1. A high-precision sag observation device is characterized by comprising a shell, a positioning antenna, a first driving wheel, a second driving wheel, obstacle avoidance ultrasonic waves, a telescopic driven wheel ejecting part and a laser radar arranged on the back of the shell, wherein a positioning module, a motor control module, a data transmission communication module, a communication antenna and a battery bin are integrated in the shell; the first driving wheel and the second driving wheel are used for clamping a wire to be measured in a matching manner with the telescopic driven wheel; the obstacle avoidance ultrasonic wave is arranged on the side face of the shell and used for detecting whether an obstacle exists in front or not; the laser radar is used for assisting in observing sag of the adjacent multi-split conductors.

2. The high accuracy sag observation device of claim 1, wherein the positioning antenna is located above the housing.

3. The high-precision sag observation device according to claim 1, wherein the laser radar comprises a first laser radar and a second laser radar which are arranged in sequence from top to bottom.

4. The high-precision sag observation device according to claim 3, wherein a third lidar is disposed below the second lidar.

5. The high-precision sag observation device according to claim 3, wherein the distance between the first laser radar and the second laser radar is 10-16 cm.

6. The high-precision sag observation device according to claim 1, wherein the first driving wheel and the second driving wheel have a structure with two large end faces and a small middle, and a plurality of grooves are formed in the end faces in the direction from the end faces to the end faces.

7. The high-precision sag observation device according to any one of claims 1 to 6, wherein the battery compartment is disposed at a lower portion of the housing, the battery compartment cover is disposed at a side surface of the housing, and the battery compartment cover is provided with a power display panel.

8. The high-precision sag observation device according to any one of claims 1 to 6, wherein the first driving wheel and the second driving wheel are disposed on both sides of an upper portion of the housing.

9. The high-precision sag observation device according to claims 1 to 6, further comprising a handle.

10. The high accuracy sag observation device of claim 9, wherein the handle is a through-hole structure extending through the housing.

Background

The sag of the power transmission line is one of main indexes of design and operation of the power transmission line, and is related to the operation safety of the whole power transmission line. During construction line laying, the sag must be controlled within design specifications. Local areas in China are complex in terrain, various in climate and dense in vegetation, the construction and pay-off processes of newly-built lines are often influenced by fog and the like in a microclimate environment, the pay-off positions of the lines cannot be accurately positioned only by vision, and therefore the stringing precision and the construction progress are influenced.

Disclosure of Invention

In view of the above technical problems, the present invention is directed to providing a high-precision sag observation apparatus.

In order to solve the technical problems, the invention adopts the following technical scheme:

a high-precision sag observation device comprises a shell, a positioning antenna, a first driving wheel, a second driving wheel, obstacle avoidance ultrasonic waves, a telescopic driven wheel ejecting part and a laser radar arranged on the back of the shell, wherein a positioning module, a motor control module, a data transmission communication module, a communication antenna and a battery bin are integrated in the shell; the first driving wheel and the second driving wheel are used for clamping a wire to be measured in a matching manner with the telescopic driven wheel; the obstacle avoidance ultrasonic wave is arranged on the side face of the shell and used for detecting whether an obstacle exists in front or not; the laser radar is used for assisting in observing sag of the adjacent multi-split conductors.

Preferably, the positioning antenna is located above the housing.

Preferably, the laser radar comprises a first laser radar and a second laser radar which are arranged from top to bottom in sequence.

Preferably, a third lidar is disposed below the second lidar.

Preferably, the distance between the first laser radar and the second laser radar is 10-16 cm.

Preferably, the first driving wheel and the second driving wheel are of structures with two large end faces and small middle, and a plurality of grooves are formed in the end faces in the end face to end face direction.

Preferably, the battery compartment is arranged at the lower part of the shell, the battery compartment cover is arranged at the side surface of the shell, and the battery compartment cover is provided with an electric quantity display panel.

Preferably, the first driving wheel and the second driving wheel are arranged on two sides of the upper part of the shell.

Preferably, a handle is further provided.

Preferably, the handle is a through hole structure penetrating through the shell.

The invention has the following beneficial effects:

(1) through the setting of first laser radar, second laser radar, third laser radar, can effectively guarantee that the circuit error is between 5 ~ 8cm, satisfy the circuit and erect the error requirement.

(2) The device is arranged on the side surface of the shell and used for detecting whether an obstacle exists in front or not and preventing equipment collision.

(3) The telescopic driven wheel ejecting part is arranged, so that the size between the driving wheel and the driven wheel is adjusted to clamp the conducting wire, friction force is increased, and meanwhile, the risk that the conducting wire of the equipment slides down is effectively avoided.

Drawings

Fig. 1 is a schematic perspective view of a high-precision sag observation device according to an embodiment of the present invention;

FIG. 2 is a rear view of a high precision sag observation device according to an embodiment of the present invention;

FIG. 3 is a schematic working diagram of a laser radar auxiliary overhead line of the high-precision sag observation device according to the embodiment of the invention;

fig. 4 is a schematic diagram illustrating a clamped state of a lead in the high-precision sag observation device according to the embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. 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.

Referring to fig. 1, a high-precision sag observation device according to an embodiment of the present invention is shown, and includes a housing 101, a positioning antenna 102, a first driving wheel 103, a second driving wheel 104, an obstacle avoidance ultrasonic wave 105, a retractable driven wheel 106, a retractable driven wheel ejecting part 107, and a laser radar disposed on the back of the housing, wherein the housing is internally integrated with a positioning module, a motor control module, a data transmission communication module, a communication antenna, and a battery compartment 108; the positioning antenna is positioned above the shell; the first driving wheel 103 and the second driving wheel 104 are used for clamping a wire to be measured in cooperation with the telescopic driven wheel; the obstacle avoidance ultrasonic wave 105 is arranged on the side surface of the shell and used for detecting whether an obstacle exists in front or not and preventing equipment from colliding, and the ultrasonic wave is arranged on the side surface of the upper part of the shell of the equipment and mainly used for better scanning and detecting an insulator string in the advancing direction of the equipment or other obstacles; the laser radar is used for assisting in observing sag of adjacent multi-split conductors. The positioning module is used for determining the position coordinates of the equipment based on the Beidou satellite navigation system (and/or other positioning systems); the motor control module is used for controlling the rotation of the driving motor of the first driving wheel 103 and/or the second driving wheel 104; the data transmission communication module is used for communicating with the ground station so as to transmit data to the ground station or receive data from the ground station; the communication antenna is used for receiving communication signals. In some embodiments, the location module may determine the location coordinates of the device based on one or more of a Beidou positioning, a GPS positioning, a Glonass (GLONASS) positioning, a Galileo (Galileo) positioning, a base station positioning, a wifi positioning, and the like. Through the high-precision sag observation equipment, the operating personnel hang the sag observation equipment on the wire, and the sag observation equipment transmits coordinate information to the ground station in real time through the data transmission communication module.

Through the high-precision sag observation equipment, a field operator can climb the tower by holding the equipment to obtain the position coordinates of the hanging point; receiving the position coordinates; after coordinates of two hanging points of the current pull-line gear are obtained, an operator puts the equipment on a lead, and the equipment randomly obtains position information of one point in the process of moving along the lead; fitting a wire according to the coordinates of the two hanging points and the coordinates of the equipment position point, wherein the wire is the wire of the current observation gear; after the wire is fitted, calculating the maximum sag value of the fitted wire, and giving an early warning when the actual sag value of the wire is close to the designed sag value; and controlling the equipment to return and taking down the equipment when the wire tightening requirement is met.

In the concrete application example, referring to fig. 2, the laser radar includes first laser radar 1091, second laser radar 1092 and third laser radar 1094 that set gradually from top to bottom, and after third laser radar 1094 detected the wire, the speed was put up slowly to the circuit for wait to erect the circuit and finally set up between first laser radar 1091 and second laser radar 1092. Specifically, the line detection sequence is that after the final sag of the line where the sag observation device is located is calculated and confirmed through Beidou positioning (and/or other positioning modes), the sag of the adjacent multi-split conductor is observed in an auxiliary mode through a laser radar.

Through the laser radar who sets up more than, can be applied to the scene of erectting of many split conductors, improve the efficiency and the degree of accuracy that the wire erect. Referring to fig. 3 specifically, the split line of the sag observation device should be selected at the leftmost side or the rightmost side of the phase, so that the laser radar can monitor other split lines to be pulled in real time. After the tight line of arc observation equipment place split line that hangs down, begin to draw other split lines of waiting to act as go-between, when the split line was hit by the third laser radar 1094 of arc observation equipment bottom that hangs down and is reminded the constructor slowly to act as go-between, satisfied the tight line condition promptly when waiting to act as go-between split line and being in between first laser radar 1091 and the second laser radar 1092. When first laser radar 1091 and second laser radar 1092 interval were 10 ~ 16cm, can effectively guarantee that the circuit error is between 5 ~ 8cm, satisfy the circuit and erect the error requirement. Specifically, when the distance between the first laser radar 1091 and the second laser radar 1092 is 10cm, the line error can be effectively guaranteed to be +/-5 cm. When the distance between the first laser radar 1091 and the second laser radar 1092 is 16cm, the line error can be effectively guaranteed to be +/-8 cm.

In a specific application example, the first driving wheel and the second driving wheel are of structures with two large end faces and small middle, and a plurality of grooves are arranged from the end faces to adapt to the multi-purpose wire diameter wire, so that the wire with the outer diameter of 15-50mm can be adapted without replacing the driving wheels. With continued reference to fig. 1, the first drive pulley 103 and the second drive pulley 104 are disposed on opposite sides of the upper portion of the housing. By arranging the first driving wheel 103 and the second driving wheel 104 on both sides of the upper portion of the housing, the device can be maintained in an upright state due to its own weight after clamping the wire. The telescopic driven wheel 106 is arranged below the first driving wheel 103 and the second driving wheel 104 and is positioned in the middle of the first driving wheel 103 and the second driving wheel 104, the telescopic driven wheel ejecting part 107 is controlled to move up and down, so that the size between the driving wheel and the driven wheel is adjusted to clamp a wire, and the clamped state of the wire is as shown in fig. 4, so that the risk that the wire of the equipment slides down is effectively avoided while friction force is increased.

With continued reference to fig. 1, the high-precision sag observation device according to the embodiment of the present invention further includes a battery compartment 108, the battery compartment 108 is disposed at the lower portion of the housing, a battery compartment cover is disposed at the side of the housing, and an electric quantity display panel is disposed on the battery compartment cover. The battery compartment 108 integrates a power display, a charging port and a switch. The battery can be taken out and replaced after the screws at the four corners are taken down.

In an embodiment of specific applications, further referring to fig. 2, the high-precision sag observation device according to the embodiment of the present invention is further provided with a handle 110. The handle 110 is a through-hole structure that penetrates the housing. The handle 104 can be bound to the carrier through a safety rope, and is convenient to carry.

In the specific application example, the shell is divided into a front shell and a rear shell, the front shell is of an integral structure, and a sealing rubber groove is formed in the joint of the front shell and the rear shell, so that the integral structure of the shell can be effectively waterproof.

It is to be understood that the exemplary embodiments described herein are illustrative and not restrictive. Although one or more embodiments of the present invention have been described with reference to the accompanying drawings, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the following claims.