CN112373257A

CN112373257A - Power transmission line surveying and mapping trolley

Info

Publication number: CN112373257A
Application number: CN202011005692.0A
Authority: CN
Inventors: 包文俊; 何旭; 丁锡文; 袁毅; 孙强; 何苹苹; 李星
Original assignee: Tongling Power Supply Co of State Grid Anhui Electric Power Co Ltd
Current assignee: Tongling Power Supply Co of State Grid Anhui Electric Power Co Ltd
Priority date: 2020-09-23
Filing date: 2020-09-23
Publication date: 2021-02-19

Abstract

The invention relates to the technical field of line survey, in particular to a power transmission line surveying and mapping trolley. Survey and drawing dolly is provided with the gasbag including the track that is used for survey and drawing dolly walking on the lateral surface of track, the inside packing of gasbag has compressed gas. On the hard ground, the air bag can provide buffer force, and the damage degree of the crawler belt to the ground is reduced; on the marsh ground, the friction force between the surveying and mapping trolley and the ground can be reduced due to the fact that the marsh ground is smooth, and the surveying and mapping trolley cannot normally run on the ground, therefore the plurality of air bags are arranged on the track, the plurality of air bags form anti-slip ribs of the track, the friction force between the track and the ground can be increased, the ground grabbing capacity of the surveying and mapping trolley is further increased, in addition, the contact area between the surveying and mapping trolley and the marsh ground can be increased through the air bags, the pressure of the surveying and mapping trolley on the marsh ground is reduced, and the surveying and mapping trolley can conveniently run on the marsh ground.

Description

Power transmission line surveying and mapping trolley

Technical Field

The invention relates to the technical field of line survey, in particular to a power transmission line surveying and mapping trolley.

Background

The field survey is always a key link of the design of the power transmission line and is a decisive factor for directly determining whether the project can be smoothly implemented. The existing surveying means mainly comprise three types of manual site surveying, unmanned aerial vehicle surveying and auxiliary trolley surveying and mapping.

The method is widely applied, has high accuracy but consumes huge manpower and material resources, often has barriers that can not be crossed by a single person, such as lakes, marshes and the like, and has partial key points even positioned in the center of a pond, thereby causing huge challenges to surveying and mapping personnel.

Unmanned aerial vehicle reconnaissance usually can easily obtain regional coordinate and surrounding environment as the auxiliary means of artifical on-the-spot reconnaissance in the area that allows the flight, nevertheless because trees shelter from with flight stability not enough, measure the actual elevation in ground comparatively difficultly, the current unmanned aerial vehicle low latitude flight danger coefficient in market is great, keeps away the barrier ability and is not enough to shuttle between the forest far away.

Surveying and mapping trolley reconnaissance is one of the trends of current surveying and mapping mode reform, through personnel remote control, controls a light, quick dolly, carries measuring equipment field survey such as GPS, distancer, camera, and the dolly contacts with ground simultaneously, can obtain the higher ground elevation of accuracy in real time.

The existing surveying and mapping trolley has low obstacle crossing capability, and the application range of the surveying and mapping trolley is reduced.

Disclosure of Invention

In order to solve the technical problem, the invention provides the power transmission line surveying and mapping trolley, which can improve the obstacle crossing capability of the surveying and mapping trolley, and further improve the application range of the surveying and mapping trolley.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a power transmission line survey and drawing dolly, survey and drawing dolly is including the track that is used for the survey and drawing dolly walking, be provided with the gasbag on the lateral surface of track, the inside packing of gasbag has compressed gas.

Further, a guide assembly is arranged inside the air bag and used for enabling the swelling direction of the air bag to point to the contact surface with the ground.

Further preferably, the guide assembly comprises a guide cylinder arranged in the air bag along the bulging direction, a spring fixed inside the guide cylinder and arranged along the guide direction of the guide cylinder, a guide rod connected to the spring at the bottom end and arranged along the guide direction of the guide cylinder, and the top end of the guide rod is connected with the inner wall of the air bag.

Furthermore, the track is also provided with a retaining block, and the air bag is positioned between the adjacent retaining blocks;

when the air bag is in the swelling state, the height of the air bag along the swelling direction is greater than that of the retention block.

Preferably, a concave slideway is arranged on the side surface of the retaining block;

the outer wall of the air bag is provided with a slide rail, and the slide rail form detachable sliding fit;

a positioning piece is also arranged between the air bag and the crawler belt, and the positioning piece comprises a dovetail groove and a dovetail strip arranged along the length direction of the dovetail groove; the dovetail strip is matched with the dovetail groove in shape, and the dovetail strip and the dovetail groove form a detachable structure.

It is further preferred that the projection of the portion of the balloon in the inflated state that extends above the retention blocks on the track is located between the two retention blocks.

Furthermore, the surveying and mapping trolley also comprises a walking device and a power mechanism for driving the walking device to walk;

the crawler belt is arranged on the walking device along the circumferential direction.

Furthermore, the power mechanism comprises a workbench for bearing the surveying and mapping instrument, a driving gear rotatably arranged on the walking device, and a driving motor for driving the driving gear to rotate;

the walking device is located on two sides of the workbench, teeth are arranged on the inner side face of a track on the walking device, and the teeth are meshed with the driving gear.

Furthermore, a buoyancy plate with a cavity inside is arranged at the lower end of the workbench; the power mechanism also comprises a blower communicated with the inside of the buoyancy plate.

Preferably, the workbench is provided with a main arm in a pitching hinged mode, and the main arm is provided with an auxiliary arm in a pitching hinged mode;

the surveying instrument comprises a camera, a GPS and a scanning instrument which are arranged on the auxiliary arm;

the surveying and mapping trolley further comprises a controller and a wireless transmitter; a pressure sensor is arranged in the air bag at a position corresponding to the teeth; the camera, the GPS, the scanning camera, the wireless transmitter and the driving motor are all electrically connected with the controller.

The invention has the following beneficial effects:

(1) the invention arranges the air bag on the caterpillar band, which has the following three functions: firstly, on a hard ground, the air bag can provide a buffering force, and the damage degree of the track to the ground is reduced; on the marsh ground, because the marsh ground is smooth, the friction force between the track and the ground can be reduced by the smooth ground, and the surveying and mapping trolley cannot normally run on the ground, the plurality of air bags are arranged on the track, the plurality of air bags form anti-slip ribs of the track, the friction force between the track and the ground can be increased, the ground gripping capacity of the surveying and mapping trolley is further increased, in addition, the contact area between the surveying and mapping trolley and the marsh ground can be increased by the air bags, the pressure of the surveying and mapping trolley on the marsh ground is reduced, and the travelling of the surveying and mapping trolley on the marsh ground is further facilitated; the airbag can be completely relaxed in water, so that the buoyancy force borne by the surveying and mapping trolley is increased, and the surveying and mapping trolley can conveniently advance in water.

(2) When the surveying and mapping trolley travels on the swamp ground, the air bag extends to the outer side of the retention block, so that the air bag can be directly contacted with the swamp ground to avoid the retention block from being directly contacted with the swamp ground, and the surveying and mapping trolley is prevented from sinking into the swamp ground.

(3) The guide cylinder, the guide rod and the spring are mutually matched, so that the bulging direction of the air bags is ensured to point to the contact surface, and the air bags form anti-skid ribs for grabbing the ground.

(4) When the air bag is in a swelling state, the projection of the part extending above the retention block on the crawler belt is positioned between the two retention blocks, so that the air bag can be prevented from being positioned between the retention blocks and the ground, and the air bag and the retention blocks are prevented from being damaged due to mutual extrusion.

(5) The air bags are detachably fixed on the tracks, when one air bag is damaged, only the damaged air bag needs to be replaced, and the whole track does not need to be replaced, so that the maintenance cost of the surveying and mapping trolley is reduced.

(6) The camera, the GPS and the scanner are matched with each other, so that the coordinate, the elevation and the surrounding environment information of the line can be acquired simultaneously, and the surveying and mapping efficiency of the invention is improved.

(7) The main arm and the auxiliary arm of the invention are mutually matched and are used for installing a camera and a scanner. The main arm and the auxiliary arm of the invention both form a hinged structure, which can increase the coverage of the collected images of the camera and the scanner.

Drawings

FIG. 1 is an overall block diagram of the present invention;

FIG. 2 is a block diagram of the present invention taken from FIG. 1, with the running gear removed;

FIG. 3 is a structural diagram of the air bag, the retaining block and the caterpillar track of the present invention;

FIG. 4 is a partial block diagram of the track of the present invention without the bladder;

FIG. 5 is a structural view of the air bag of the present invention;

FIG. 6A is a view showing the state of the airbag of the present invention on a hard road surface;

FIG. 6B is a view showing the state of the air bag of the present invention on a bog road surface;

fig. 6C is a state diagram of the airbag of the present invention in water.

The notations in the figures have the following meanings:

1-running gear 11-crawler track 111-retaining block 111 a-slideway 112-tooth

113-balloon 1131-dovetail strip

1132-spring 1133-guide cylinder 1134-guide bar 1135-slide rail 1136-pressure sensor

114-dovetail groove

12-driving gear 13-induction gear 14-bogie wheel 15-dragging wheel

2-workbench 21-driving motor 22-main arm 22 a-first rotating motor 23-auxiliary arm

23 a-second rotating motor 231-camera 232-GPS 233-scanner 24-blower

26-wireless transmitter 27-controller 271-display screen 272-socket

28-solar panel 29-buoyancy plate

Detailed Description

The technical scheme of the invention is clearly and completely described below by combining the embodiment and the attached drawings of the specification. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

A power transmission line surveying and mapping trolley is shown in figure 1 and comprises a workbench 2 and walking devices 1 positioned on two sides of the workbench 2.

As shown in fig. 1, the crawler belt 11 is circumferentially provided on the surface of the running gear 1, and the outer side surface of the crawler belt 11 is provided with a convex and arched-top retainer block 111. As shown in FIG. 3, a gap is provided between adjacent retention blocks 111 along the length of the retention blocks 111, and a balloon 113 is provided along the length of the gap. A guide cylinder 1133 is fixed in the air bag 113 along the swelling direction, a spring 1132 is fixed inside the guide cylinder 1133, a guide rod 1134 is connected to the spring 1132, the top end of the guide rod 1134 extends to the outside of the guide cylinder 1133, and the top end of the guide rod 1134 is connected with the inner wall of the air bag 113, as shown in fig. 5, a pressure sensor 1136 is installed at the bottom of the guide cylinder 1133, and the bottom end of the spring 1132 is fixed on the pressure sensor 1136. The side of the retaining block 111 is provided with a concave slideway 111a, the outer wall of the air bag 113 is provided with a slide rail 1135, and the slide rail 1135 and the slideway 111a form a detachable sliding fit. A seating member for preventing the air bag 113 installed between the two fixing blocks 111 from falling is further provided between the air bag 113 and the crawler belt 11. The positioning piece comprises a dovetail groove 114, and a dovetail strip 1131 fixed at the lower end of the air bag 113 is arranged along the length direction of the dovetail groove 114; the dovetail strip 1131 and the dovetail groove 114 are matched in shape, and the dovetail strip 1131 and the dovetail groove 114 form a detachable structure. The length of the dovetail bar 1131 is greater than the length of the airbag 113, two ends of the dovetail bar 1131 are located outside the airbag 113, and after the dovetail bar 1131 reaches a predetermined position, the two ends of the dovetail bar 1131 are fixed inside the dovetail groove 114 by bolts and are detachably connected by the bolts.

As shown in fig. 1, a drive gear 12, an induction gear 13, a bogie wheel 14, and a tow pulley 15 are rotatably mounted on the side surface of the traveling device 1. Wherein, the driving gear 12 passes through the running gear 1, the inner side surface of the crawler belt 11 is provided with teeth 112, the teeth 112 and the driving gear 12 are mutually engaged, and the teeth 112 and the induction gear 13 are also mutually engaged. Each running gear 1 is provided with four sets of loading wheels 14, the loading wheels 14 are positioned at the lower part of the running gear 1, and the loading wheels 14 are attached to the inner side surface of the crawler belt 11. Two groups of tow band wheels 15 are arranged on each walking device 1, the tow band wheels 15 are positioned on the upper part of the walking device 1, and the tow band wheels 15 are attached to the inner side surface of the crawler belt 11.

As shown in fig. 2, a buoyancy plate 29 is provided at the lower end of the table 2, and a blower 24 is fixed to the upper end of the table 2, the blower 24 communicating with the buoyancy plate 29. The upper end of the workbench 2 is also provided with a main arm 22 in a pitching and hinging manner, the top end of the main arm 22 is provided with an auxiliary arm 23 in a pitching and hinging manner, a first rotating motor 22a for driving the main arm 22 to rotate is fixed on the workbench 2, and a second rotating motor 23a for driving the auxiliary arm 23 to rotate is fixed on the main arm 22. The upper end surface of the sub-arm 23 is fixed with a camera 231 and a GPS232, and the front end surface of the sub-arm 23 is fixed with a scanner 233. The upper end face of the workbench 2 is also fixed with a controller 27, the controller 27 is provided with a display screen 271 and a socket 272, the upper end face of the controller 27 is fixed with a solar panel 28, and one side of the controller 27 is provided with a wireless transmitter 26. The first rotating motor 22a, the second rotating motor 23a, the controller 27, the camera 231, the GPS232, the scanner 233, the wireless transmitter 26 and the driving motor 21 are all electrically connected with the controller 27, the model of the controller 27 is STC89C52, and the model of the wireless transmitter 26 is KB 3030-K.

As shown in FIG. 6A, when the cart is driven over a hard surface, the bladder 113 is compressed, and the bladder 113 and the arched retention blocks 111 together bear the pressure of the entire cart, thereby preventing the hard retention blocks 111 from damaging the surface.

As shown in fig. 6B, on a muddy or swamp road with poor geology, the supporting force of the road surface is insufficient, the air bag 113 is not completely compressed, and the friction force between the crawler belt 11 and the road surface is increased due to the existence of the air bag 113, so that the travelling of the surveying and mapping trolley on the road surface is facilitated.

As shown in FIG. 6C, when the surveying and mapping trolley walks in water, the air bag 113 is fully expanded, and the air bag 113 and the buoyancy plate 29 are matched with each other to provide buoyancy for the whole surveying and mapping trolley.

During the traveling process of the surveying and mapping trolley, the camera 231 and the scanning camera 233 shoot power lines along the way, data are transmitted to the controller 27, the controller 27 processes the data, and the processed data are transmitted to a remote worker through the wireless transmitter 26.

Claims

1. The utility model provides a power transmission line survey and drawing dolly, survey and drawing dolly is including track (11) that are used for survey and drawing dolly to walk, its characterized in that: an air bag (113) is arranged on the outer side surface of the crawler belt (11), and compressed air is filled in the air bag (113).

2. The power transmission line mapping cart of claim 1, wherein: the inner part of the air bag (113) is provided with a guide component used for enabling the swelling direction of the air bag (113) to point to the contact surface with the ground.

3. The power transmission line mapping cart of claim 2, wherein: the direction subassembly is including being located guide cylinder (1133) that gasbag (113) inner edge orientation set up, fixes spring (1132) inside and set up along guide cylinder (1133) direction of guide cylinder (1133), and guide bar (1134) that the bottom was connected on spring (1132) and set up along guide cylinder (1133) direction, the top of guide bar (1134) is connected with the inner wall of gasbag (113).

4. A power transmission line mapping trolley according to claim 2 or 3, characterized in that: the crawler belt (11) is also provided with retaining blocks (111), and the air bags (113) are positioned between the adjacent retaining blocks (111);

when the air bag (113) is in the swelling state, the height of the air bag (113) along the swelling direction is greater than the height of the retention block (111).

5. The power transmission line mapping cart of claim 4, wherein: a concave slideway (111a) is arranged on the side surface of the retaining block (111);

the outer wall of the air bag (113) is provided with a slide rail (1135), and the slide rail (1135) and the slide way (111a) form a detachable sliding fit;

a position part is also arranged between the air bag (113) and the crawler belt (11), the position part comprises a dovetail groove (114), and a dovetail strip (1131) is arranged along the length direction of the dovetail groove (114) and fixed at the lower end of the air bag (113); the dovetail strip (1131) is matched with the dovetail groove (114) in shape, and the dovetail strip (1131) and the dovetail groove (114) form a detachable structure.

6. The power transmission line mapping cart of claim 4, wherein: the projection of the part of the air bag (113) in the swelling state, which extends to the position above the retaining blocks (111), on the crawler (11) is positioned between the two retaining blocks (111).

7. The power transmission line mapping cart of claim 1, wherein: the surveying and mapping trolley further comprises a walking device (1) and a power mechanism for driving the walking device (1) to walk;

the crawler belt (11) is arranged on the walking device (1) along the circumferential direction.

8. The power transmission line mapping cart of claim 7, wherein: the power mechanism comprises a workbench (2) for bearing the surveying and mapping instrument, a driving gear (12) rotatably arranged on the walking device (1), and a driving motor (21) for driving the driving gear (12) to rotate;

the walking device (1) is located on two sides of the workbench (2), teeth (112) are arranged on the inner side face of a track (11) on the walking device (1), and the teeth (112) are meshed with the driving gear (12).

9. The power transmission line mapping cart of claim 8, wherein: the lower end of the workbench (2) is provided with a buoyancy plate (29) with a cavity inside.

10. Power transmission line mapping trolley according to claim 8 or 9, characterized in that: a main arm (22) is hinged to the workbench (2) in a pitching manner, and an auxiliary arm (23) is hinged to the main arm (22) in a pitching manner;

the surveying instrument comprises a camera (231), a GPS (232) and a scanning instrument (233) which are arranged on the auxiliary arm (23);

the mapping trolley further comprises a controller (27) and a wireless transmitter (26); a pressure sensor (1136) is arranged in the air bag (113) at a position corresponding to the teeth (112); the camera (231), the GPS (232), the scanner (233), the wireless transmitter (26) and the driving motor (21) are all electrically connected with the controller (27).