driven to move by a middle motor shaft or the drive shafts at two ends are driven to move by a shaft of middle motor or the transmission shafts at two ends are respectively driven by two motors, the motion effects are the same as the effects described here. The ways in which the transmission shafts at two ends are driven by the mid-motor shaft or, respectively, by two motors, are all within the scope of this description.
    [0138] In another application, to ensure the safe operation of the robot, the fall arrest alarm control for the insulator inspection robot can be achieved through multiple sensors based on laser, ultrasound, vision and the like, in combination with corresponding detection data.
    [0139] In the following contents, the description is mainly focused on the machine hardware configuration in the control way, which is different from the conventional technology, and the basic components of the machine hardware configuration will be described first.
    [0140] Figure 4 is a schematic diagram of a wireless communication module. The wireless communication module is configured to carry out communication between the human-machine control terminal and the robot side.
    [0141] The wireless communication module, like a Wi-Fi wireless module shown in figure 4, includes a control terminal and a receiving terminal or a controlled terminal. The control terminal includes a control unit, a storage and a display which are connected to the control unit and the receiving terminal or the controlled terminal includes a communication control unit for controlling the communication. The wireless communication module is based on a duplex communication mode.
    [0142] In the above wireless communication module, the control unit is an intelligent remote controller MCU61 as shown in figure 4 and can also be realized as another built-in controller.
    [0143] In the above wireless communication module, the control terminal is equipped with independent power supply, to ensure stable operation. Also, in most cases, the control terminal needs to be portable, so the power supply can be an onboard storage battery such as a remote controller power system 62 as shown in Figure 4 and the power supply power can also be an external backpack-type storage battery.
    [0144] In the control terminal, a central master control unit MCU66 can be directly connected to a motion drive module 68 to realize manual control and can be equipped with an inspection module 68 to realize manual control and can be equipped with an inspection module 67 for inspection of an insulator. Of course, the MCU central control unit is primarily configured for communication and can be equipped with an indication and alarm system 69 for communication indication.
    [0145] In the above wireless communication module, the control terminal can also be equipped with an alarm system.
    [0146] In figure 5, a control system of a robot terminal or a controlled terminal is shown.
    [0147] In the figure, the wireless signal receiving module 77 is configured to receive a control command from a higher computer or a remote controller and transmit the control command to a central control unit 71. The central control unit 71 is configured to parse the control command and drive a DC motor M1 and a DC motor M2, respectively, by a motion driver 173 and a motion driver II74. Meanwhile, the central control unit is configured to receive feedback speed information from a speed feedback encoder 175 and a speed feedback encoder II76 and obtain closed-loop speed control from a dual-axis motor via a classic PID algorithm. In the above structure, two sets of direct current motors are provided, respectively, to match the front motor shaft 41 and the rear motor shaft 41 and control the difference between the rotation angles of the front lift arm and the rear lift arm. rear climb and the control of the respective speeds of the front climb arm and the rear climb arm are performed based on the matching control of the front and rear motor axles 41.
    [0148] To ensure the rise effect overcomes the unfavorable factors where the insulator string has a large installation error, the central control unit 71 is configured to receive position information feedback from an information acquisition module and perform a closed-loop control of the position of a single evaporation medium by determining the position of the robot, to obtain the angular correction of the dual axes, thus ensuring the stability of the ascent.
    [0149] In another embodiment involved, a figure treatment system is further provided.
    [0150] On edge position information detection, inspection robot can capture device image by visible light camera in inspection robot according to insulator inspection robot stop in insulator strings and perform processing of the figure and pattern recognition in the device image to recognize the edge position information of the insulator strings, thus determining the edge position information of the insulator string inspection robot in the insulator strings.
    [0151] According to the intelligent inspection robot for insulator strings of a preferred embodiment, as shown in figures 1 to 3 and in conjunction with figures 8 to 10 of the specification, an inspection method is provided as follows.
    [0152] The intelligent inspection robot for insulators used in a voltage tower is placed by an operator on the insulator strings to form an inspection position, as shown in figure 1. The robot receives a control command from the operator via an inspection module. wireless communication on a controller carried on the robot and restores to an initial motion position. In their initial position, the drive brackets on the front side are in a vertical state and are both inserted into a space between adjacent insulators on the same chain, and the drive brackets on the rear side are in a horizontal state. This orthogonal state formed by the horizontal drive brackets and the vertical drive brackets is an initial state. As mentioned before, the rotation angle difference is around 90 degrees and is not necessarily meant to be exactly 90 degrees and here specific angle drawing is not involved here and will not be described in this document. A position-controlled hardware configuration is proposed here for a better control method.
    [0153] The technique for insulating chain state inspection, which is based on a visible light camera, an infrared camera and a multi-scale Retinex Pattern Recognition (MSR) algorithm, addresses the issue of recognition difficulty due to to strong light in the outdoor environment and obtains an inspection for the integrity for the integrity of the appearance of a sheet of insulators and distinguishes the boundary position of a line terminal and the boundary position of a pole tower terminal from the insulator strings.
    [0154] The specific action is described as follows. Motor 47 rotates to drive motor shaft 41 to rotate, specifically, motor 47 drives motor shaft 41 to rotate via the engagement between pinion 53 and gear wheel large 52. Further, when the roller 42 with a front end inserted into the space between adjacent insulators comes into contact with an insulator on its rear side, a forward pushing force is inevitably generated. Of course, when the intelligent inspection robot for insulator strings is placed on the insulators, the robot's auxiliary lift ski 9 interacts with the insulators, to only allow the robot to move unidirectionally on the insulators. Specifically, when the roller 42 with the front end inserted into the space between adjacent insulators is in contact with the insulator on its rear side, the intelligent inspection robot for the insulator chains is driven to move forward, inevitably, and meanwhile , when the roller 42 with the front end inserted into the space between adjacent insulators is about to leave the insulator on its rear side, the drive wheel in a corresponding position of the rear end of the 42 is inevitably to come into contact with an insulator on its back side, to still carry out the above movement process. Obviously, driving the motor to rotate can inevitably trigger the intelligent inspection robot for the insulator chains to move forward. Conversely, when motor 47 receives a command to move in reverse, the motor also drives the intelligent inspection robot the intelligent inspection robot for insulator chains to perform the above movements and allow the robot to perform the backward walking movement. . Also, when the intelligent inspection robot for the insulator string moves to a specified position, inspection of the insulator related information is obtained through the action of the inspection device.
    [0155] As shown in figure 11, in the drawing, a mounting position of a sensor for detecting an initial position of a motor shaft a and a mounting position of a sensor for detecting an initial position of a motor shaft b is configured to form a 90 degree included angle in a space coordinate system. A sensor to detect the position of motor shaft b starting to rotate at a low speed and a sensor to detect the position of motor shaft b starting to rotate at a high speed are mounted to be parallel with each other and both which form an acute angle α with respect to the X axis. Here, to distinguish the front motor shaft and the rear motor shaft, the motor shafts are referred to as motor shaft a and motor shaft b.
    [0156] In some embodiments, the electrical control system sends drive information to the motors and controls motor shaft a and motor shaft b to rotate in order to allow the climb arms to be in an initial state, that is, forming an included angle of 90 degrees and in an initial state, the electrical control system controls the motor shaft b to rotate the sensor to detect the position of the motor shaft b starting to rotate at low speed. Here, the low speed rotation position sensor corresponds to the following high speed rotation position sensor to perform the critical control of the conversion between high speed and low speed in order to allow an included angle formed between the arm arm attached to the motor shaft b and the rising arm attached to the motor shaft to be less than 90 degrees, ie the included angle is (90-α) degrees. The electrical control system adopts a typical PID control algorithm to output a control signal to the motor including motor shaft a, to control the motor to drive motor shaft a to rotate uniformly at an angular speed v , also the electrical control system adopts PID control algorithm to control the motor shaft b in order to rotate at the same angular speed v as the motor shaft a, thus controlling the rising arm on the motor shaft a and the ascent on the b motor shaft in order to operate, alternately, at an acute angle (90-α) degrees and an obtuse angle (90+α) degrees. However, this way of control can also cause a robot operation accident. Therefore, just changing the included angle of initial rotation between motor axis a and motor axis b cannot change the adaptability of the intelligent inspection robot to the environment.
    [0157] In a preferred embodiment, the electrical control system controls motor shaft a to rotate uniformly at an angular speed v by changing the angular figure of rotation of motor shaft b, an area of prior rotation in which the shaft of motor b rotates uniformly at angular speed v, the same as motor shaft a, is divided into two areas where motor shaft b rotates at high angular speed and low angular speed, thus keeping the included angle formed between the up arm of motor shaft a and up arm of motor shaft b, when the up arms are in contact with the insulators, as being (90-α) degrees at all times. The operating angles in the low angular speed area and in the high angular speed area of the motor shaft b are (90-α) degrees and (90+α) degrees respectively. Since motor shaft a and motor shaft b rotate together, the time t1 required for motor shaft b to rotate through the low angular velocity area is 1 and is equal to the time required for the motor shaft to rotate through the angle (90+α) degrees at angular velocity v, that is, t1=(90+α)/v. The low angular speed v1 of motor shaft b can be calculated according to the time t1 required for motor shaft b to rotate through the low angular speed area, i.e. v1 = (90-α)/(90+α )*v. The time t2 required for motor shaftb to rotate through high angular speed area is equal to the time required for motor shaft to rotate through (90-α) degree angle at angular speed v, that is, t2=( 90-α)/v. The high angular speed v2 of motor shaft b can be calculated according to the time t2 required for motor shaft b to rotate through the high angular speed area, i.e. v2= (90+α)/(90-α) )*v.
    [0158] When the electrical control system receives valid information from a sensor signal to start the motor shaft b in order to rotate at a low speed, the electrical control system allows the motor shaft b to rotate uniformly all the time at the angular speed of rotation of v1 via the typical PID control algorithm. When the electrical control system receives valid information from a sensor signal to start the motor shaft b in order to rotate at a high speed, the electrical control system allows the motor shaft b to rotate uniformly all the time at the speed angular from v2 via the typical PID control algorithm. After two times of speed adjustment between high speed and low speed, a moment of switching between high speed and slow speed is performed, thus carrying out a speed change control cycle, and have to ensure that the inspection robot of intelligent insulator operates in insulator chain safety and stable all the time in this movement cycle, and for insulator chains of various degrees, operation adaptation performance and operation uniformity of intelligent inspection robot can be improved by tuning of the angle α.
    [0159] The control method, as shown in figure 10, is used, in general, in the remote control of the robot and the procedure of image capture and recognition of the current device by the robot in step 4 in a way proposed by the inventor to assist in the robot control.
    [0160] The way of controlling the robot is clearly illustrated in figures 8 to 10 of the descriptive report, which will not be described here.
    [0161] Furthermore, in the structure shown in Figure 3, a group of through holes is distributed in the support seat 43 and the support frame 46 is connected to the support seat 43 via different through holes, thus adjusting the space between the front motor shaft and rear motor shaft.
    [0162] In some embodiments, threaded holes can be provided only in the support frame 46 and the support seat 43 is a plate element and the support seat is locked via a tight fitting screw, cooperating with the threaded hole, thus, performing continuous adjustment.
    [0163] In some embodiments, adjustment in the forward - backward direction can be performed via a frame using the cooperation of an axle and a sleeve.
    [0164] In some embodiments, the space between the two motor shafts can be adjusted by a frame having a screw rod and a screw nut, wherein the screw rod is fixedly arranged and the screw nut has a set of axles. engine, thus forming a glove-nut structure.
    [0165] According to the description of the above modalities, it can be appreciated by those skilled in the art that all or a part of the steps of the above modalities of the method can be performed by a software combined with a necessary universal hardware platform. Based on this understanding, the essence or the part that contributes to the conventional technology of the technical solutions of the present application can be expressed in the form of a software product. The computer software product may be stored on a storage medium, such as a ROM/RAM, a magnetic disk, or an optical disk, and includes several instructions that allow a computer device (which may be a personal computer, a server, or a device to of communication over the network, such as a media port and etc.) perform the method according to each embodiment or a part of the modalities of the present application.
    [0166] It should be noted that the various modalities in the specification are described in a progressive manner. References may be made between these modalities with respect to the same or similar portions between these modalities and each of the modalities is primarily focused on describing its differences from other modalities. Device and system modalities are described simply as they are substantially similar to methods modalities; and for related parts, references may be made to illustrating the modalities of the methods. The device modalities and the system described above are schematic only. The unit described above as a separate component may or may not be a physically separate unit. The component displayed as a unit may or may not be a physical unit, that is, it may be located in one location or may be distributed across multiple network drives. The objective of the solution of each one of the modalities can be reached by the selection of a part or all of the modules according to the practical needs. The present application can be understood and implemented by those skilled in the art without any creative efforts.
    [0167] The above embodiments are only preferred embodiments of the present application and are not intended to limit the scope of the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present application are considered to be within the scope of the present application.
    权利要求:
    Claims (5)
    [0001]
    1. INTELLIGENT INSPECTION ROBOT SYSTEM FOR INSULATOR CHAINS, configured to inspect double strings of horizontal voltage insulators, comprising: a mechanism connection plate (2); a climbing device (5), arranged at least on one side of the mechanism connecting plate (2) in a forward direction and the climbing device (5) having a group of front ascending arms (50) and a group of rear ascending arms (50); wherein a drive is connected to a mid-portion of each of the up arms and each of the up arms is an axially symmetrical lever taking a geometric axis of the drive axis as a reference; a guide device, configured to guide the robot in the chains of insulators, arranged on two sides of the mechanism connecting plate (2) in the forward direction and configured to match the double strings of insulators to be inspected; an inspection equipment, arranged on the mechanism connecting plate (2) ); a control unit, having an output connected to a drive device of the ascent device (5) and configured to control a difference in angle of rotation between the group of front ascending arms and the group of rear ascending arms; and a human-machine control terminal, in communication connection with the control unit via a wireless communication unit and configured to remotely control the ascent device (5); in the case where the climbing device (5) is arranged on one side of the mechanism connecting plate (2) in the forward direction, the guide device comprises a first guide portion arranged on a lower side of the climbing device ( 5); wherein the first guide portion comprises four skis which are arranged in a circumferential direction of the insulator strings to be inspected and distributed in the form of an isosceles trapezoid and the length of a plate surface of a sliding plate of each of the skis is greater than one insulator chain pitch and less than three times the insulator chain pitch; a portion, which fits with the guide portion, of the insulator chain has an angle less than or equal to 180 degrees and greater than or equal to 129 degrees and the guide portion is a flat symmetrical structure taking a vertical plane as a reference; characterized in that one of the two groups of climb arms (50) is provided with a sensor for detecting an angle of rotation of the climb arm (50) for feedback control of rotational speed of the climb arm (50); and a pair of sensors is provided to feedback the position in the circumferential direction of the riser arm (50) to divide an axial region of the riser arm (50) into two sections and configured to perform feedback control of the corresponding speed of the group of risers in different sections, and the other group of climb arms is controlled to run at a uniform speed.
    [0002]
    2. INTELLIGENT INSPECTION ROBOT SYSTEM FOR CHAINS OF INSULATORS, according to claim 1, characterized in that each group of up arms (50) has two up arms and the two up arms are arranged symmetrically, taking a vertical plane as a reference ; and a frame connecting the front lift arms and the rear lift arms is a frame having a telescopic frame.
    [0003]
    3. INTELLIGENT INSPECTION ROBOT SYSTEM FOR INSULATOR CHAINS, according to claim 1, characterized in that the difference in rotation angle between two groups of rising arms (50) is controlled by a differential movement of the motors (47) or by a retarding motion that exits directly from the control unit, to allow the difference in angle of rotation between the front lift arm group and the rear lift arm group to be variable in a predetermined region around 90 degrees.
    [0004]
    4. INTELLIGENT INSPECTION ROBOT SYSTEM FOR CHAINS OF INSULATORS, according to claim 1, characterized in that the inspection equipment comprises an inspection apparatus of a type of inspection instrument (1) and an inspection device (8) configured to inspect the resistance of an insulator and the lighting device comprises a pair of probes (26) which are connected via a sync connection rod (21) and a control actuator (24) configured to drive the sync connection rod (21) in order to allow the probes (26) to oscillate.
    [0005]
    5. INTELLIGENT INSPECTION ROBOT SYSTEM FOR CHAINS OF INSULATORS, according to claim 1, characterized in that the intelligent inspection robot system further comprises a visible light camera connected to the control unit and a data processing unit image, which are configured to recognize edge position information from the insulator strings, for the output and control of the position of the riser device (5) in the insulator strings.
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    同族专利:
    公开号 | 公开日
    BR112015016252A2|2017-07-11|
    CN103091579A|2013-05-08|
    CN103091579B|2015-04-29|
    WO2014108017A1|2014-07-17|
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    法律状态:
    2018-11-21| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2020-01-21| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2020-06-02| B25D| Requested change of name of applicant approved|Owner name: STATE GRID INTELLIGENCE TECHNOLOGY CO., LTD. (CN) |
    2021-07-06| B06A| Patent application procedure suspended [chapter 6.1 patent gazette]|
    2021-11-09| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2022-01-18| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 16/12/2013, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    CN201310010428.X|2013-01-11|
    CN201310010428.XA|CN103091579B|2013-01-11|2013-01-11|Insulator chain intelligent detection robotic system|
    PCT/CN2013/089568|WO2014108017A1|2013-01-11|2013-12-16|Detection robot system of insulator strings|
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