12742results about "Apparatus for overhead lines/cables" patented technology

An unmanned aerial vehicle and associated methods for inspecting infrastructure assets includes a multirotor, electrically driven helicopter apparatus and power supply; a flight computer; positioning and collision avoidance equipment; and at least one sensor such as a camera. The flight computer is programmed for automated travel to and inspection of selected waypoints, at which condition data is collected for further analysis. The method also includes protocols for segmenting the flight path to accomplish sequential inspection of a linear asset such as a power line using limited-range equipment.

A method of communicating utility usage data is provided. In one embodiment, the method comprises transmitting real-time utility usage data from a plurality of utility meters, receiving the real-time utility usage data from the plurality of utility meters, storing the real-time utility usage data in a memory, storing address information of the plurality of utility meters in memory, receiving requests from a plurality of utility users for real-time utility usage information and wherein the requests traverse a communication path that includes the Internet, processing the utility usage data of the utility users to provide the real-time utility usage information for each utility user, and transmitting the real-time utility usage information to the utility users over a communication path that includes the Internet.

A method for using an unmanned aerial vehicle to install objects on wire and catenary structures is described. The method includes tagging the location, attaching the object to the UAV, navigating the UAV to the position, attaching the object, testing the attachment, releasing the object, inspecting the attachment, and returning the UAV to the ground. Sensors, flight control systems, means for attachment, and variations of embodiments of the methods, systems, and mechanical devices are described.

The invention discloses a high-tension transmission line inspection robot based on a multi-rotor aircraft, which comprises a four-rotor aircraft and an inspection system, wherein a double-power module supplies power to the four-rotor aircraft and the inspection system; the four-rotor aircraft comprises a robot body, four rotors, four rotor motors and four rotor motor drivers, the rotors, the rotor motors and the rotor motor drivers are matched, the four rotors are fixedly arranged on respective rotor motors, and the four drivers are respectively connected with respective rotor motors 3; and the inspection system performs shooting and data transmission on high-tension transmission lines. The robot disclosed by the invention performs air flight inspection based on four rotors, and is high in air flight stability and good in inspection speed. Through wireless camera shooting control, a visible light camera can be moved to a position near a suspected fault point so as to realize the emphasized detection of suspected fault points of the high-tension transmission lines.

The invention discloses a power transmission line polling system. The system comprises a personal computer (PC) side control terminal, a server and a handheld personal digital assistant (PDA), wherein the PC side control terminal, namely a PC side management system, performs polling task management, polling condition management, defect management, defect standard management and geographic information system (GIS) geographic information management; the server receives and transmits information and stores data in real time, comprises an enterprise database and a Socket detectaphone which is used for detecting wireless data in real time, and is called a server Socket data receiving and transmitting system for short; and the handheld PDA performs field polling, is a mobile terminal which feeds back polling information through general packet radio service (GPRS), and is called a PDA mobile terminal polling system for short. The advanced technologies of a global positioning system (GPS) and a palm computer are fused in the system, and power transmission line polling is realized by using a component GIS technology and introducing the concept of embedded GIS; the system performs relatively precise positioning and complete defect data acquisition, can be used for a line polling step in a power system which is used for power transmission, power distribution and the like, and also can be widely applied to the management of the outdoor entities of telecommunication, coal gas, natural gas and the like which are related to the polling; and the operating cost is effectively lowered, and the economic benefit is effectively improved.

The invention relates to a line navigation amphibious power circuit comprehensive maintenance robot and a circuit maintenance method thereof. The line navigation amphibious power circuit comprehensive maintenance robot comprises a flight subsystem, an online subsystem and an operation subsystem, wherein when the robot is in a flight operation mode, the flight subsystem is used for executing far-distance or short-distance cruising of the power circuit; when the robot is in an online operation mode, the online subsystem is used for realizing the moving of the robot on the power circuit; and when the robot is in the online operation mode, the operation subsystem is used for maintaining the power circuit. According to the scheme, high stability, easy operability and controllability and flexibility of a multi-rotor unmanned aerial vehicle technique are utilized, and the specificity and intelligence of online robot technique are also utilized; and by organic combination of the two techniques, the limitation of each technique is overcome, and the superiority of the two techniques in comprehensive maintenance of strong and smart grid is exerted to a maximum extent.

The invention discloses a centralized monitoring system for power transmission line routing inspection of unmanned aerial vehicles. The centralized monitoring system comprises a centralized monitoring subsystem, mobile substations and unmanned aerial vehicle flying platforms. The centralized monitoring subsystem and the mobile substations are connected in a one-to-more mode, and the mobile substations and the unmanned aerial vehicle flying platforms are connected in a one-to-one mode. By adopting a mode that remote centralized monitoring and local monitoring are combined, information including flying states, pod states, power transmission lines and routing inspection results of more than one line patrol unmanned aerial vehicles are subjected to centralized monitoring, persons, devices and routing inspection lines related to unmanned aerial vehicle routing inspection tasks are planned and managed, centralized management and defect diagnosis are performed on the routing inspection results, the informatization and automation degree of the unmanned aerial vehicle routing inspection process and routing inspection result processing are improved, the routing inspection efficiency of the unmanned aerial vehicles is improved, and a technical support is provided for safe and reliable running of routing inspection line routing inspection.

A wildlife guard for electrical power distribution equipment has two hingedly mounted sections which close together to form a protective cover at the top of an insulator bushing on electrical equipment. The wildlife guard is adapted by its structure to fit a range of bushing sizes and yet provide structural integrity and reliable protection once in place. The wildlife guard also accommodates passage of conductive members such as electrical conductors and sparkgap bars through the cover at locations governed by actual field conditions. The wildlife guard has a cover locking mechanism allowing its easy removal when desired.

The invention relates to a power transmission tower climbing robot and a power transmission tower routing inspection mode thereof and belongs to the technical field of robots. The robot is formed by a telescopic module, a clamping module and traction modules. The clamping module is divided into an upper clamping module and a lower clamping module, the upper clamping module and the lower clamping module are connected through the telescopic module, and the traction modules are installed on the two sides of the upper clamping module. According to the power transmission tower routing inspection mode of the power transmission tower climbing robot, robots with the corresponding number are installed on corresponding tower piece main materials of a power transmission tower according to routing inspection power transmission tower pieces, the robots of the tower pieces are connected to the corresponding traction modules through traction ropes with detection and maintenance devices, the clamping module and the telescopic module are in linkage to complete climbing and barrier crossing, and thus the detection and maintenance working of the power transmission tower is achieved.

FIG. 1 shows airframe 10 with electromagnetic field sensor 12, adjustable reference electromagnetic field strength 14, comparator 16, parachute 18, parachute trigger 19, and inspection camera 20 inspecting a transmission line corridor containing towers 40, 42, and 44, phase conductors 46, 48, and 50, and shield wires 52 and 54. Reference electromagnetic field strength 14 is adjusted before the flight to set the minimum electromagnetic field strength before parachute trigger 19 deploys parachute 18. The reference electromagnetic field strength 14 corresponds to a radius, and thus virtual tunnel 22, outside of which airframe 10 cannot fly without deploying parachute 18, regardless of the state of the autopilot, GPS signal, or radio link.

The high-voltage hot-line work robot equipment includes moving vehicle, lifting mechanism, insulated support platform, working mechanical arm, hydralic mechanical hand, isolated transformer, power generator, hydraulic pump and control box. The lifting mechanism, power generator and hydraulic pump are mounted on the chassis of vehicle, the insulated support platform is coupled with tail end of lifting mechansm, the working mechanical arm, isolated transformer and low-voltage control box are mounted on the insulated support platform. The working mechanical arm is driven by motor, the mechanicalhead is driven by hydraulic system, and computer can utilize low-voltage control device to control working mechanical arm, mechanical hand and its holding tool to implement various high-voltage hot-lint works.

A driving wheel of a robot moving along a wire includes an inner wheel in which a rotation axis being driven to rotate by a motor is fitted, an outer wheel formed to surround the inner wheel and seated on the wire, and a shock absorbing support to elastically connect and support the inner wheel and the outer wheel between the inner wheel and the outer wheel, and a shock being transmitted is absorbed by allowing a relative movement of the inner wheel and the outer wheel by the elastic movement of the shock absorbing support. A robot moving includes a robot body, the driving wheel, a motor to drive the driving wheel by rotating the rotation axis, a connecting arm to connect and support the driving wheel and the robot body.

Pulling grip housing assemblies for a fiber optic assembly are disclosed. In one embodiment, the pulling grip assembly is comprised of a pulling grip housing for receiving part of a fiber optic assembly. A pulling grip sleeve is also provided. The pulling grip sleeve has at least one sleeve locking feature suitable for cooperating with a housing locking feature of the pulling grip housing to secure the pulling grip housing to the pulling grip sleeve. In this manner, the pulling grip housing can easily be secured to the pulling grip sleeve and removed when pulling of a fiber optic assembly is completed. The pulling grip housing and pulling grip sleeve can also be reused for pulling other fiber optic assemblies.

The invention discloses a method for detecting the safe power-line-cruising distance of a UAV (unmanned aerial vehicle), which comprises the following steps of: (1) carrying out analysis according to the characteristics of electromagnetic fields of to-be-detected high-tension transmission lines in different voltage levels, and establishing corresponding electromagnetic-field simulation calculation models; (2) determining the maximum errors of electronic devices (which are susceptible to electromagnetic interference) carried by the power-line-cruising UAV and measuring devices used in the process of route planning making before routing inspection; (3) according to the requirements of the determined electronic devices on electromagnetic fields in the process of normal operating, by using the electromagnetic-field simulation calculation models of the high-tension transmission lines in different voltage levels and electromagnetic-field simulation calculation software, calculating the similarities and differences of an electromagnetic environment when the UAV has different distances away from a transmission conductor in the process of carrying out line-cruising operation on each high-tension transmission line, thereby determining the range of the safe distance between the UAV and the transmission conductor; and (4) carrying out line-cruising by the UAV according to the determined safe distance of each to-be-detected transmission line, thereby avoiding the situations that the devices run disorderly, the flight communication is interfered, a flight mission is failed, and the like caused by the electromagnetic field of the transmission conductor, and then ensuring the safety, stability and reliability of a flight.

The invention discloses a fast image recognition method of an insulator contour, comprising the following steps: (1) transforming a taken color image to a gray image through brightness calculation and extracting the edge contour of the image, and obtaining the shape of a known region after the extraction; (2) carrying out ellipse fitting on the edge contour of the known region, utilizing hough transform to detect a boundary curve and obtain each parameter of a prolate axis, a minor axis and a central point of an ellipse; (3) carrying out threshold processing on contour area, and setting a proper area threshold according to the contour area; (4) carrying out linear fitting on the center of the ellipse, and fitting a line through a two-dimensional point set by seeking sumi rho(ri); and (5) demarcating and outputting insulator pixels. The invention aims at specific requirements of patrol and examination of a helicopter or a robot to an electric transmission line, realizes real-time and precise extraction of the insulator, provides solid foundation for realizing close shot and part defect diagnosis of a follow-up camera, and has favorable theory and application prospect.

The invention discloses a multi-rotor aircraft for patrolling a power line; the multi-rotor aircraft can fly and is mounted on a power line so as to be used for patrolling the power line. The multi-rotor aircraft is provided with a mounted pulley, a mounting guide plate and a mounting bracket, wherein the mounted pulley is in contact with the power line, so that the multi-rotor aircraft is mounted on the power line; the mounted guide plate is used for guiding the multi-rotor aircraft to move towards the power line so as to complete mounting when the multi-rotor aircraft is to be mounted on the power line; the mounted bracket is used for supporting the mounted pulley and the mounting guide plate. The multi-rotor aircraft for patrolling the power line can be used for safely and reliably patrolling the power line within a large patrolling range with high accuracy.

The invention discloses an automatic photography control device for a power line inspection unmanned aerial vehicle, and a control method thereof. The automatic photography control device is fixed on metal structure at the front end of an unmanned aerial vehicle body and located above a detection head. The automatic photography control device mainly comprises a control circuit and a battery. The control circuit and the battery are disposed in a box. The control circuit comprises a single-chip microcomputer, a servo steering engine, a wireless receiver, an LCD (liquid crystal display), keys, a camera photography control module, a power management module, and a battery. The single-chip microcomputer is respectively connected with the servo steering engine, the wireless receiver, the LCD, the keys, the camera photography control module, the power management module and the battery. The battery is further connected with the power management module. The automatic photography control device is obtained according to experiments and practical needs in power line inspection with the unmanned aerial vehicle, and allows the unmanned aerial vehicle to take photos efficiently, quickly and simply during power line section.

The invention provides a power transmission line intelligent inspection system based on LiDAR and further provides a power transmission line intelligent inspection method based on LiDAR. The power transmission line intelligent inspection system comprises a three-dimensional quantifying information acquiring unit, a three-dimensional rebuilding unit and an intelligent inspection analysis unit. The three-dimensional quantifying information acquiring unit is suitable for acquiring power transmission equipment actual space three-dimensional quantifying information and power transmission line peripheral environment ground feature three-dimensional quantifying information, namely, point cloud data provided by LiDAR; the three-dimensional rebuilding unit is suitable for three-dimensional rebuilding of a power transmission line body and a corridor based on power transmission equipment actual space three-dimensional quantifying distribution information and power transmission line peripheral environment ground feature actual three-dimensional quantifying information; the intelligent inspection analysis unit is suitable for carrying out safety distance detection based on three-dimensional rebuilding results, carrying out safety distance analysis according to safety distance detection results and power transmission line safety standards and pointing out power transmission lines not catering to the safety standards or giving an alarm about the power transmission lines not catering to the safety standards. By means of the power transmission line intelligent inspection system and the power transmission line intelligent inspection method, requirements for line inspection data and function digitalization, standardization and visualization are achieved.

This invention is a robot walking automatically along 110kV transmitting wire and its operational method. It is composed of the robot reality, the control device, the sensor, the detecting device and wireless image transmitting device; the control device and the wireless image transmitting device are set in the control box in the middle of the robot reality, the position sensors are equipped at the terminals of every joint, the visual sensor CCD measuring the distance of sensors and obstacle is equipped in the front of every hand, the detecting device includes high speed vidicon and the hot imaging device connected to the robot reality through the platform. It can walk stably on the 110kV transmitting wire and automatically span all kinds of obstacles on the wire, and it replaces the human to patrol the transmitting wire and reduces the working amount of patrolling, and improves the working efficiency and detecting precision to assure the safe operation of the electric wire.

The invention discloses an automatic transmission line cleaning device comprising a fixed frame, a base plate, a first control motor, a second control motor, and a drum. The fixed frame is vertically mounted on the base plate. Two layers of corresponding mounting frames are mounted on the fixed frame. The upper mounting frame is equipped with forwarding wheels. The lower mounting frame is equipped with a driving walking wheel and a driven walking wheel. The driving walking wheel is controlled by the first control motor. The inner wall of the movable drum on the fixed frame is equipped with a dust collection cylinder which is provided with a brush. A scraper near a transmission line is connected between the drum and the dust collection cylinder. The dust collection cylinder is connected with a dust collector through a communicating pipe. The drum is driven by the second control motor. The cleaning device of the invention is simple in structure and easy to control, can effectively remove ice, iron wires and entanglements on transmission lines, can quickly and effectively clean dust on transmission lines and collect the dust to achieve the purpose of pollution-free cleaning, and has a good cleaning effect.

The invention provides a three-dimensional visual processing method of an extra high voltage transmission line, which comprises the following steps: synchronously acquiring laser point cloud data and digital image data along a transmission line corridor through an airborne laser radar measurement system, and carrying out three-dimensional visual processing and professional analysis in combination of line design parameters and operating parameters after data processing and three-dimensional modeling so as to provide an efficient means for the maintenance and the management of the transmission line of an electric power enterprise. The invention further provides a three-dimensional visual processing system for the extra high voltage transmission line, which comprises a three-dimensional data generation module and a three-dimensional data visual operation module, wherein the three-dimensional data generation module is used for receiving digital image data and laser point cloud data obtained by the laser radar measurement system and generating the three-dimensional scene of the transmission line corridor; and the three-dimensional data visual operation module is used for carrying out three-dimensional visual operation on the three-dimensional data of the transmission line corridor.

The invention discloses a patrol robot system for an overhead high-voltage transmission line. The patrol robot system comprises a robot, the overhead line and a ground base station. The overhead line is supported through a cross bar. The robot comprises a robot body, a battery, a walking device, a single-chip microcomputer, a monitor device and a mobile communication device. The ground base station comprises a ground communication device and a ground monitor device. The ground base station and the robot are connected in a satellite communication mode. A robot platform is arranged on one side of the overhead line. The walking device comprises a walking mechanism and an obstacle avoidance mechanism. The walking device is connected with the single-chip microcomputer. The monitor range of the patrol robot is wider, environmental interference resistance is higher, the better obstacle avoidance mechanism is provided, a rest area is provided for the patrol robot, the service life of the patrol robot is prolonged, an automatic charging device is provided, work loads of workers are reduced, and the work of patrolling high-voltage lines and ultra-high-voltage lines can be completed excellently.

The invention relates to a robot for polling a transmission line. The robot comprises a mobile body; two body slipways capable of changing the relative distance are arranged on the mobile body; a positive and negative screw is arranged in the mobile body and comprises a positive screw section and a negative screw section, screw nuts are arranged on the two screw sections and fixedly connected with the body slipways, and one end of the positive and negative screw is provided with a first motor; one side of each body slipway is provided with a Y-shaped groove with narrow underside and wide upside, each body slipway is connected with a swing mechanism, a mechanical arm is fixedly arranged on the swing mechanism, the mechanical arm is provided with a clamping mechanism and a running mechanism in turn from the bottom to the top, a second screw controlled by a second motor is arranged in the mechanical arm, and a second locking nut is arranged outside the second screw. The robot has the advantages of simple structure, convenient operation, safety and high efficiency, has the capability of passing through a barrier on the transmission line with rolling or crawling, and has the function of adapting to variable curvature track copying motion.

The invention discloses a multi-rotary-wing intelligent inspection robot for an overhead line. The multi-rotary-wing intelligent inspection robot for the overhead line comprises an on-line walking module, a multi-rotary-wing flight system module, an autonomous line falling module, an on-line platform and a ground station receiving and processing platform. The on-line walking module comprises a walking frame, walking supporting wheels, walking driving wheels and a walking motor, and the inner end faces and the outer end faces of the walking supporting wheels are provided with inner guide rings and outer guide rings respectively. The multi-rotary-wing flight system module comprises a flight control equipment bin, rotary-wing arms, rotary wings, a flight motor, a cradle head, an inspection camera and a rise and fall support, and the upper portion of the flight control equipment bin is connected with the walking frame through a connecting supporting rod. The autonomous line falling module comprises left line falling camera, a right line falling camera and a multi-sensor module in the flight control equipment bin. The on-line platform is wirelessly connected with the ground station receiving and processing platform. The robot not only can inspect the electric transmission line above the line, but also can achieve on-line walking inspection of the electric transmission line by autonomously falling on or leaving the line, labor intensity and labor cost are greatly reduced, and inspection efficiency is improved.

The invention relates to a mobile robot, in particular to an inspection robot mechanism with lifting and clamping functions, which comprises a front arm, a front travelling wheel, a rear arm, a rear travelling wheel, a box body and a lifting and clamping mechanism, wherein the front arm and the rear arm are respectively arranged on the box body; the rotatable front travelling wheel and the rotatable rear travelling wheel are respectively installed on the front arm and the rear arm; the front travelling wheel and the rear travelling wheel are respectively driven by a front travelling motor and a rear travelling motor which are respectively installed on the front arm and the rear arm to run; the lifting and clamping mechanism for increasing the positive pressure of the front travelling wheel and the rear travelling wheel on overhead earth wires is arranged between the front arm and the rear arm in the box body; the lifting and clamping mechanism comprises a front clamping wheel, a rear clamping wheel, a group of lifting components and a plurality of groups of guide components; the front clamping wheel and the rear clamping wheel are installed on the lifting components; and the guide components are uniformly distributed at the peripheries of the lifting components. By adopting the clamping mechanism capable of lifting and clamping, the inspection robot mechanism of the invention can increase the positive pressure of the travelling wheels on the overhead earth wires, is favorable for running, climbing and obstacle surmounting, and has good security protection property, simple obstacle surmounting processes and short obstacle surmounting time.