Line inspection robot and system

0001This application claims the priority of provisional application 61 / 303,047 filed on February 10, 2010.

0002The present invention generally relates to line inspection systems, and more particularly to overhead transmission line inspection robots and systems for inspecting the components of transmission lines and the condition of laying sites.

0003Fictitious transmission lines are the most widely distributed assets in the power industry, extending thousands of miles and often remote. Increasing reliability requirements, aged components, legality inspection of laying sites and budgetary restrictions require a complete, timely and cost-effective inspection over the entire length of the transmission line. It has increased.

<p num="0004"> Therefore, there is a need for transmission line inspection robots and systems that provide automatic remote inspection and monitoring of the condition of transmission line components and laying sites.</p>

<p num="0005"> According to one aspect of the present invention, the detour system that allows the robot to pass through an object is attached to the first diverter attached to the shield wire and to the shield wire at a position separated from the first divertor. It includes a second diverter and a bridge having a first end connected to the first diverter and a second end connected to the second diverter. The first diverter detaches the robot from the shielded wire onto the bridge, the second diverter detaches the robot from the bridge onto the shielded wire, and the robot passes through the object.</p><p num="0006"> The subject matter of the present invention will be best understood with reference to the following description made in correspondence with the accompanying drawings.</p>

0007<figref num="1">FIG. 1 shows a line inspection robot according to an embodiment of the present invention.</figref><figref num="2">FIG. 2 is a perspective view of the line inspection robot of FIG.</figref><figref num="3">FIG. 3 is a side view of the line inspection robot of FIG.</figref><figref num="4">FIG. 4 is an end view of the line inspection robot of FIG.</figref><figref num="5">FIG. 5 shows the gear set of the line inspection robot of FIG.</figref><figref num="6">FIG. 6 shows the gear set of FIG. 4 that engages the wheel platform of the line inspection robot of FIG.</figref><figref num="7">FIG. 7 shows the drive system of the line inspection robot of FIG. 1 in the open position.</figref><figref num="8">FIG. 8 shows the drive system of FIG. 7 in the closed position.</figref><figref num="9">FIG. 9 shows the drive system of FIG. 7 in a limited open position.</figref><figref num="10">FIG. 10 shows the drive system of FIG.</figref><figref num="11">FIG. 11 shows the gearbox of the line inspection robot of FIG.</figref><figref num="12">FIG. 12 is a schematic functional diagram of the control system of the line inspection robot of FIG.</figref><figref num="13">FIG. 13 shows a sensor on the line inspection robot of FIG.</figref><figref num="14">FIG. 14 shows a detour system according to an embodiment of the present invention that allows the line inspection robot of FIG. 1 to pass through a structure.</figref><figref num="15">FIG. 15 shows the detour system of FIG. 14 used to pass through the points of contact.</figref><figref num="16">FIG. 16 shows the detour system of FIG. 14 using a rigid bridge.</figref><figref num="17">FIG. 17 shows the detour system of FIG. 14 with a central diverter to support the bridge.</figref><figref num="18">FIG. 18 shows the divertor of the detour system of FIG.</figref><figref num="19">FIG. 19 is a side view of the divertor of FIG.</figref><figref num="20">FIG. 20 is a perspective view of the central divertor of FIG.</figref><figref num="21">FIG. 21 shows a divertor of FIG. 20 with different onboard systems.</figref><figref num="22">FIG. 22 shows a divertor for the use of a detour system.</figref><figref num="23">FIG. 23 shows the drive system of FIG. 7 that engages the divertor.</figref><figref num="24">FIG. 24 shows the drive system of FIG. 23 that engages the divertor.</figref><figref num="25">FIG. 25 shows a sensor system according to an embodiment of the present invention.</figref>

0008With reference to the drawings, exemplary inspection robots for inspection of overhead power transmission lines according to embodiments of the present invention are described in FIGS. 1 and 2 and are commonly referred to by reference numeral 10. Robot 10 is designed (configured) to traverse (move) an overhead transmission line so that the utility collects high fidelity information that can be acted upon immediately. Robot 10 uses a variety of inspection techniques to move over shielded wires 11 to identify high-risk vegetation, laying site intrusions, and component conditions.

0009Robot 10 uses a rechargeable battery to provide power for operation, communication, inspection sensors and processing. It should be acknowledged that various power sources can be used to charge the battery. It should be further acknowledged that more than one power source can be used at the same time to form a hybrid system. The following power acquisition solutions can be used. 1. Solar panels 18 placed on the robot 10 to get solar energy to charge the battery. The solar panel 18 is sealed for protection from the natural environment and is mounted on the top of the robot 10 for optical collection of solar energy. Panel 18 is also tilted to help rain and gravity wash away the sediment. 2. Multiple charging stations located on structures distributed along the transmission line can be used to charge the battery of the robot 10. Charging stations are numbered using technologies such as electric field, magnetic field, solar, wind, temperature difference, and vibration so that energy from the charging station is transmitted to the robot 10's battery when the robot 10 docks. Charge the battery slowly over a week. 3. Robot 10 can also be charged using the E-field (electric field). In this case, a "plate" is located under the robot that is capacitively coupled to the E-field from the voltage-applied phase to continuously charge the battery. 4. Robot 10 can be charged using a magnetic field. When shielded wire is installed in a structure, imbalances in the phase current cause current to flow in the wire. Power from the current is collected using an inductor or current transformer and sent to the battery for charging. 5. If the shielded wire is insulated (on one or both sides), the robot 10 moves to the structure with the shielded wire insulator and bridges the gap to the structure with impedance or a complete short circuit. This will cause current to flow. Currents and voltages are generated and used to charge the battery. The robot 10 then advances on its inspection mission until the robot 10's battery needs to be recharged, at which point the robot 10 moves to the next available structure to recharge itself.

0010As shown in FIGS. 2 and 3, the robot 10 includes a pair of trucks 12 and 13 interconnected to a platform (pedestal) 14. Tracks 12 and 13 have a drive system 15A and a drive system 15A having wheels 16A, 16B, 16C and wheels 17A, 17B and 17C, respectively, to clamp the shielded wire 11 and allow the robot 10 to traverse the shielded wire 11. Including 15B. The tracks 12 and 13 are connected to the support 19 of the platform 14 by rotating arms 20 and 21. Platform 14 further includes a basket 22 attached to support 19. The basket 22 accommodates all electrical hardware and provides a storage space for tools and the like. As shown, the basket 22 is mounted on top of the support 19. However, it should be acknowledged that the basket 22 can also be attached to the bottom of the support 19 (Figure 1).

0011As shown in FIG. 4, the rotating arms 20 and 21 (only the rotating arms 20 are shown in FIG. 4) are used to attach the brackets 23 and 24 and the rotating arms 20 and 21 to both sides of the support 19. Includes spindles 26 and 27 with mounting systems 28 and 29. For brevity, only the rotating arm 20 will be described in detail (the rotating arm 21 is the same as the rotating arm 20). As shown, the bracket 23 is rotatably connected to the track 12 to rotate or move the platform 14 relative to the track 12. The spindle 26 is then rotatably connected to the bracket 23 at its first end, allowing the platform 14 to integrate with the bracket 23. This allows platform 14 and tracks 12 and 13 to have freedom of movement with respect to each other, which allows the robot 10 to move around a corner or move up and down. Make it possible.

0012The mounting system 28 is mounted at the second end of the spindle 26 so that the spindle 26 is mounted on the support 19. The mounting system 28 includes a pair of bushings 30 and 31 mounted on the support 32 and fasteners 33 and 34 extending through it for connection to the support 19. As shown, the support 19 is located above the bushings 30 and 31, and fasteners 33 and 34 extend through holes in the support 19 to secure the support 19 to the spindle 26.

0013As shown in FIGS. 5 and 6, wheels 16A and 17A receive a shielded wire between the opposing wheels (eg 16A, 16B and 16C) and the closed position in order to move between the open positions (Figure 7). (Fig. 8) and attached to wheel platforms 37A and 37B, respectively, to secure shielded wires between opposing wheels. For purposes of explanation, only Platform 37A will be described. The wheel platform 37A is operably connected to a pair of rails 38 and 39, allowing the platform 37A to slide over it. Rack-and-pinion gear sets 40 and 41 move platform 37A between open and closed positions to rotate racks 42 and 43, pinions 44 and 45, and pinions 44 and 45. Includes motors 47 and 48 to rotate, thereby moving platform 37A. Platform 37A is also limited to the maximum opening (Figure 9) to prevent the wheel from releasing the shielded wire. This is done by engaging the gear lock 50 (FIG. 10) to prevent the platform 37A from opening beyond the maximum permissible opening.

0014As shown in FIG. 10, each of the drive systems 15A and 15B includes a motor and a gearbox for driving the wheels 16B and 16C and 17B and 17C. For brevity, only the drive system 15A will be described. As shown, the drive system 15A includes a pair of motors 51 and 52 operably connected to wheels 16B and 16C. The motors 51 and 52 drive the wheels 16B and 16C to propel the robot 10 along the shielded wire 11. The two speed gearboxes 54 are also used to assist the motors 51 and 52 in driving the wheels 16B and 16C. The gearbox 54 includes a first gear setting for propelling low speed / high torque and a second gear setting for propelling high speed / low torque. The first gear setting is used to pass through tilts, obstacles, or divertors (discussed below). The second gear setting is used to provide fast inspection when needed. The wheel lock or parking brake 53 is provided to lock (fix) the wheels 16B and 16C in place on the shielded wire 11 if strong winds, ice and snow or inclines interfere with the normal movement of the robot 10. The robot 10 can lock down (fix) itself to prevent damage.

0015As shown in FIGS. 12 and 13, the robot 10 is controlled by a control system 60 having a central processor 61 and a microcontroller 62. Processor 61 and microcontroller 62 fuse data from multiple sensors (discussed below) to improve measurement reliability and reach conclusions unreachable with a single sensor. Processor 61 establishes warning criteria for situations that require timely communication with the user. Warnings are based on real-time sensor values and logical states. Warnings (alarms) are forwarded to a central web server over a wireless communication channel (discussed below).

0016The central processor 61 intelligently processes and utilizes its resources to collect transmission line system inspection data as important as internal maintenance (health) data. Processor 61 tests the status of all sub (subordinate) systems such as batteries, solar panels, drive motors, sensors and communications. Subsystem anomalies or dysfunctions are categorized by critical levels ranging from "malfunction" to "emergency outage". The system maintenance code is saved in the system file for maintenance diagnosis. The processor 61 monitors the charge status of the battery, the charge current status of the solar cell, and the load power status of the computer and the sensor. Based on this information, the processor manages power to ensure that the robot 10 operates in a safe and reliable manner. In addition, the processor 61 and the microcontroller 62 communicate wirelessly to allow the user to instruct the robot to go to a specific location, take a picture, or perform other desired function. Allows manual real-time control of built-in sensors on the channel.

0017The control system 60 further includes a plurality of sensors, cameras and communication devices. Each will be described below. Control system 60 includes multiple high resolution cameras (63 forward, 64 backward and 66 downward) for inspection of laying sites, conductors, insulators, and towers. The camera includes automatic exposure control and automatic focus. Light sources 67 and 68 are also provided for the forward facing camera 63 and the rear facing camera 64. Multiple single focus cameras (70 forward and 71 backward) are also provided for navigation clearance. Light sources 67 and 68 can also be used for cameras 70 and 71. The downward camera 66 provides inspection of the laying site and phased conductor inspection. Infrared downward camera 72 can also be used.

0018One or more cameras 63, 64, 66, 70 and 71 can also be used to see shielded wires traversing as well as divertors (discussed below). Images from the camera can be used by a remote operator to evaluate mobility matters. Cameras can be used to evaluate shielded wires, or use image recognition to automatically identify insurmountable movement disorders. Images may be transmitted to the operator if the identified movement obstacles are present. Image processing for images provided by cameras 63, 64, 66, 70 and 71 identifies selected areas or objects in the image, determines the size of the object or element, and is stored. It can also be used to recognize changes from reference data.

0019A laser rangefinder 73 is provided to scan the laying site and transmission line components under the robot 10. The rangefinder 73 records the height shape of the objects in the line over the laying site and builds a continuous acrosstrack line as the robot 10 moves forward. The control system 60 analyzes the data of the rangefinder 73 to identify features in the shape of the laying site that have changed from the reference database. The control system 60 also analyzes the data in the rangefinder 73 to identify the range of the conductor and determine the height of the conductor from the ground. This allows the system 60 to determine the slack in the conductor.

0020The acoustic sensor 74 receives an acoustic signal that can be digitally recorded continuously or periodically. Records with a time stamp are transferred to a central server for correlation with anomalous events. Built-in acoustic signal processing can be used to identify problematic conditions (bird activity, corona, arc discharge, drive train wear or damage detection, etc.). By using the multiplex microphone, the acoustic sensor 74 can also be used to obtain the direction in which the acoustic signal is present.

0021Multiple other sensors and devices are also included within the control system 60 to provide accurate and up-to-date information to the utility. For example, weather sensors 76 to 78 for measuring outside air temperature, relative humidity and wind speed, internal robot temperature sensor 79 for measuring the temperature inside the robot 10, and DC for determining when lightning is likely to occur. A charge sensor 80, a 3-D accelerometer 81 for measuring the tilt or vertical gradient of the robot 10 and the shield wire 11 and identifying any major vibration type of the shield wire 11, and radio frequency interference for the robot 10. A radio frequency jamming sensor 82 to provide a detectable wide area radio frequency detector and a wireless sensor to read data from distributed sensors located along conductors, insulators, towers or other transmission line elements. A reader 83, a global positioning sensor (GPS) 84 to identify the position and speed of the robot 10, a proximity sensor 86, and a tower contactor 87 that allows the battery to be charged at a local docking station. And a communication system 90 having a non-volatile memory 88 managed by a memory manager 89 to store data such as map data, inspection data, warning data, maintenance data, etc., and a local wireless modem 91 and a satellite wireless modem 92. And exists.

0022The communication system 90 transmits important information to the system operator and provides control options via either the local wireless modem 91 or the satellite wireless modem 92. The robot 10 is designed to move autonomously along a programmed path and wirelessly transmit data about the line and the state of the robot 10 to the system operator. Robot 10 collects data, processes onboard data, and transmits only important results to the operator. Upon requesting Robot 10, the operator can download more detailed data. The robot 10 also gives a remote operator commands to the robot 10 to move to a specific place or position, take specific actions such as forward and backward, and acquire a specific image. to enable. The local wireless modem 91 also allows local wireless communication, allowing users within a short distance of the robot 10 to control key functions, request robot status, initialize deployment, from wireless devices such as mobile phones. And it makes it possible to download the sensor data. The position and speed of the robot is determined using the built-in GPS system 84.

0023Under normal circumstances, the robot 10 traverses the shielded wire 11 at a speed that saves power while performing a very detailed evaluation. The purpose is to provide inspections that go beyond the inspections of hovering helicopters, or at least equivalent inspections. If a problem is detected on the overhead power transmission line, the operator accelerates the robot 10 and sends the robot to detect the problem for inspection. Furthermore, if the wind speed sensor of the robot 10 determines that the wind speed is very strong, or if the internal temperature sensor determines that the internal temperature of the robot 10 is very high, the robot 10 stops itself to prevent damage. Let me. As shown, the microcontroller 62 uses the data collected from the sensors and devices of the control system 60 to control the motor and brake actuation device of the robot 10.

0024As shown in FIGS. 14-17, a detour (branch) system according to an embodiment of the present invention is generally indicated by reference numeral 100. As shown, the robot 10 moves along shielded wire 11 to allow easy passage of structure 96, easy maintenance, and mitigation of the effects of electromagnetic fields. The detour system 100 is incorporated into the shielded wire 11 and allows the robot to pass through a structure 96 located on the shielded wire 11 or a structure supporting the shielded wire 11 such as a tower. The detour system 100 includes a bridge 101 interconnected to the shielded wire 11 by a pair of divertors 102 and 103, the pair of divertors 102 and 103 located at both ends of the bridge 101, and the robot 10 having the shielded wire 11 Allows it to disengage from and engage with bridge 101 and re-engage with shielded wire 11. As shown in FIGS. 14-17, the detour system 100 passes through objects in the line (Fig. 14), through contact points such as T-junctions in the line (Fig. 15), corner pillars or It can be used to pass through other structures (FIGS. 16 and 17) and to pass through other types of objects. In addition, the drive system 100 is shown in FIG. 16 which is a flexible bridge (ie, cable, etc.) as shown in FIGS. 14, 15 and 17, or which can be molded to provide the desired path. It can include rigid bridges (rods, tubes, etc.) such as those that exist. As described, the divertor 105 is also used to provide support for the bridge 101 when using the bypass system 100 in the configuration shown in FIG. Various types of divertors are described below.

0025The divertors 102 and 103 are identical and therefore only the divertor 102 will be described in detail for purposes of explanation. As described in FIGS. 18 and 19, the divertor 102 is attached to the shielded wire 11 and bypasses the first transfer section 110 for transferring the robot from the shielded wire 11 to the divertor 102 and the wheel of the robot 10. A crossover with a predetermined transfer radial shape (arc) that diverts over 100 and allows the bridge 101 to be located below the shielded wire at an appropriate distance that allows the robot 10 to pass through the object. It includes a (transfer) section 111 (FIG. 19), a divertor limiter 112 for holding the divertor 102 in place, and a second transfer section 113 for moving the robot 10 onto the bridge 101. The divertor 102 may be a single component structure or a plurality of bolted components, allowing easy installation on shielded wire 11.

0026As shown, the first and second transfer sections 110 and 113 crossover sections 111 from a closed position around wheels 16A-16C of drive system 15A and wheels 17A-17C of drive system 15B. Move to an open position that fits (matches) the width of (1st transfer section 110), and from an open position that fits (matches) the width of crossover section 111 (2nd transfer section 113), bridge 1010. Return to the closed position around. The divertor 103 operates in the opposite direction.

0027The sides 114 and 115 of the divertor 102 are formed to fit (fit) into the grooves of the wheels 16A-16C and 17A-17C, and the wheels 16A-16C and 17A-17C prevent close slippage to the divertor 102. Have a connection.

0028Like the divertor 102, the divertor 105 (FIG. 20) includes first and second transfer sections 120 and 122 as well as a crossover section 121. The divertor 105 operates in the same manner as the divertor 102, except that the crossover section 121 does not have a predetermined radial shape, allowing the bridge 101 to be placed under the shielded wire. In this example, as shown in FIG. 17, the divertor 105 is designed to provide support to the bridge 101 and coexist on the same line as the bridge 101. The divertor 105 also includes a mount 123 for mounting the support structure 124 (Figure 17). The mount 123 may have a single bracket for mounting on a support such as the support 124, a double bracket for mounting the support 125 as shown in FIG. 21, or any other suitable configuration. .. This configuration allows the support to support the bridge 101 in any desired path.

0029As shown in FIG. 22, another divertor according to the embodiment is indicated by reference number 130. Like the divertor 102, the divertor 130 includes first and second transfer sections 131 and 133, a cross section 132 having a predetermined transfer radial shape, and a diverter limiting section 134. Unlike the divertor 102, the second transfer section 133 of the divertor 130 has a parallel branch structure, allowing the divertor 130 to be connected to the rigid parallel branch bridge 136.

0030For brevity, the process is described below with reference to the divertor 102 and drive system 15A. It should be acknowledged that the process described in drive system 15A also applies to drive system 15B. As shown in FIGS. 23 and 24, as the robot 10 approaches the detour system 100, the drive system 15A disengages the shielded wire 11 and engages the first transfer section 110 of the divertor 102, engaging the crossover section 111. Move over to bridge 101. Sensors 140 to 143 notify the robot 10 when wheels 16A to 16C are engaged and disengaged from the divertor 102. When the robot 10 passes through the structure 96, the drive system 15A disengages the diverter 103 and reengages with the shielded wire 11. This approach reduces the complexity of Robot 10 and allows Robot 10 to easily pass through Structure 96. It also reduces power requirements and improves reliability without requiring complex control systems.

0031As shown in FIG. 25, sensor systems according to embodiments of the present invention are commonly referred to by reference numeral 200. The system 200 includes a plurality of strategically placed sensors (eg, RF sensors) 230 located along the transmission line.

0032System 200 is capable of monitoring and inspecting overhead power transmission lines for continuous evaluation of components such as insulators, conductors, and compression connectors. For example, the sensor 230 is deployed in areas of significant environmental stress or where certain components are provided. The deployed sensor 230 continuously collects data, thereby generating a histogram and determining the maximum value. Historical results and current measurements can be transferred to Robot 10 when (Robot 10) is in close proximity to Sensor 230 for analysis. Alternatively, the sensor 230 can be used in conjunction with ground crews, helicopters, and other inspection means capable of receiving data from the sensor 230. It should also be acknowledged that a local base station can be installed to continuously monitor and collect data from sensor 230.

0033System 200 allows distant staff to obtain detailed and up-to-date knowledge of the condition of transmission line elements and laying sites, thereby increasing reliability while reducing operational and maintenance costs.

0034Line inspection robots and systems have been described above. Although a particular embodiment of the invention has been described, it will be apparent to those skilled in the art that various modifications can be made to it without departing from the technical scope of the invention. There will be. That is, the above description of preferred embodiments of the present invention and optimal embodiments for carrying out the present invention is provided solely for illustration purposes, not for limited purposes.