Power transmission line on-line inspection system and method with automatic obstacle crossing function

Abstract

The invention relates to a power transmission line online inspection system and method with an automatic obstacle crossing function. The system comprises a snake-shaped wire climbing robot, a communication device and a background control device, the snakelike wire climbing robot comprises a robot body, a driver, a camera, a photoelectric distance measuring sensor, a mutual inductance power takingunit, an intelligent control unit and a power supply for supplying power to the whole snakelike wire climbing robot. The driver, the camera, the photoelectric distance measuring sensor and the mutualinductance electricity taking unit are connected with the intelligent control unit, the intelligent control unit is connected with the background control device through the communication device, and the robot body is wound in a power transmission line to be inspected in advance. Compared with the prior art, the power transmission line on-line inspection system and method can cross obstacles, and combines the robot autonomous walking and the background manual control, so that the defects of manual and unmanned aerial vehicle operation are effectively overcome, the inspection quality and inspection frequency are effectively improved, and the working efficiency is improved.

Description

technical field [0001] The invention relates to the field of inspection of transmission lines, in particular to an on-line inspection system and method for transmission lines with the function of automatically overcoming obstacles. Background technique [0002] The long-distance transmission of electric energy relies on UHV transmission lines. Due to the wide distribution of transmission lines, complex terrain, and harsh natural environment, the main body of the transmission line and its auxiliary facilities have been exposed to the wild for a long time. Due to the influence of continuous mechanical tension, electrical stress and other comprehensive factors, wires are prone to strand breakage and wear. , Corrosion, displacement of anti-vibration hammer, self-explosion of glass insulators, abnormal heating of synthetic insulators and other defects, they must be repaired or replaced in time if necessary. In addition, due to the complex and changeable environment of the transm...

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Problems solved by technology

[0008] like Figure 4 and Figure 5 As shown, the ultra-high voltage transmission line inspection robot with independent intellectual property rights developed by the Shenyang Institute of Automation, Chinese Academy of Sciences cooperated with the Jinzhou Ultra High Voltage Bureau to carry out the on-site live inspection test on April 12, 2006. The 500kV ultra-high voltage transmission line (Dongliao Second Line) successfully completed walking along the line, but there is no ability to overcome obstacles

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