JPH01157208A - Stringing moving device - Google Patents

Abstract

PURPOSE:To run a measuring car getting rid of obstacles, by moving a plurality of the wheels of the measuring car running on a stringing separately and vertically with a cam and an arm, and by detecting the obstacles on the stringing and periphery, with the informations of ultrasonic wave sensors fitted on the arm. CONSTITUTION:A plurality of driving wheels 2 (one unit is shown in fig.) are driven on a stringing 1 by a motor 3, and a measuring car is run. From the driving wheels 2, arms 4 bent in the shapes of a 'horizontal-U' on the way are suspended, and a main unit 6 having a movable section 5B moving vertically is fitted with a ball screw 5 to from a set of units. A plurality of the units of the same mechanism are rotatably connected with arms 17, 18. On the upper end section of the arm 4 of the head unit and on the upper section of the main unit 6, ultrasonic wave sensors 10, 11, 13 are fitted, and at the tip of a bearing rod 12 projected from the upper section of the main unit 6, a reflector 14 is set, and obstacles 16 are detected by the output of the respective sensors, and the input to control sections 15, 23 is provided. From the control section, the output of signal is generated, the respective units are separately rotated and are vertically moved. As a result, the measuring car is induced getting rid of the obstacles.

Description

[Detailed Description of the Invention] <Industrial Utilization Labor Costs> The present invention is directed to a tangential surface existing on or around an overhead wire,
Relates to an overhead line moving device that inspects various devices around overhead lines, communication cables, suspension lines hanging communication cables, tangential surfaces, etc., while avoiding obstacles such as utility poles and drop lines. .

<Prior Art> As an overhead line moving device used for maintenance and inspection of communication cables, hanging wires for hanging communication cables, tangential surfaces, etc., for example, a structure shown in FIG. 9 is disclosed in Patent Application No. 191 of 1988.
Proposed in No. 710. In FIG. 9, the traveling device main body 31 includes a plurality of rods (four in the figure) that can move up and down.
Noarms 32a, 32b, 32c.

32d are attached in the vertical direction. And each 7-
At the upper ends of the systems 32a, 32b, 32c, and 32d, there are pulleys 34a, 34b, 34c that rest on aerial s33 such as telephone lines.
34d are supported, among which the pulley 34b
.

34c to tt, it sot'L hell h 35 a, 35
Pulley drive motors 36a and 36b are connected via b. In other words, the pulleys 34b and 34c are connected to the heald 35.
a, 35b, motor 36a.

A pulley 34a is a drive pulley that is rotated on the antenna 33 by a pulley drive unit consisting of a pulley 36b.

34b is a driven pulley. Moreover, each arm 32a.

Cams 37a, 37b, 37c, and 37d are in contact with the lower ends of 32b, 32c, and 32d, respectively.
l,” le, each cam 37a, 37b, 37c.

A cam drive motor 39 is connected to 37d via a belt 38. At this time, each of the cams 37a, 3 rotated by a cam drive unit consisting of a belt 38 and a motor 39.
7b, 37c.

37d are arranged to rotate with a rotational phase shift of 18o0. In other words, each cam 37a
, 37b, 37c, and 37d rotate, each arm 32a, 32b.

Each pulley 34a is supported on the upper end of 32c, 32d.

34b, 34c, and 34d alternately move up and down on the antenna 33 and come into contact with and leave the antenna 33. In other words, the pulleys 34b and 34c that are rotationally driven are also
When 4b is in contact with the antenna 33, the pulley 34c is separated from the antenna 33, and from this state the cams 37b, 3
Conversely, when the rotational phase of 7c shifts by 180', the pulley 34b comes into a detached state, and the pulley 34c comes into contact with the antenna 33. The situation during this period is the same for the pulleys 34a and 34d.

In this way, the belts 35a, 35b.

When the pulley 34b or 34c rotationally driven by the motors 36a and 36b is in contact with the antenna 33, it travels on the antenna 33, and accordingly, the traveling device main body 31
can be moved.

Therefore, even if there is an obstacle such as a cable ring or a connection terminal box above the aerial $33, the pulley 34a.

34b, 34c, and 34d are alternately disengaged onto the antenna 33, allowing the vehicle to jump over obstacles and travel.

<Problems to be Solved by the Invention> There is no problem with the device shown in FIG. When there is an obstacle attached to a regular schedule, it is difficult to synchronize the vertical movement of the pulleys 34c and 34d.This causes the inconvenience that the irregular obstacle cannot be overcome.Furthermore, The above-described device has the disadvantage that if there are obstacles such as drop lines, branch lines, utility poles, etc. around the antenna 33, the vehicle cannot run around the obstacles.

The present invention has been made in order to solve the above-mentioned problems, and attempts to provide an overhead wire moving device that can move by performing avoidance operations on its own without operator operation even if there is an obstacle on or around the overhead wire. It is something.

Means for Solving the Problems> In order to solve the above problems, the present invention provides a wheel that rotatably moves on an overhead wire, a drive means for driving the wheel,
A vertical movable means connected to an arm suspended by the wheel and moving the arm in a relative vertical direction; and a plurality of sets consisting of the wheel, the driving means, the arm, and the vertical movable means are lined up and adjacent sets are connected to each other. a horizontal rotation means rotatably connected; a controller for individually controlling the driving means, the vertical movable means, and the horizontal rotation means; an ultrasonic sensor attached to the arm; a support rod attached along the direction; an ultrasonic sensor attached to the vertical movable means side of the support rod; and an ultrasonic sensor located on the axis of the ultrasonic sensor and installed upward in front of the support rod at an angle of 45 degrees. a controller that individually controls each of the ultrasonic sensors and measures the position, shape, and size of obstacles existing on or around the overhead wire based on signals output from each ultrasonic sensor; and has.

Function: Ultrasonic sensors attached to the arm and vertical movable means measure the position and shape of obstacles on or around the overhead wire, and based on this information, the wheel drive means and the arm vertical movable means are activated. , and the horizontal turning means that connects a plurality of sets consisting of wheels, drive means, and vertical movable means, respectively, so that the vehicle can travel while avoiding obstacles.

Embodiment> Hereinafter, the present invention will be explained in detail with reference to an embodiment shown in FIGS. 1 to 8.

In FIGS. 1(a) and 1(b), reference numeral 1 denotes an overhead wire, which in this embodiment is a hanging wire that serves to suspend a communication cable. Driving wheels 2 for running are arranged on this suspension 1j11. In order to drive this drive wheel 2,
A drive motor 3 is connected to the drive wheels 2 via a paddle gear 3G that transmits driving force. The upper end of an arm 4 is connected to the drive wheel 2, and the arm 4 moves together with the drive wheel 2. Further, the arm 4 is bent in the middle, and a ball screw movable portion 5B is connected and fixed to the lower end of the arm 4.
A ball screw 5 is screwed into the . A main body 6 is attached to the ball screw 5, and the main body 6 is rotatably provided with gears 7 and 8 for transmitting the rotational driving force of the ball screw 5, and is also provided with a drive motor 9 for rotationally driving the ball screw.

Furthermore, ultrasonic sensors 10 and 11 are attached to the upper part of the arm 4. Further, a support rod 12 is attached to the main body 6 along the direction of the hanging line 1, and an ultrasonic sensor 13 is attached to the main body 6 side of the support rod 12 (on the axis of the ultrasonic sensor 13 on the tip side). A disc-shaped reflective spatula 14 is installed above at an angle of 45 degrees.The ultrasonic sensors 10, 11, and 13 are individually controlled by a controller 15 to detect obstacles on the suspension line 1. 16 positions, shapes, etc. are measured.

The overhead wire moving device according to the present invention has the above-described elements as one unit, and a plurality of these (at least six units) are movably connected via connecting rotary arms 17, 18.

Adjacent connected rotating arms 17 and 18 are rotatably connected via a connecting shaft 19, and a worm wheel 20 attached to the connecting shaft 19 of the connected rotating arm 17 is connected to a worm wheel 20 via a rotational drive transmission worm 21. drive motor 22
are connected (see FIG. 1(C)). The drive motors 3, 9, and 22 described above are each individually controlled by a controller 23. In addition, the ultrasonic sensors 10, 11, 1
3, the support rod 12, and the reflection value 14 are attached only to the first unit.

According to the above configuration, the wheels 2 are driven by the drive motor 3.
is rotated, and the wheels 2 on the suspension 81 move on it.

With this movement, the arm 4 and main body 6 move along the suspension line 1 together with the movement of the wheel 2. In this case, the driving force from the wheels 2 is also transmitted to each main body 6 connected by the connected rotary arm 17, 18, but the connected main bodies 6
is suspended by wheels 2 attached to each main body 6! 1.

Further, when the drive motor 9 is driven, the ball screw 5 is rotated, and the ball screw movable portion 5B moves up and down on the ball screw 5. Therefore, the drive of the drive motor 9 causes the arm 4 to move up and down relative to the ball screw 5. In this case, the ball screw 5 is attached to the main body 6 and the main body 6 is connected to the rotating arm 17.1.
Since it is connected to the adjacent main body 6 at 8, the main body 6 serves as a support, and the rotation of the ball screw 5 causes the arm 4 and thus the wheel 2 to move up and down.

Furthermore, the worm 21 is rotated by the drive motor 22.
and the worm wheel 20 is rotated so that one rotary arm 17,18 is rotated relative to the other rotary arm 17.1.
8 will pivot, which will cause the other body 6 to pivot relative to the adjacent one body 6. In this case, the wheel 2 on the turning side is moved up and down by the rotation of the ball screw 5 in advance to remove it from the suspension line 1.

Incidentally, stepping motors are used as actuators that are the respective drive motors 3, 9, and 22. Furthermore, by individually controlling each drive motor 3°9.22 with the controller 15, the overhead wire moving device consisting of a plurality of units can be moved in an arbitrary operation pattern.

Next, when moving the overhead wire moving device, the ultrasonic sensor 10
, 11, 13 to measure the position, shape, etc. of the obstacle 16 on the hanging wire 1 will be explained.

FIG. 2 (al is an explanatory diagram showing the operation of measuring the width of the obstacle 16. As shown in this figure, when the ultrasonic sensor 10 attached to the arm 4 detects that the obstacle 16 is in front, The drive motors 9 and 22 are rotated to remove the wheel 2 from the hanging ll51 and the arm 4 is lowered.Next, the drive motor 22 rotates the connected rotary arms 17 and 18 to move the reflector 14 from the zero point. Move to point A.

At this time, the reception sensitivity of the ultrasonic sensor 13 changes as shown in FIG.
By measuring the rate of decrease in sensitivity when the end face a of the mirror 14 coincides with the center of the reflecting mirror 14, θ at this position can be determined. At this time, θ can be measured with a potentiometer or determined using software. The width from the end surface a of the obstacle 16 to the suspension line l is determined from θ determined by the above-described operation. Then, the width from the end face of the obstacle 16 to the suspension sl is determined by a similar operation. By performing the above-described operation by scanning in the longitudinal direction of the suspension line 1, measurement is possible even in the case of an obstacle 16 whose width differs in the longitudinal direction of the suspension line 1.

3(a) and 3(b) are explanatory diagrams showing the operation of measuring the height of the obstacle 16. As shown in both figures, the drive motor 2
2 rotates the connected rotary arms 17 and 18 to make the side surface of the obstacle 16 and the ultrasonic emission surface of the ultrasonic sensor 11 parallel. At this time, the receiver 4" of the ultrasonic sensor 11
Parallel state is achieved by utilizing the fact that sensitivity is maximum when parallel. Next, the arm 4 is raised by the rotational drive of the drive motor 9 and moved so that the ultrasonic emission surface of the ultrasonic sensor 11 passes through the end faces a and b of the obstacle 16. At this time, by measuring the position-receiving sensitivity characteristic of the ultrasonic sensor 11, the positions of the end faces a and b of the obstacle 16 can be determined in the same way as in the width measurement, and the height of the obstacle 16 can be determined.

FIGS. 4(a) and 4(c) are explanatory diagrams showing the operation for measuring the branch angle of a branch line. As shown in both figures, the drive motor 2
2, the connecting rotary arms 17 and 18 are rotated to move the reflecting mirror 14 from point A toward point B of branch line 1. At this time, the receiving sensitivity of the ultrasonic sensor 13 becomes as shown in FIG. 4(b) as θ increases, and the receiving sensitivity becomes maximum when the center of the reflecting mirror 14 and point B coincide. Therefore, l A E B can be found. Here, point E is the rotation fulcrum of the connected rotation arms 17 and 18. Similarly, branch ta
ZA E B' at B' of 2 is found.

Next, the overhead wire moving device is moved to the right by a distance a to move the pivot points of the connected rotary arms 17 and 18 from point E to point F. Then, by moving the reflecting mirror 14 from the 0 point in the direction of the D point and the D' point direction in the same manner as described above,
Find ZCF D and ZCF D'. Using each angle obtained above, the branch angle θ8 of the branch fIs1 and the branch point 0
The distance fix from to point E is determined as follows.

θ=π−θ However, θ,=Im−′(Q/P) Here, p=s(兟θ,−(2)θl,) + aQ=S(μθ
, - fiber θb) S: Distance from the pivot point of the connected rotary arms 17 and 18 to the center of the reflecting mirror 14.

θ. =ZA E B , θ, =ZA F D Then, the branch angle of the branch line 2 can also be found in the same manner.

As mentioned above, since the position and shape of obstacles, the position of branch lines, branch angles, etc. can be measured by the ultrasonic sensors 10, 11, 13, it is possible for the moving device itself to move around these obstacles. can.

Next, how the moving device avoids electrodes, connection surfaces, etc., and how to move along branch lines and parallel lines will be explained. FIG. 5 shows how to avoid a utility pole. In this figure, when the head of the moving device approaches the utility pole, the arm 4 is raised and rotated to remove the wheel 2 from the hanging 1i11 to avoid the utility pole.
The subsequent moving devices are moved one after another in the same manner.

Then, once the moving device has crossed the utility pole, it turns in the opposite direction, lowers the arm 4, and returns to moving on the suspension line 1. In this way, utility poles are avoided.

Figure 6 shows a method for avoiding the connecting surface. When the first moving device reaches just in front of the connecting surface, the arm 4 of the moving device is raised, and when it reaches above the connecting surface, the arm 4 is lowered. It allows for smooth progress on the connecting surface.

FIG. 7 shows the movement of the branch line. Immediately before the branch, the arm 4 of the leading single moving device is raised and rotated, and then the arm 4 is lowered. After the moving device is rotated in the opposite direction to pass through one branch line, the arm 4 is raised and further swiveled to suspend the moving device on the branch line on the side to be moved. Then, the second and third moving devices are operated in the same manner one after another to move on the branch line.

Figure 8 shows the case of parallel line movement, in which the wheels 2 of the first and second moving devices are removed, the arms 4 are lowered and both are rotated in the same way, and the arm 4 of the first moving device is removed.
When it reaches the next line, the arm 4 is lowered to suspend the first moving device on the next line. In this way, the same movement is performed in the second and third positions one after another to move the moving device onto the parallel line.

<Effects of the Invention> As specifically explained in conjunction with the embodiments, according to the overhead wire moving device according to the present invention, even if there is an obstacle on or around the overhead wire, its position, shape, size, etc. is measured by an ultrasonic sensor, and the mobile device itself can move while performing avoidance maneuvers.

[Brief explanation of the drawing]

FIG. 1 shows an apparatus according to an embodiment of the present invention, and FIG.
1 is a side view, FIG. 1 (bl is a front view, FIG. 1 fc) is a plan view of the horizontal turning means, FIG. is an angle (θ)-sensitivity characteristic diagram of the ultrasonic sensor when the width side is fixed, FIG. 3 (al is a top view showing the operation of measuring the height of an obstacle, and FIG.
Figure 4 (aL (cl) is an explanatory diagram showing the branch angle measurement operation of the branch line, Figure 4 (b) is an angle (θ)-sensitivity characteristic diagram of the ultrasonic sensor when measuring the branch angle, Figure 5 (a) ) to fdl are explanatory diagrams of utility pole avoidance operations, where Fig. 5(a) (cl is a view seen from the top, Fig. 5(b) (dl is a view seen from the side, and Fig. 6(a) to Fdl are FIG. 6(al) is a view explaining connection surface avoidance operation, and FIG.
bl (dl is a view from the side, Fig. 7 (a) to (h)
is an explanatory diagram of branch line movement operation, FIGS. 8A to 8D are explanatory diagrams of parallel line movement operation, and FIG. 9 is a configuration diagram of a conventional example. , 3.9, 22 are drive motors, 4 is an arm, 5 is a ball screw, 5B is a ball screw moving part, 10.11.13 is an ultrasonic sensor, 12 is a support rod, 14 is before reflection, 15.23 is a controller, 16 is an obstacle, and 17.18 is a connecting rotating arm.

Claims (1)

[Claims] A wheel that rotatably moves on an overhead wire, a driving means for driving the wheel, a vertically movable means connected to an arm that is supported by the wheel and suspended and that moves the arm in a relative vertical direction, and the wheel; a horizontal turning means for arranging a plurality of sets consisting of a driving means, an arm, and a vertical movable means and rotatably connecting adjacent sets; a controller for individually controlling the driving means, the vertical movable means, and the horizontal turning means; an ultrasonic sensor attached to the arm; a support rod attached to the front of the vertical movable means along the overhead wire direction; an ultrasonic sensor attached to the vertical movable means side of the support rod; and the ultrasonic sensor. 4 located on the axis of
A reflecting mirror installed at an angle of 5 degrees, and the position and shape of obstacles existing on or around the overhead wire based on signals output from each ultrasonic sensor by individually controlling each of the ultrasonic sensors, An overhead wire moving device characterized by having a controller that measures a size.