The invention discloses a power transmission line inspection robot based on integrated navigation and a line inspection method thereof. The inspection robot comprises a propeller, a frame, and a driving device, a hanging and separating device, a camera and a GPS mobile receiving station which are connected to the frame, and the body of the propeller is connected with the driving device. GPS navigation and visual navigation are combined to navigate the robot. The driving device changes the helix direction to provide ascending power and advancing power for the robot, and the ascending power enables the robot to fly to a parallel position below a ground wire of a power transmission line. The GPS mobile receiving station and the camera are matched to achieve accurate positioning of the robot,and the hanging and separating device enables the robot to be hung on the ground wire or enables the robot to be separated from the ground wire to cross obstacles. After the robot is hung on the ground wire, the direction of the propeller is changed through the driving device, so that the propeller provides advancing power for the robot to enable the robot to walk along the ground wire. The robotcan ascend, descend, be hung on or separated from the ground wire, walk along the ground wire and cross obstacles automatically, and no manual operation exists in the whole line inspection process.

    本发明公开了一种基于综合导航的输电线路巡视机器人及其巡线方法,巡视机器人包括螺旋桨、机架及连接于其上的驱动装置、上下线装置、摄像头、GPS移动接收站,螺旋桨的本体与驱动装置连接。GPS导航加视觉导航对机器人进行导航,驱动装置改变螺旋的方位给机器人提供上升动力和前进动力,上升动力使机器人飞行至输电线路地线的下方平行位置,GPS移动接收站和摄像头配合实现机器人的精确定位,上下线装置将机器人挂于地线上或者使机器人脱离地线越障。机器人挂于地线上后,通过驱动装置改变螺旋桨的方位,使螺旋桨给机器人提动前进动力沿地线行走。机器人的上升下降及上下地线、沿地线行走及越障都可自动实现,整个巡线过程无人工操作。


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    Title :

    Power transmission line inspection robot based on integrated navigation and line inspection method thereof


    Additional title:

    一种基于综合导航的输电线路巡视机器人及其巡线方法


    Contributors:
    OU YUEXIONG (author) / LI HUI (author) / ZOU DEHUA (author) / KUANG JIANGHUA (author) / PENG SHASHA (author) / LUO HAO (author) / CHEN ZHENYU (author) / QIAO LEI (author) / WAN FULI (author) / LI SIJIN (author)

    Publication date :

    2020-07-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    H02G INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES , Verlegen oder Installieren elektrischer Kabel oder Leitungen, Verlegen oder Installieren kombinierter optischer und elektrischer Kabel oder Leitungen / B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT



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