CN107742870A - A kind of power transmission line crusing robot deicing control system and its control method - Google Patents
A kind of power transmission line crusing robot deicing control system and its control method Download PDFInfo
- Publication number
- CN107742870A CN107742870A CN201711041005.9A CN201711041005A CN107742870A CN 107742870 A CN107742870 A CN 107742870A CN 201711041005 A CN201711041005 A CN 201711041005A CN 107742870 A CN107742870 A CN 107742870A
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- China
- Prior art keywords
- ice
- power transmission
- transmission line
- crusing robot
- gravity
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G7/00—Overhead installations of electric lines or cables
- H02G7/16—Devices for removing snow or ice from lines or cables
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of power transmission line crusing robot deicing control system, it is characterised in that：Including controller, the controller connects motor drive module and detection module respectively；The motor drive module includes road wheel electric-motor drive unit and ice breaking wheel electric-motor drive unit；The detection module includes ice layer thickness detection unit；The road wheel electric-motor drive unit connection walking turbin generator, driving road wheel rotate；The ice breaking wheel electric-motor drive unit connects the turbin generator that opens ice, and for driving the turbin generator that opens ice to rotate, drives ice breaking wheel movement.The present invention installs ice breaking wheel on crusing robot and opened ice, and ice breaking structure is simple, easy to use, while by control system, can realize automatic de-icing.
Description
Technical field
The present invention relates to power transmission line to clear up field, especially a kind of power transmission line crusing robot deicing control system and its control
Method processed.
Background technology
In China's most area, there is substantial amounts of snowfall every year, cause shape on the power transmission line of substantial amounts of ultra-high-tension power transmission line
Into icing, these icing cause serious harm to the cable and shaft tower of ultra-high-tension power transmission line, and particularly in recent years, high pressure is defeated
The icing of electric line causes cable breakage and shaft tower collapses, and causes the power failure of large area, the safety of serious threat power network is surely
Fixed operation, it is great to cause loss to the economic construction in China and the life of the people.
Powerline ice-covering domestic at present removes work and also uses artificial de-icing method mostly, using manually being struck with rod rod
The mode deicing hit, so need more personnel's inputs and resources to put into and do not reach required efficiency, it is also difficult to ensure
The life security of deicing personnel；Or the method using high-voltage line ice-melt, but high-voltage line ice-melt excessively expends energy, and apply
The energy expenditure of mechanical means deicing is much smaller than great current deicing.Large current ice-melting method efficiency is higher, but costly, and operation is multiple
It is miscellaneous, there is considerable influence safely to system.
The content of the invention
The goal of the invention of the present invention is：For above-mentioned problem, there is provided a kind of power transmission line crusing robot deicing
Control system, based on detection module, the ice layer thickness in opening ice, ice breaking wheel position and robot center of gravity are detected, and will
Testing result is handled, and generates corresponding control instruction, is accurately controlled crusing robot and is quickly removed on power transmission line
Ice.
The technical solution adopted by the present invention is as follows：
A kind of power transmission line crusing robot deicing control system of the present invention, including controller, the controller connect motor respectively
Drive module and detection module；The motor drive module includes road wheel electric-motor drive unit and turbin generator driving of opening ice is single
Member；The detection module includes ice layer thickness detection unit and crusing robot center of gravity detection unit；The walking turbin generator drives
Moving cell connection walking turbin generator；The ice breaking wheel electric-motor drive unit connects the turbin generator that opens ice, for driving the turbin generator that opens ice
Rotate, drive ice breaking wheel movement.
Further, the ice layer thickness detection unit includes the ice layer thickness detection sensor being arranged on body, described
Ice layer thickness detection sensor includes transmitting terminal and receiving terminal；The receiving terminal includes reception antenna and ultra-broadband signal is handled
Device；The transmitting terminal, for launching high-frequency wideband electromagnetic wave under ice face；The reception antenna, for receiving electromagnetic wave in ice
Reflected signal in layer；The ultra-broadband signal processor, for being changed, being amplified and being quantified by reception signal, is calculated
The thickness of ice sheet.
Further, the crusing robot center of gravity detection unit includes the center of gravity sensor being arranged on body, for examining
Center of gravity of the crusing robot in opening ice is surveyed, keeps the stabilization of center of gravity.
Further, the controller is also connected with gravity adjusting device, the gravity adjusting device be arranged on walking mechanism it
Between, for adjusting the distance between walking mechanism.
Further, in addition to wireless communication module, for being communicated with ground control system and data transfer.
Further, the detection module also includes open ice monitoring unit, including the image collector being arranged on support arm
Put, opened ice image for gathering, and be sent to ground, opened ice situation in ground monitoring.
Further, the detection module also includes positioning unit, including the photoelectric sensor being arranged in collective, for examining
Survey the position of ice breaking wheel and ice sheet.
A kind of power transmission line crusing robot deicing control method of the present invention, comprises the following steps：S1：Examined by positioning unit
The position relationship of ice breaking wheel and ice sheet is surveyed, the position of ice breaking wheel is adjusted, is contacted with ice sheet；S2：Detect the thickness information hair of ice sheet
Controller is sent to, controller calculates the rotating speed of ice breaking wheel according to ice layer thickness, and respectively to turbin generator and the walking turbin generator of opening ice
Driving instruction is sent, road wheel and ice breaking wheel rotate；S3：In opening ice, the weight of crusing robot is detected using center of gravity sensor
The heart, and by the center of gravity of gravity adjusting device regulation robot, keep stabilization of the crusing robot on power transmission line；S4：It will adopt
The image that opens ice of collection, ground control centre is sent to by wireless communication module, and remote monitoring is carried out to opening ice, abnormal when occurring
During phenomenon, ground control centre sends control instruction to crusing robot, is adjusted.
In summary, by adopting the above-described technical solution, the beneficial effects of the invention are as follows：Compared with prior art, originally
Ice breaking wheel is installed in invention on crusing robot, and ice breaking wheel can carry out machinery and open ice, while can also walk, and not influence survey monitor
The walking of device people, ice breaking wheel are constantly opened ice in advance, and compared with other icebreaking devices, the present invention is simple in construction, makes
With facilitating very much, bear a heavy burden small；Simultaneously in the presence of control system, automatic de-icing can be realized.
Brief description of the drawings
Examples of the present invention will be described by way of reference to the accompanying drawings, wherein：
Fig. 1 is the right view of power transmission line crusing robot.
Fig. 2 is the working state figure of power transmission line crusing robot.
Fig. 3 is the structural representation of ice breaking wheel.
Fig. 4 is a kind of structural representation of power transmission line crusing robot deicing control system of the present invention.
Embodiment
All features disclosed in this specification, or disclosed all methods or during the step of, except mutually exclusive
Feature and/or step beyond, can combine in any way.
This specification（Including any accessory claim, summary）Disclosed in any feature, unless specifically stated otherwise,
Replaced by other equivalent or with similar purpose alternative features.I.e., unless specifically stated otherwise, each feature is a series of
An example in equivalent or similar characteristics.
Such as Fig. 1,2, a kind of de-icing of power transmission lines machine people, including body 1, the body 1 pass through pre-walking mechanism 5, middle row
Walk the support of mechanism 6 and rear walking mechanism 7 and be arranged on power transmission line；The middle walking mechanism 6 and rear walking mechanism 7 wrap respectively
Include support arm 4 and road wheel 2；The pre-walking mechanism 5 includes support arm 4 and ice breaking wheel 22；The upper end of support arm 4 and machine
Body 1 is flexibly connected, and lower end is provided with road wheel 2 and ice breaking wheel 22, and the road wheel 2, which is arranged on power transmission line, drives the edge of body 1
Power transmission line moves；The lower end of support arm 4 can make road wheel 2 lift and take off along before power transmission line bearing of trend or swing backward
From power transmission line.
Such as Fig. 3, offer wire casing on the wheel week of ice breaking wheel 22, the wire casing have two relative chute walls 10 and
The groove bottom wall 11 of chute wall 10 is connected, ice breaking tooth 12 is symmetrically arranged with the chute wall 10；The wire casing bottom width is less than
A/F, the width of groove bottom wall 11 are equal to the diameter of power transmission line；When being transported on power transmission line covered with ice sheet, ice breaking wheel along power transmission line
Dynamic, power transmission line is located in wire casing, and ice sheet thereon contacts with the ice breaking tooth 12 in chute wall 10, and power transmission line does not connect with groove bottom wall 11
Touch；When not having ice sheet on power transmission line, ice breaking wheel moves along power transmission line, and power transmission line is located in wire casing, and power transmission line connects with groove bottom wall 11
Touch, do not contacted with the ice breaking tooth 12 in chute wall 10；The projection or groove for anti-slip are provided with the groove bottom wall 11.
Such as Fig. 4, a kind of power transmission line crusing robot deicing control system of the present invention, including controller, the controller point
Lian Jie not motor drive module and detection module；The motor drive module includes road wheel electric-motor drive unit and ice breaking wheel electricity
Machine driver element；The detection module includes ice layer thickness detection unit and crusing robot center of gravity detection unit；The walking
Turbin generator driver element connection walking turbin generator；The ice breaking wheel electric-motor drive unit connects the turbin generator that opens ice, for driving brokenly
Moon motor rotates, and drives ice breaking wheel movement.
The ice layer thickness detection unit includes the ice layer thickness detection sensor being arranged on body, the ice layer thickness
Detection sensor includes transmitting terminal and receiving terminal；The receiving terminal includes reception antenna and ultra-broadband signal processor；The hair
End is penetrated, for launching high-frequency wideband electromagnetic wave under ice face；The reception antenna, for receiving reflection of the electromagnetic wave in ice sheet
Signal；The ultra-broadband signal processor, for being changed, being amplified and being quantified by reception signal, calculate the thickness of ice sheet.
The crusing robot center of gravity detection unit includes the center of gravity sensor being arranged on body, for detecting survey monitor
Center of gravity of the device people in opening ice, keep the stabilization of center of gravity.
The controller is also connected with gravity adjusting device, and the gravity adjusting device is arranged between walking mechanism, is used for
Adjust the distance between walking mechanism.
Also include wireless communication module, for being communicated with ground control system and data transfer.
The detection module also includes open ice monitoring unit, including the image collecting device being arranged on support arm, is used for
Collection is opened ice image, and is sent to ground, is opened ice situation in ground monitoring.
The detection module also includes positioning unit, including the photoelectric sensor being arranged in collective, is opened ice for detecting
The position of wheel and ice sheet.
A kind of power transmission line crusing robot deicing control method of the present invention, comprises the following steps：S1：Examined by positioning unit
The position relationship of ice breaking wheel and ice sheet is surveyed, the position of ice breaking wheel is adjusted, is contacted with ice sheet；S2：Detect the thickness information hair of ice sheet
Controller is sent to, controller calculates the rotating speed of ice breaking wheel according to ice layer thickness, and respectively to turbin generator and the walking turbin generator of opening ice
Driving instruction is sent, road wheel and ice breaking wheel rotate；S3：In opening ice, the weight of crusing robot is detected using center of gravity sensor
The heart, and by the center of gravity of gravity adjusting device regulation robot, keep stabilization of the crusing robot on power transmission line；S4：It will adopt
The image that opens ice of collection, ground control centre is sent to by wireless communication module, and remote monitoring is carried out to opening ice, abnormal when occurring
During phenomenon, ground control centre sends control instruction to crusing robot, is adjusted.
The invention is not limited in foregoing embodiment.The present invention, which expands to, any in this manual to be disclosed
New feature or any new combination, and disclose any new method or process the step of or any new combination.
Claims (8)
- A kind of 1. power transmission line crusing robot deicing control system, it is characterised in that：Including controller, the controller connects respectively Connect motor drive module and detection module；The motor drive module includes road wheel electric-motor drive unit and turbin generator drive of opening ice Moving cell；The detection module includes ice layer thickness detection unit；The road wheel electric-motor drive unit connection walking turbin generator, Road wheel is driven to rotate；The ice breaking wheel electric-motor drive unit connects the turbin generator that opens ice, for driving the turbin generator that opens ice to rotate, band Dynamic ice breaking wheel movement.
- 2. power transmission line crusing robot deicing control system according to claim 1, it is characterised in that：The ice layer thickness Detection unit includes the ice layer thickness detection sensor being arranged on body, and the ice layer thickness detection sensor includes transmitting terminal And receiving terminal；The receiving terminal includes reception antenna and ultra-broadband signal processor；The transmitting terminal, for launching under ice face High-frequency wideband electromagnetic wave；The reception antenna, for receiving reflected signal of the electromagnetic wave in ice sheet；At the ultra-broadband signal Device is managed, for being changed, being amplified and being quantified by reception signal, calculates the thickness of ice sheet.
- 3. power transmission line crusing robot deicing control system according to claim 1, it is characterised in that：The detection module Also include center of gravity detection unit, the center of gravity detection unit includes the center of gravity sensor being arranged on body, for detecting inspection Center of gravity of the robot in opening ice, keep the stabilization of center of gravity.
- 4. power transmission line crusing robot deicing control system according to claim 1, it is characterised in that：The motor driving Module is also associated with gravity adjusting device, and the gravity adjusting device is arranged between walking mechanism, for adjusting walking mechanism The distance between.
- 5. power transmission line crusing robot deicing control system according to claim 1, it is characterised in that：The controller is also Wireless communication module is connected with, for being communicated with ground control system and data transfer.
- 6. power transmission line crusing robot deicing control system according to claim 1, it is characterised in that：The detection module Also include the monitoring unit that opens ice, the monitoring unit that opens ice includes the image collecting device being arranged on support arm, image collecting device For gathering the image that opens ice, and ground is sent to, remote monitoring opens ice on ground.
- 7. power transmission line crusing robot deicing control system according to claim 1, it is characterised in that：The detection module Also include positioning unit, including the photoelectric sensor being arranged in collective, for detecting the position of ice breaking wheel and ice sheet.
- A kind of 8. power transmission line crusing robot deicing control method, it is characterised in that：Comprise the following steps：S1：It is single by positioning The position relationship of member detection ice breaking wheel and ice sheet, adjusts the position of ice breaking wheel, is contacted with ice sheet；S2：Detect the thickness letter of ice sheet Breath is sent to controller, and controller calculates the rotating speed of ice breaking wheel according to ice layer thickness, and respectively to turbin generator and the road wheel of opening ice Motor sends driving instruction, and road wheel and ice breaking wheel rotate；S3：In opening ice, crusing robot is detected using center of gravity sensor Center of gravity, and pass through the center of gravity that gravity adjusting device adjusts robot, keep stabilization of the crusing robot on power transmission line；S4： By the image that opens ice of collection, ground control centre is sent to by wireless communication module, remote monitoring is carried out to opening ice, works as appearance During anomaly, ground control centre sends control instruction to crusing robot, is adjusted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711041005.9A CN107742870A (en) | 2017-10-31 | 2017-10-31 | A kind of power transmission line crusing robot deicing control system and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711041005.9A CN107742870A (en) | 2017-10-31 | 2017-10-31 | A kind of power transmission line crusing robot deicing control system and its control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107742870A true CN107742870A (en) | 2018-02-27 |
Family
ID=61232975
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711041005.9A Withdrawn CN107742870A (en) | 2017-10-31 | 2017-10-31 | A kind of power transmission line crusing robot deicing control system and its control method |
Country Status (1)
| Country | Link |
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| CN (1) | CN107742870A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108460953A (en) * | 2018-04-07 | 2018-08-28 | 中南林业科技大学 | A kind of monitoring of freezing disaster and early-warning and predicting system |
| CN108460954A (en) * | 2018-04-07 | 2018-08-28 | 中南林业科技大学 | A kind of monitoring of freezing disaster and early alarming and forecasting method |
| CN109586231A (en) * | 2018-10-25 | 2019-04-05 | 国网浙江省电力有限公司衢州供电公司 | A kind of electric power cable machine for cleaning snow cover and control system |
| CN110174562A (en) * | 2019-04-24 | 2019-08-27 | 长沙学院 | A kind of power quality detection system |
| CN110299691A (en) * | 2018-03-22 | 2019-10-01 | 广西大学 | A kind of electromagnetic wave deicer |
| CN110861063A (en) * | 2019-11-11 | 2020-03-06 | 陈超鹏 | Ice crack detection robot |
| CN112092836A (en) * | 2020-10-16 | 2020-12-18 | 成都聚合智创科技有限公司 | A single-track robot walking device and walking method |
| CN114180039A (en) * | 2021-12-07 | 2022-03-15 | 中国人民解放军总参谋部第六十研究所 | A system and method for adjusting the center of gravity of a transport unmanned helicopter |
-
2017
- 2017-10-31 CN CN201711041005.9A patent/CN107742870A/en not_active Withdrawn
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110299691A (en) * | 2018-03-22 | 2019-10-01 | 广西大学 | A kind of electromagnetic wave deicer |
| CN108460953A (en) * | 2018-04-07 | 2018-08-28 | 中南林业科技大学 | A kind of monitoring of freezing disaster and early-warning and predicting system |
| CN108460954A (en) * | 2018-04-07 | 2018-08-28 | 中南林业科技大学 | A kind of monitoring of freezing disaster and early alarming and forecasting method |
| CN108460954B (en) * | 2018-04-07 | 2020-10-02 | 中南林业科技大学 | Freezing disaster monitoring, early warning and forecasting method |
| CN108460953B (en) * | 2018-04-07 | 2020-10-30 | 中南林业科技大学 | Freezing disaster monitoring and early warning and forecasting system |
| CN109586231A (en) * | 2018-10-25 | 2019-04-05 | 国网浙江省电力有限公司衢州供电公司 | A kind of electric power cable machine for cleaning snow cover and control system |
| CN110174562A (en) * | 2019-04-24 | 2019-08-27 | 长沙学院 | A kind of power quality detection system |
| CN110861063A (en) * | 2019-11-11 | 2020-03-06 | 陈超鹏 | Ice crack detection robot |
| CN112092836A (en) * | 2020-10-16 | 2020-12-18 | 成都聚合智创科技有限公司 | A single-track robot walking device and walking method |
| CN114180039A (en) * | 2021-12-07 | 2022-03-15 | 中国人民解放军总参谋部第六十研究所 | A system and method for adjusting the center of gravity of a transport unmanned helicopter |
| CN114180039B (en) * | 2021-12-07 | 2024-01-09 | 中国人民解放军总参谋部第六十研究所 | Gravity center adjusting system and method for unmanned helicopter for transportation |
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Application publication date: 20180227 |