CN104362545B - Routing inspection air vehicle with multiple rotor wings and electric transmission line hanging method thereof - Google Patents
Routing inspection air vehicle with multiple rotor wings and electric transmission line hanging method thereof Download PDFInfo
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Abstract
The invention provides a routing inspection air vehicle with multiple rotor wings and an electric transmission line hanging method of the routing inspection air vehicle. The method comprises the steps that when it is judged that wires and ground wires to be hung are located on the upper area of an image shot by a guide video camera of the routing inspection air vehicle with the multiple rotor wings, the rotor wings of the routing inspection air vehicle are controlled to fly upwards; when it is judged that the wires and ground wires to be hung are located on the lower area of the image, the rotor wings are controlled to fly downwards; when it is judged that the wires and ground wires to be hung are located on the area close to the image, the rotor wings are controlled to fly horizontally and get close to the wires and ground wires to be hung; when it is judged that the wires and ground wires to be hung are located on the line falling area of the image, the rotor wings are controlled to stop flying and land. The routing inspection air vehicle with the multiple rotor wings has the accurate power line hanging function, broadens routing inspection view, improves routing inspection efficiency, and lowers the labor cost of routing inspection.
Description
Technical Field
The invention relates to the technical field of power transmission line inspection, in particular to a multi-rotor aircraft and a method for mounting a power transmission line by using the same.
Background
High-voltage and ultrahigh-voltage overhead transmission lines are the main modes for transmitting electric energy in a long distance, ground wires and pole tower accessories are exposed outdoors for a long time, and damage such as strand breakage, abrasion, corrosion and the like is caused by the influence of continuous mechanical tension, electric flashover and material aging, and if repair and replacement are not carried out in time, the original tiny damage and defects can be enlarged, so that serious accidents are finally caused, and large-area power failure and huge economic loss are caused. Therefore, the power company needs to periodically inspect the line equipment, find early damage and defects in time and evaluate the early damage and defects, and then arrange necessary maintenance and repair according to the severity of the defects and with reasonable cost and correct priority order, so as to ensure the reliability of power supply.
At present, two methods for inspecting a transmission conductor are mainly used:
(1) the ground visual inspection method is to observe the power lines in the district by naked eyes or telescopes. Because the distribution points of the power transmission line are diversified and wide, and the geographic conditions are complex, line patrol workers need to turn over mountains and mountains, wade into water to pass through rivers, hike or drive for patrol. The method has the advantages of high labor intensity, low working efficiency and detection precision and poor reliability.
(2) The aerial surveying method is that the helicopter patrols the line. The helicopter flies along the power transmission line, and the working personnel observe and record the condition of abnormal points along the line by naked eyes or airborne camera equipment. Although the method has close distance and improves the detection efficiency and the detection precision, the power line quickly passes through the visual field of an observer or a video recording device, the technical difficulty is increased, and the running cost is higher.
Multi-rotor aircraft will play an increasingly important role in power transmission line inspection. The unmanned aerial vehicle has the characteristics of wide visual field, flexible operation, light weight and the like, can take off and land quickly, and can carry out close-range observation on hardware fittings and line corridors on the line in a targeted manner. Compared with a manned helicopter, the helicopter greatly reduces the cost for routing inspection, and also solves the problems of low detection precision and poor reliability of a ground visual inspection method. However, the problem of short endurance time of the existing multi-rotor aircraft generally exists, and the requirement of long-distance inspection cannot be met.
The development of mobile robot technology provides a new mobile platform for the inspection of overhead power lines. The inspection robot can work in an electrified way, crawls along a power transmission line at a certain speed, can cross over obstacles such as a damper, a strain clamp, a suspension clamp and a tower, performs proximity detection on the tower, a wire, a lightning conductor, an insulator, a line fitting, a line channel and the like in a short distance by using a carried sensing instrument, replaces workers to perform inspection work on a power line, and can further improve the work efficiency and the inspection precision of the inspection. However, the mobile robot has great difficulty in the up-and-down operation, and most of the mobile robots need to bear the line in a manual mode or put the line in a pulley hoisting mode, so that great potential safety hazards exist. The obstacle of the on-line hardware (such as an anti-vibration hammer, a spacer, a suspension clamp and the like) is also required to be overcome in the walking process of the mobile robot on the power transmission line, the design difficulty of the mobile robot is further increased, and the moving range of the robot is restricted.
The chinese application No. 201310683217.2 discloses a multi-rotor aircraft for power line inspection and a system based on the same, the multi-rotor aircraft is provided with a mounting pulley, and finishes the inspection work by moving the mounting pulley on the ground wire, the proposal overcomes the problem that the current multi-rotor aircraft has short endurance time and can not meet the requirement of long-distance inspection, improves the long-distance inspection capability of the multi-rotor aircraft, however, the process of mounting the multi-rotor aircraft to the ground wire in the scheme is not accurately controlled, the ground workstation is not easy to manually control the mounting pulley to mount the mounting pulley to the ground wire, whether the electric transmission line can be successfully mounted on the electric transmission line is the key for realizing the inspection of the electric transmission line by the multi-rotor aircraft, therefore, the technology for researching the accurate mounting power transmission line of the multi-rotor aircraft has important practical significance for carrying out power transmission line inspection by utilizing the multi-rotor aircraft at present.
Disclosure of Invention
The invention mainly aims to provide a multi-rotor polling aircraft and a method for mounting a power transmission line thereof, integrates an unmanned aerial vehicle technology and an on-line robot technology and is applied to the field of polling of the power transmission line, has the functions of enabling a ground wire to fly outside, walking on the ground wire, polling the ground wire, a pole tower, a fitting, a channel and the like to have defects and the like, and solves the problem that the existing multi-rotor polling aircraft for polling the power transmission line cannot accurately mount the ground wire.
In order to achieve the above object, an embodiment of the present invention provides a multi-rotor inspection aircraft, including: the system comprises a multi-rotor flight device, a line falling walking device, a polling device and a control device; wherein,
the multi-rotor flying device comprises: a nacelle, a plurality of rotors, and a landing gear;
the plurality of rotors are fixedly connected with the cabin, are symmetrically arranged by taking the cabin as a center, and generate lift force through rotation to drive the cabin to fly;
the undercarriage is fixedly connected with the bottom of the cabin;
the wire falling walking device comprises: the device comprises a support frame, a guide camera and a moving mechanism;
the bottom end of the supporting frame is fixedly connected with the top of the cabin;
the guiding camera is fixedly arranged on the supporting frame and used for shooting the ground wire to be hung so as to guide the moving mechanism to be hung on the ground wire to be hung;
the moving mechanism is fixed at the top end of the support frame and used for being mounted on the ground wire to be mounted and moving along the ground wire to be mounted;
the inspection device includes: a camera for inspection;
the inspection camera is fixedly arranged at the bottom of the cabin and is used for shooting the ground wire to be detected so as to detect whether the ground wire to be detected, hardware fittings, a tower and a channel have defects or not;
and the control device controls the rotor wing to fly and controls the moving mechanism to move along the ground wire to be hung. Correspondingly, the invention also provides a method for mounting the power transmission line on the multi-rotor inspection aircraft, which comprises the following steps:
when the ground wire to be hung is judged to be in an upper area of an image picture shot by a guide camera of the multi-rotor inspection aircraft, controlling the rotor of the multi-rotor inspection aircraft to fly upwards;
when the ground wire to be hung is judged to be in a lower area of the image picture, the rotor wing is controlled to fly downwards;
when the ground wire to be hung is judged to be in the approaching area of the image picture, the rotor wing is controlled to fly horizontally and approach the ground wire to be hung;
when the ground wire to be hung is judged to be in the falling area of the image picture, the rotor wing is controlled to stop flying and land;
wherein, the upper region, the lower region, the approach region and the falling line region of the image picture are preset according to the following modes:
taking a horizontal plane where the center point of the image picture is as an interface;
the area above the interface is the upper area;
the area below the interface is the lower area;
the projection area of the moving mechanism in the boundary surface is the falling line area;
and the area outside the drop line area in the boundary is the approaching area.
By means of the technical scheme, the unmanned aerial vehicle technology and the online robot technology are integrated and applied to the field of power transmission line inspection, the advantages of flexibility, stability, easiness in operation and the like of the unmanned aerial vehicle technology are exerted, the advantages of accuracy, intelligence, energy conservation and the like of the online robot technology are exerted, the problems of endurance time period and aerial image jitter when the unmanned aerial vehicle is used for inspection are solved, the problems of online and offline difficulty in obstacle crossing when the online robot is used for inspection are solved, the respective limitations of the two technologies are overcome, the superiority of the two technologies in power transmission line maintenance is fully utilized, convenience is provided for power transmission line inspection work, the inspection visual field is widened, the inspection efficiency is improved, and the labor cost of inspection is reduced; in addition, the accurate power transmission line mounting method provided by the invention can accurately judge the relative position of the moving mechanism and the ground wire to be mounted, accurately control the adjustment action of the multi-rotor inspection aircraft, quickly and accurately finish the ground wire mounting, and provide safety guarantee for smoothly finishing the inspection process.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor.
FIG. 1 is a schematic structural view of a multi-rotor inspection vehicle according to the present invention;
fig. 2(a) -2 (d) are schematic structural diagrams of a detachable rotor according to an embodiment of the present invention;
fig. 3(a) -3 (d) are schematic structural views of a detachable and assembled wire-drop walking device according to a second embodiment of the present invention;
fig. 4(a) -4 (d) are schematic structural views of a dual-hole connector according to a second embodiment of the present invention;
fig. 5(a) -5 (d) are schematic structural views of a detachable inspection device according to a third embodiment of the present invention;
fig. 6(a) -6 (d) are schematic structural views of a dual-hole connection component according to a third embodiment of the present invention;
fig. 7(a) -7 (d) are schematic structural diagrams of the detachable and assembled multi-rotor inspection aircraft according to the fourth embodiment of the invention;
FIG. 8 is a schematic view of the mount positioning provided by the present invention;
fig. 9 is a schematic view of the mounting positioning in the case of the guide fence provided by the 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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
It should be noted that the present invention relates to two transmission line objects, namely, a "to-be-hung ground wire" and a "to-be-detected object"; the ground wire to be hung is a mounting object of the multi-rotor inspection aircraft, and the multi-rotor inspection aircraft is mounted on the ground wire to be hung and moves along the ground wire; the object to be inspected is an inspection object of the multi-rotor inspection aircraft, and comprises but is not limited to a ground wire, a tower, hardware fittings, a channel and the like. For the same multi-rotor polling aircraft, the ground wire belonging to the object to be detected and the ground wire to be hung are two independent power transmission lines.
The invention provides a multi-rotor inspection aircraft, as shown in fig. 1, comprising: many rotor flight device, the running gear that falls the line, inspection device, controlling means 4. Wherein, many rotor flight device includes: a nacelle 11, a plurality of rotors 12, and a landing gear 13; the line falling walking device comprises: a support frame 21, a guide camera 22, and a moving mechanism 23; the inspection device includes: an inspection camera 31; and the control device 4 is used for controlling the rotor wing to fly and controlling the moving mechanism 23 to move along the ground wire to be hung.
The following describes each of the above devices:
(1) many rotors flight device is responsible for the flight work of whole many rotors inspection aircraft, include: a nacelle, a plurality of rotors, and a landing gear.
The plurality of rotors are fixedly connected with the cabin and are symmetrically arranged around the cabin, and lift force is generated through rotation to drive the cabin to fly. The specific structure of the rotor in the invention can be, but is not limited to, the rotor structure adopted by the existing multi-rotor unmanned aerial vehicle, and the number of the rotors can be, but is not limited to, four, six or eight.
Because the multi-rotor polling aircraft can realize the mounting only when flying to the vicinity of the ground wire to be mounted, the propeller in the flight is very easy to touch the ground wire, and the aircraft and the power grid are greatly damaged.
The undercarriage is fixedly connected with the bottom of the cabin, and plays a role in buffering and protecting the cabin when the multi-rotor aircraft takes off and lands. The specific structure of the landing gear in the invention includes but is not limited to the landing gear structure adopted by the existing multi-rotor unmanned aerial vehicle, and the detailed description is omitted here.
(2) The line running gear that falls is responsible for whole many rotors and patrols and examines the aircraft carry to wait to hang lead on the ground wire and wait to hang and lead the work of moving on the ground wire, include: support frame, direction camera, moving mechanism.
The bottom end of the supporting frame is fixedly connected with the top of the engine room.
The guide camera is fixedly arranged on the supporting frame and used for shooting the ground wire to be hung so as to guide the moving mechanism to be hung on the ground wire to be hung.
The moving mechanism is fixed at the top end of the support frame and used for being mounted on the ground wire to be hung and moving along the ground wire.
When the multi-rotor patrol inspection aircraft flies to the position near the ground wire to be hung, the relative position of the moving mechanism and the ground wire to be hung can be known through image information shot by the guide camera, and then the flight is commanded until the moving mechanism is hung to the ground wire to be hung. It should be noted that, in order to accurately know the relative position between the moving mechanism and the ground wire to be hung and achieve the above guiding function, the shooting range of the guiding camera should at least cover the moving mechanism. In the specific implementation of the present invention, the guiding camera may be but not limited to a lattice CCD (Charge-coupled Device), and the field angle of the lens of the guiding camera is large, generally up to 170 degrees, which can meet the requirement of the shooting moving mechanism. In addition, the high definition camera that has infrared function still can be selected for use to the direction camera to satisfy the mount needs under the not enough condition of light.
The moving mechanism of the present invention may adopt a structure composed of a moving wheel (e.g., a pulley) and a driving motor, wherein the driving motor drives the moving wheel to move along the ground wire to be hung, but the moving mechanism of the present invention is not limited to adopt the above structure. For example, in order to maintain the stability of the multi-rotor polling aircraft in moving on the ground wire to be hung, the invention can also add a support wheel in the moving mechanism, the support wheel and the wheel groove of the moving wheel are arranged in a collinear way (the ground wire to be hung), when the multi-rotor polling aircraft works, the support wheel and the moving wheel are both hung on the ground wire to be hung, the moving wheel moves along the ground wire to be hung under the action of the driving motor, and simultaneously drives the support wheel to move along the ground wire to be hung, and the support wheel plays a role in auxiliary moving and supporting. In specific implementation, the number of the moving wheels and the supporting wheels can be but is not limited to 2-4. It should be noted that, in order to avoid the current on the ground wire to be hung from affecting the normal operation of the multi-rotor polling aircraft and to prevent the current from moving in the reverse direction along the ground wire to be hung when the driving motor does not provide driving force, both the moving wheel and the supporting wheel need to be made of insulating and anti-skid materials.
Considering that the working range of the multi-rotor polling aircraft is near the ground wire at a certain height from the ground, the ground wire is relatively thin, and the moving mechanism of the multi-rotor polling aircraft is not easy to mount the ground wire to be hung, for this reason, the invention can also add a guide fence in the wire-falling walking device, the guide fence is arranged on one side of the moving wheel (and/or the supporting wheel) opposite to the supporting frame and abuts against the side wall of the moving wheel (and/or the supporting wheel), the guide fence is arranged in an outward expanding manner and forms an enclosed space with the moving wheel (and/or the supporting wheel), so as to guide the ground wire to be hung into the wheel groove of the moving wheel (and/or the supporting wheel).
In order to make the ground wire to be hung more easily guided into the wheel groove of the moving wheel (and/or the supporting wheel), the invention can also add an auxiliary guide fence on the side of the moving wheel (and/or the supporting wheel) facing the supporting frame, wherein the auxiliary guide fence is also abutted against the side wall of the moving wheel (and/or the supporting wheel) and forms a blocking space with the moving wheel (and/or the supporting wheel); especially, when the moving wheels and the supporting wheels are arranged in the wire falling walking device at the same time, the auxiliary guide fence and the guide fence jointly form an enclosed space which can ensure that the ground wires to be hung enter wheel grooves of the moving wheels and the supporting wheels, and the situation that the ground wires to be hung are staggered between the moving wheels and the supporting wheels is avoided.
(3) The inspection device is responsible for many rotors and patrols and examines the work that the object to be examined (if lead ground wire, shaft tower, gold utensil, passageway environment) was examined in the inspection tour of aircraft, includes: and (5) inspecting a camera.
The inspection camera is fixedly installed in the bottom of cabin for the object to be inspected is shot, in order to inspect whether the object to be inspected damages.
In order to clearly shoot the object to be inspected and achieve the purpose of inspection tour, when the inspection tour camera is specifically implemented, the inspection tour camera can be a high-definition camera, for example, a high-definition camera with an infrared function can be selected, so that the inspection tour need under the condition of insufficient light can be met.
In order to ensure that the inspection camera can shoot the object to be detected under various conditions and can shoot the object to be detected in a targeted manner, the inspection device can be additionally provided with the cloud deck, the cloud deck is fixedly arranged at the bottom of the cabin, the inspection camera is arranged on the cloud deck, the shooting direction of the inspection camera is changed through the rotation of the cloud deck, so that the shooting range of the inspection camera can cover the object to be detected, and the requirement of the inspection camera on the targeted shooting can be met.
Considering that the inspection camera has certain weight, the rotation of the tripod head can change the gravity center of the inspection camera, and in order to avoid the inspection work blockage caused by the incapability of keeping balance of the multi-rotor inspection aircraft, the inspection device can be additionally provided with a balance weight according to needs, and the balance weight is fixedly arranged at the bottom of the cabin so as to maintain the balance stability of the multi-rotor inspection aircraft.
(4) The control device is responsible for the actions of flying, moving and the like of the multi-rotor polling aircraft.
In specific implementation, the control device may be disposed in a cabin of the cabin, such as but not limited to a microcontroller, a single chip, and the like.
In a preferred embodiment, the multi-rotor inspection aircraft provided by the invention further comprises: and the flight end wireless transmission interface is respectively connected with the guide camera and the inspection camera and is used for wirelessly transmitting the image information shot by the guide camera and the inspection camera to the ground equipment in real time. The wireless transmission interface and the ground equipment can transmit data by adopting wireless communication technologies such as 2.4G, 5.8G, 433M and the like, but not limited to the above.
The invention integrates the unmanned aerial vehicle technology and the on-line robot technology and applies the integrated technology to the transmission line inspection field, thereby not only exerting the advantages of flexibility, stability, easy control and the like of the unmanned aerial vehicle technology, but also exerting the advantages of accuracy, intelligence, energy conservation and the like of the on-line robot technology, avoiding the problems of endurance time period and aerial image jitter when the unmanned aerial vehicle is used for inspection, and also avoiding the problems of online and offline and online obstacle crossing difficulty when the on-line robot is used for inspection, overcoming the respective limitations of the two technologies, fully utilizing the superiority of the two technologies in transmission line maintenance, providing convenience for transmission line inspection work, improving the efficiency of transmission line inspection, and reducing the labor cost of transmission line inspection; in addition, the relative position of the moving mechanism and the ground wire to be hung can be accurately judged through the image information shot by the guide camera, the adjustment action of the multi-rotor inspection aircraft is accurately controlled, the ground wire mounting is quickly and accurately completed, and safety guarantee is provided for smoothly completing the inspection process.
Considering the situation that the power transmission line inspection site is generally located in a remote suburb, the integral multi-rotor inspection aircraft is inconvenient in transportation and maintenance, and faulty parts are troublesome to replace, the invention can design each device and element in the multi-rotor inspection aircraft into a form formed by assembling smaller sub-elements, so that when the multi-rotor inspection aircraft is transported, the integral multi-rotor inspection aircraft can be disassembled into the sub-elements to be stored respectively, the invention has the effects of saving space and facilitating transportation, after the multi-rotor inspection aircraft arrives at the inspection site, the sub-elements are assembled into the integral multi-rotor inspection aircraft, and when a fault occurs, the sub-elements involved in the fault are also required to be maintained or replaced, thereby having the effects of quickly repairing and improving the inspection efficiency.
The following are design embodiments for the disassembly and assembly of the multi-rotor flight device, the line-falling walking device and the inspection device provided by the invention:
example one
This embodiment is directed at the split and the equipment design of many rotor flying devices.
In this embodiment, the nacelle is an oblate nacelle body structure, and a plurality of openings are uniformly arranged along the circumference of the nacelle body structure, and correspond to the plurality of rotors one by one; the landing gear may be, but is not limited to being, secured to the bottom of the nacelle by a bolt structure.
The rotor of this embodiment includes specifically: rotor support, brushless motor, screw and anti-collision cover. One end of the rotor wing bracket is fixedly inserted into the corresponding opening; the brushless motor, the propeller and the anti-collision cover are arranged on the rotor wing bracket; the propeller rotates under the driving of the brushless motor and generates lift force; the anti-collision cover is covered outside the propeller.
In this embodiment, each rotor and the nacelle are assembled and disassembled by the plug-in connection between the rotor bracket and the corresponding opening.
The connection relationship between the crash shield and the rotor bracket may be designed to be capable of being assembled and disassembled, for example, the present embodiment may adopt a rotor structure shown in fig. 2(a) to (d), and as shown in fig. 2, the rotor includes: rotor support K _1, brushless motor K _2, screw K _3 and protection against collision cover K _ 4.
The collision-proof cover K _4 comprises a top cover K _41 and a bottom cover K _42, and the top cover K _41 and the bottom cover K _42 are both of circular net structures; the top cover K _41 is provided with an upper end part clamping piece K _411 and an upper shaft part clamping piece K _412 at two ends of the diameter thereof respectively; the bottom cover K _42 is respectively provided with a lower end part clamping piece K _421 and a lower shaft part clamping piece K _422 at the two ends of the diameter thereof; the upper end engaging piece K _411, the upper shaft engaging piece K _412, the lower end engaging piece K _421 and the lower shaft engaging piece K _422 each have a recess and a screw hole.
The upper end clamping piece K _411 corresponds to the lower end clamping piece K _421 in position, grooves of the upper end clamping piece K _411 and the lower end clamping piece K _421 are clamped on the upper portion and the lower portion of the spiral support respectively, screw holes of the upper end clamping piece K _411 and the lower end clamping piece K _421 are matched with each other, a bolt P1 penetrating through the screw holes realizes that the upper end clamping piece K _411 and the lower end clamping piece K _421 are detachably and fixedly connected, and the distance between the groove of the upper end clamping piece K _411 and the groove of the lower end clamping piece K _421 can be changed by rotating the spiral P1, so that the fastening degree between the groove of the upper end clamping piece K _411 and the groove.
The upper shaft part clamping piece K _412 corresponds to the lower shaft part clamping piece K _422 in position, grooves of the upper shaft part clamping piece K _412 and the lower shaft part clamping piece K _422 are respectively clamped at the upper part and the lower part of the spiral support, screw holes of the upper shaft part clamping piece K _412 and the lower shaft part clamping piece K _422 are matched with each other, a bolt P2 penetrating through the screw holes realizes the detachable fixed connection of the upper shaft part clamping piece K _412 and the lower shaft part clamping piece K _422, and the distance between the groove of the upper shaft part clamping piece K _412 and the groove of the lower shaft part clamping piece K _422 can be changed by rotating the spiral P2, so that the fastening degree between the groove of the upper shaft part.
In this embodiment, the upper end engaging piece K _411 and the lower end engaging piece K _421 may be connected by other bolt methods besides the screw hole and the bolt P1 shown in fig. 2, for example, lugs corresponding to each other and matching with each other are respectively disposed on both sides of the upper end engaging piece K _411 and the lower end engaging piece K _421, and the two are connected by a bolt penetrating the lugs; similarly, the upper shaft engaging member K _412 and the lower shaft engaging member K _422 may be connected by a screw hole and a bolt P2 as shown in fig. 2, and may be provided with lugs corresponding in position and matching with each other on both sides of the upper shaft engaging member K _412 and the lower shaft engaging member K _422, respectively, and the two may be connected by a bolt penetrating through the lugs.
Example two
The embodiment is designed for the disassembly and assembly of the line-falling walking device.
The wire-dropping running device of the present embodiment has a configuration as shown in fig. 3(a) to (d), and includes: the device comprises a fixed support L _1, a movable support L _2, a moving wheel L _3, a driving motor L _4, a wheel support L _5, a supporting wheel L _6, a guide rail L _7, an auxiliary guide rail L _8 and a guide camera L _ 9.
The bottom end of the fixed support L _1 is fixed to the top of the nacelle (not shown in fig. 3(a) - (d)), and the top end of the fixed support L _1 is fixedly connected with the bottom end of the movable support L _ 2.
Remove wheel L _3, driving motor L _4, wheel support L _5, supporting wheel L _6, direction rail L _7 and supplementary direction rail L _8 and install in the top of movable support L _ 2. The driving motor L _4 is connected with a wheel shaft of the movable wheel L _ 3; a wheel bracket L _5 is vertically fixed at the top end of the movable bracket L _2, and a supporting wheel L _6 is arranged on the wheel bracket L _ 5; the guide fence L _7 is arranged on one side, back to the support frame, of the moving wheel L _3 and the supporting wheel L _6, and is in an outward expansion mode relative to the side walls of the moving wheel L _3 and the supporting wheel L _ 6; the auxiliary guide fence L _8 is arranged on one side, facing the support frame, of the moving wheel L _3 and the support wheel L _ 6; the guide fence L _7 and the auxiliary guide fence L _8 are abutted against the side walls of the moving wheels L _3 and the supporting wheels L _6, and form a blocking space with the moving wheels L _3 and the supporting wheels L _6 so as to guide the ground wire to be hung into the wheel grooves of the moving wheels L _3 and the supporting wheels L _ 6. After the moving wheel L _3 and the supporting wheel L _6 are mounted on the ground wire to be hung, the driving motor L _4 drives the moving wheel L _3 to move along the ground wire to be hung and drives the supporting wheel L _6 to also move along the ground wire to be hung.
And the guiding camera L _9 is fixedly arranged on the movable support L _ 2.
In this embodiment, the top end of the fixed bracket is fixedly connected to the bottom end of the movable bracket through at least one double-hole connector S1, as shown in fig. 4(a) - (d), the double-hole connector S1 has two through holes arranged in parallel and a knob; the two through holes are communicated with each other through a seam hole, and the knob vertically penetrates through two side walls of the seam hole; the top end of the fixed support and the bottom end of the movable support respectively penetrate through the two through holes; the rotation of the knob changes the distance between the two side walls of the slot hole so as to adjust the fastening degree of the two through holes and the fixed support and the movable support.
The length of the mutually overlapped part of the fixed bracket and the movable bracket can be adjusted by utilizing the double-hole connecting piece S1 so as to adjust the gravity center position of the line falling walking device relative to the whole multi-rotor inspection aircraft, thereby being beneficial to maintaining balance and stability of the multi-rotor inspection aircraft and providing convenience for safely mounting the multi-rotor inspection aircraft on a ground wire to be hung.
The embodiment can also be provided with an opening at the top of the cabin; the bottom end of the fixed support is fixedly inserted into the opening in the top of the engine room, so that the fixed support is fixedly connected with the engine room.
In this embodiment, the support frame and the nacelle are assembled and disassembled by the plug-in connection between the fixed support and the opening at the top of the nacelle and the fastening connection between the double-hole connector S1 and the fixed support and the movable support.
EXAMPLE III
This embodiment is to the split and the equipment design of inspection device.
The inspection device of this embodiment includes: base, cloud platform and camera of patrolling and examining. The base is fixedly connected to the bottom of the cabin; the cloud deck is fixed on one surface of the base, which faces away from the engine room, and the inspection camera is arranged on the cloud deck; the pan-tilt changes the shooting direction of the inspection camera through rotation.
In this embodiment, the fixed connection of the base to the bottom of the nacelle may be achieved by bolts, for example, the bottom of the nacelle is provided with at least one downward lug, and the side of the base facing the nacelle is provided with at least one upward lug; these downward lugs mate with the upward lugs and are fixedly attached by bolts. That is, the base and the nacelle are disassembled and assembled by bolting between these downward lugs and upward lugs. It should be noted that the lugs at the bottom of the base and the cabin are uniformly arranged as much as possible to ensure the balance stability of the whole multi-rotor inspection aircraft.
In addition to the above-mentioned bolt connection, the base and the bottom of the nacelle may be connected by other means in this embodiment.
For example, the inspection device of the present embodiment may also adopt the structures shown in fig. 5(a) to (d), and specifically include: the system comprises an inspection camera X _1, a tripod head X _2, a base X _3, a base hanging rod X _4, a counterweight X _5, a double-hole connecting piece S2 and a double-hole connecting piece S3; meanwhile, in order to match the inspection devices shown in fig. 5(a) - (d), two inspection device hanging rods X _6 arranged in parallel are fixed at the bottom of the cabin, wherein the inspection device hanging rods X _6 include but are not limited to being fixed at the bottom of the cabin in a welding manner.
As shown in fig. 5(a) - (d), the side of the base X _3 facing the nacelle is provided with at least one lug; the base hanging rod X _4 penetrates through the lugs and is vertically arranged between the two inspection device hanging rods X _6, and two ends of the base hanging rod X _4 are fixedly connected with the two inspection device hanging rods X _6 through double-hole connectors S2 respectively; the double-hole connector S2 has the structure shown in fig. 6(a) - (d), and includes a knob and two through holes T3 and T4 vertically disposed; the through hole T3 is communicated with a slot, and the knob passes through two side walls of the slot; the inspection device hanging rod X _6 penetrates through the through hole T3; the distance between two side walls of the slotted hole is changed by rotating the knob so as to adjust the fastening degree of the through hole T3 and the inspection device hanging rod X _ 6; two ends of the base hanging rod X _4 are clamped in the through hole T4. Namely, the base X _3 and the cabin are separated and assembled by the base hanging rod X _4 and the inspection device hanging rod X _6 through the fixed connection between the double-hole connectors S2.
As shown in fig. 5(a) to (d), the weight X _5 includes: tray and weight body X _ 51. The tray is of a groove-shaped structure, and the counterweight body X _51 is arranged in the tray; the tray specifically includes: the tray bottom X _52, the tray side wall X _53, the front clamping piece X _54 and the rear clamping piece X _ 55; the front clamping piece X _54 and the rear clamping piece X _55 are respectively fixed at two ends opposite to the tray bottom X _52, and the counterweight body X _51 is clamped in the middle; the tray side wall X _53 is fixed at the other two ends of the tray bottom X _ 52; at least two bulges are arranged on the side wall X _53 of the tray; the bulge is fixedly connected with the inspection device hanging rod X _6 through a double-hole connecting piece S3; the double-hole connector S3 has the structure shown in fig. 6(a) - (d), and includes a knob and two through holes T3 and T4 vertically disposed; the through hole T3 is communicated with a slot, and the knob passes through two side walls of the slot; the inspection device hanging rod X _6 penetrates through the through hole T3; the rotation of the knob enables the distance between two side walls of the slotted hole to adjust the fastening degree of the through hole T3 and the inspection device hanging rod X _ 6; the bulge is clamped in the through hole T4. Namely, the balance weight X _5 and the engine room are separated and assembled through the fixed connection between the bulges and the inspection device hanging rod X _6 through the double-hole connecting piece.
In the structures shown in fig. 5(a) - (d), the counterweight X _5 has the function of keeping the whole multi-rotor inspection aircraft balanced and stable, and since the inspection cameras X _1 of different models may have different weights, in order to keep the balance and stability of the multi-rotor inspection aircraft, the counterweight body X _51 can be increased or decreased according to actual needs to meet the actual needs.
Example four
This embodiment provides a detachable and assembled multi-rotor inspection aircraft, and fig. 7(a) to (d) show the assembled overall structure of the multi-rotor inspection aircraft, including: the system comprises a multi-rotor flight device Z _1, a line-falling walking device Z _2, a patrol inspection device Z _3, a control device (installed in a cabin and not shown in the figures 7(a) to (d)) and a flight-end wireless transmission interface Z _ 4; the multi-rotor flight device Z _1 has a rotor structure shown in fig. 2, the wire-dropping travel device Z _2 has mechanisms shown in fig. 3(a) to (d), and the inspection device Z _3 has structures shown in fig. 5(a) to (d).
Because each device homoenergetic of constituteing this many rotors and patrolling and examining aircraft all can split and equipment, consequently just can patrol and examine aircraft split into solitary subelement and connecting piece and save respectively with holistic many rotors in transit, reach the purpose of saving space, convenient transportation, reach and patrol and examine the scene after, utilize the connecting piece can assemble into holistic many rotors with these subelements fast and patrol and examine the aircraft, when breaking down, also only need maintain or change the subelement that the trouble relates to, reach quick restoration, improve and patrol and examine the purpose of efficiency.
The above embodiments one, two, three and four are examples of the splitting and assembling design provided by the present invention, and it should be noted that, when the present invention is implemented, other types of splitting and assembling designs can be designed according to practical situations to achieve the purposes of convenient transportation and rapid repair of a faulty component, that is, the above design forms are only specific embodiments of the present invention, and are not used to limit the protection scope of the present invention.
The action of the multi-rotor polling aircraft needs to be adjusted in real time according to the relative position between the moving mechanism and the ground wire to be hung, for example, when the multi-rotor polling aircraft is on the ground, the multi-rotor polling aircraft needs to fly to the position near the ground wire to be hung, then the multi-rotor polling aircraft needs to gradually approach until the multi-rotor polling aircraft is hung on the ground wire to be hung, then the multi-rotor polling aircraft moves along the ground wire to be hung, and when an obstacle (such as a damper, a spacer, a suspension clamp and the like) is encountered in the moving process, the multi-rotor polling aircraft needs to vertically lift and land to cross the obstacle and then. In order to meet the requirement of real-time adjustment action, the relative position of the moving mechanism and the ground wire to be hung must be known at any time through image information shot by the guide camera.
In order to quickly and accurately determine the relative position relationship between the moving mechanism of the multi-rotor inspection aircraft and the ground wire to be hung, the invention can divide the area of the image shot by the guiding camera and determine the relative position between the moving mechanism and the ground wire to be hung by judging the area of the ground wire to be hung in the image.
In a preferred embodiment, the present invention can divide the area of the image captured by the guide camera according to the following rules: taking a horizontal plane where the center point of the image picture is as an interface; the area above the interface is the upper area; the area below the interface is the lower area; a projection area of the moving mechanism within the boundary (an area of the moving mechanism vertically projected within the boundary) is the drop line area; and the area outside the drop line area in the boundary is the approaching area.
Based on the region division rule, the method for the multi-rotor inspection aircraft to mount the power transmission line comprises the following steps:
when the ground wire to be hung is judged to be in an upper area of an image picture shot by a guide camera of the multi-rotor inspection aircraft, controlling the rotor of the multi-rotor inspection aircraft to fly upwards;
when the ground wire to be hung is judged to be in a lower area of the image picture, the rotor wing is controlled to fly downwards;
when the ground wire to be hung is judged to be in the approaching area of the image picture, the rotor wing is controlled to fly horizontally and approach the ground wire to be hung;
and when the ground wire to be hung is judged to be positioned in the line falling area of the image picture, the rotor wing is controlled to stop flying and land.
The method for the multi-rotor inspection aircraft to mount the power transmission line is described below by taking fig. 8 as an example:
as shown in fig. 8, B is the center point of the lens of the guide camera and also the center point of the image frame captured by the guide camera.
The field angle of the guide camera is ^ ABC; the BD plane is a horizontal plane where a central point B of the image picture is located, namely an interface; the area covered by the angle ABD is positioned above the BD plane, namely the upper area; the area covered by the angle CBD is positioned below a BD plane, namely a lower area; the area N is a projection area of the moving mechanism in the BD plane, namely a line falling area; the area outside the area N in the BD plane is a near area.
When the ground wire to be hung is positioned in an area (an upper area) covered by the angle ABD, the fact that the ground wire to be hung is positioned above the multi-rotor inspection aircraft is shown, and the multi-rotor inspection aircraft needs to fly upwards;
when the ground wire to be hung is positioned in a region (a lower region) covered by the & lt CBD, the fact that the ground wire to be hung is positioned below the multi-rotor inspection aircraft is shown, and the multi-rotor inspection aircraft needs to fly downwards;
when the ground wire to be hung is positioned in the BD plane and is positioned in an area (close area) outside the projection area N of the moving mechanism, the ground wire to be hung and the moving mechanism are basically positioned in the same horizontal plane but are not positioned under the moving mechanism, and the multi-rotor inspection aircraft needs to fly horizontally and close to the ground wire to be hung;
when the ground wire to be hung is located in the BD plane and is located in the projection area N (wire falling area) of the moving mechanism, it is indicated that the ground wire to be hung is located just below the moving mechanism, and the multi-rotor-wing inspection aircraft stops flying and lands until the moving mechanism is hung on the ground wire to be hung.
In addition, when the moving mechanism is judged to be mounted on the ground wire to be mounted, the mounting is successfully realized, and the moving mechanism of the multi-rotor-wing inspection aircraft moves along the ground wire to be mounted.
When the mobile mechanism is judged to move to the position near an obstacle (such as a damper, a spacer, a suspension clamp and the like) on the ground wire to be hung, the multi-rotor inspection aircraft takes off and crosses the obstacle and then lands until the mobile mechanism is hung on the ground wire to be hung again.
When the multi-rotor polling aircraft is provided with the guide fence, as a blocking space is formed between the guide fence and the moving wheel, as long as the ground wire to be hung enters the area covered by the blocking space, the multi-rotor polling aircraft can stop flying and automatically land, and the ground wire to be hung is guided into the wheel groove of the moving wheel by the guide fence, so that the multi-rotor polling aircraft needs to know the relative position of the guide fence and the ground wire to be hung and adjust the action at any time through the image information shot by the guide camera. In this case, the approach area and the drop line area in the area division rule need to be adjusted accordingly.
In a preferred embodiment, the projection area of the enclosed space formed by the guide fence and the moving wheel in the boundary plane (the area of the enclosed space vertically projected into the boundary plane) is determined as the drop line area; and the area outside the drop line area in the boundary is the approaching area. The following description will be made by taking fig. 9 as an example:
as shown in fig. 9, B is the center point of the lens of the guide camera and also the center point of the image captured by the guide camera. The field angle of the guide camera is ^ ABC; the BD plane is a horizontal plane where a central point B of the image picture is located, namely an interface; the area covered by the angle ABD is positioned above the BD plane, namely the upper area; the area covered by the angle CBD is positioned below a BD plane, namely a lower area; the area M is a projection area of an enclosed space formed by the guide fence and the moving wheels in the BD plane, namely a wire falling area; the area outside the area M in the BD plane is a close area.
When the ground wire to be hung is positioned in an area (an upper area) covered by the & lt ABD, the fact that the ground wire to be hung is positioned above a moving wheel of the multi-rotor patrol aircraft is shown, and the multi-rotor patrol aircraft needs to fly upwards;
when the ground wire to be hung is positioned in a region (a lower region) covered by the & lt CBD, the ground wire to be hung is positioned below a moving wheel of the multi-rotor polling aircraft, and the multi-rotor polling aircraft needs to fly downwards;
when the ground wire to be hung is positioned in the BD plane and is positioned in an area (close area) outside the projection area M of the enclosed space, the ground wire to be hung and the movable wheel of the multi-rotor-wing inspection aircraft are basically positioned in the same horizontal plane, but are far away from each other and do not enter the area covered by the enclosed space, and the multi-rotor-wing inspection aircraft needs to fly horizontally and close to the ground wire to be hung;
when the ground wire to be hung is positioned in the BD plane and is positioned in the projection area M (wire falling area) of the enclosed space, the ground wire to be hung and the movable wheel of the multi-rotor inspection aircraft are basically positioned in the same horizontal plane and enter the area covered by the enclosed space, the multi-rotor inspection aircraft stops flying and lands, and then under the guiding action of the guide fence, the ground wire to be hung can enter the wheel groove of the movable wheel, so that the movable wheel is hung on the ground wire to be hung.
When the multi-rotor inspection aircraft is provided with the cloud platform, the image pictures shot by the inspection camera are analyzed to control the rotation of the cloud platform of the multi-rotor inspection aircraft, so that the shooting direction of the inspection camera is changed, and the targeted shooting requirements are met.
It should be noted that, in the present invention, the control device in the multi-rotor polling aircraft may execute the operation of determining the relative position between the ground wire to be hung and the moving mechanism (moving wheel), under which condition the multi-rotor polling aircraft completely completes the action adjustment by itself, and in addition, the ground device may also execute the operation of determining the relative position between the ground wire to be hung and the moving mechanism (moving wheel), under which condition, the multi-rotor polling aircraft and the ground device perform wireless data interaction, transmit the image information shot by the guiding camera to the ground device in real time, receive the command sent by the ground device, and be controlled by the ground device to complete the action adjustment.
In summary, the multi-rotor inspection aircraft and the method for mounting the power transmission line thereof provided by the embodiment of the invention have the following beneficial effects:
(1) the unmanned aerial vehicle technology and the online robot technology are integrated and applied to the transmission line inspection field, the advantages of flexibility, stability, easiness in operation and the like of the unmanned aerial vehicle technology are exerted, the advantages of accuracy, intelligence, energy conservation and the like of the online robot technology are also exerted, the problems of endurance time period and aerial image jitter when the unmanned aerial vehicle is used for inspection are avoided, the problems of online and offline difficulty and online obstacle crossing difficulty when the online robot is used for inspection are also avoided, the respective limitations of the two technologies are overcome, the superiority of the two technologies in transmission line maintenance is fully utilized, convenience is provided for transmission line inspection work, the inspection visual field is widened, the inspection efficiency is improved, and the inspection labor cost is reduced;
(2) the ground wire to be hung is shot by the special guiding camera, so that the ground command equipment can know the relative position of the multi-rotor-wing inspection aircraft and the ground wire to be hung conveniently, the adjustment action of the multi-rotor-wing inspection aircraft can be controlled in time, the mounting is realized quickly and accurately, and the inspection efficiency is improved; the method has the advantages that a special inspection camera shoots an object to be inspected, blind area coverage of manual inspection above a line and comprehensive inspection of a line corridor are realized, faults such as damage, deformation and theft of a pole tower, damage and pollution of an insulator, loosening of a wire clamp, falling of a pin, hanging of foreign matters, strand breakage of a lead, poor contact of a connector, local hot spots, overhigh trees and the like can be conveniently found, relevant data of accident potential are provided for relevant workers, and operation safety of a power transmission line is further guaranteed;
(3) the rotor wing structure with the anti-collision cover is adopted, and the anti-collision cover covers the outer part of the propeller, so that the purpose of isolating the propeller from the outside is achieved, the propeller is prevented from colliding or rubbing with a power line in the flying process, and the flying safety of the multi-rotor-wing inspection aircraft is ensured;
(4) each device and element in the multi-rotor inspection aircraft are designed into a form formed by assembling smaller sub-elements, when the multi-rotor inspection aircraft is transported, the integral multi-rotor inspection aircraft can be disassembled into the sub-elements to be stored respectively, the effects of saving space and facilitating transportation are achieved, after the multi-rotor inspection aircraft arrives at an inspection site, the sub-elements are assembled into the integral multi-rotor inspection aircraft, when a fault occurs, only the sub-elements related to the fault need to be maintained or replaced, and the effects of quickly repairing and improving inspection efficiency are achieved;
(5) the method provides an accurate region division rule, can accurately judge the relative position of the moving mechanism (moving wheel) and the ground wire to be hung, timely adjusts the action, quickly and accurately finishes the ground wire hanging, and provides safety guarantee for smoothly finishing the routing inspection process.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (4)
1. A method for mounting a power transmission line on a multi-rotor inspection aircraft is applied to the multi-rotor inspection aircraft, and the multi-rotor inspection aircraft comprises a multi-rotor flying device, a line falling walking device, an inspection device and a control device; wherein, many rotor flying device includes: a nacelle, a plurality of rotors, and a landing gear; the plurality of rotors are fixedly connected with the cabin, are symmetrically arranged by taking the cabin as a center, and generate lift force through rotation to drive the cabin to fly; the undercarriage is fixedly connected with the bottom of the cabin; the wire falling walking device comprises: the device comprises a support frame, a guide camera and a moving mechanism; the bottom end of the supporting frame is fixedly connected with the top of the cabin; the guiding camera is fixedly arranged on the supporting frame and used for shooting the ground wire to be hung so as to guide the moving mechanism to be hung on the ground wire to be hung; the moving mechanism is fixed at the top end of the support frame and used for being mounted on the ground wire to be mounted and moving along the ground wire to be mounted; the inspection device includes: a camera for inspection; the inspection camera is fixedly arranged at the bottom of the cabin and is used for shooting an object to be inspected so as to inspect whether the object to be inspected is damaged or not; the control device controls the rotor wing to fly and controls the moving mechanism to move along the ground wire to be hung; characterized in that the method comprises:
when the ground wire to be hung is judged to be in an upper area of an image picture shot by a guide camera of the multi-rotor inspection aircraft, controlling the rotor of the multi-rotor inspection aircraft to fly upwards;
when the ground wire to be hung is judged to be in a lower area of the image picture, the rotor wing is controlled to fly downwards;
when the ground wire to be hung is judged to be in the approaching area of the image picture, the rotor wing is controlled to fly horizontally and approach the ground wire to be hung;
when the ground wire to be hung is judged to be in the falling area of the image picture, the rotor wing is controlled to stop flying and land;
wherein, the upper region, the lower region, the approach region and the falling line region of the image picture are preset according to the following modes:
taking a horizontal plane where the center point of the image picture is as an interface;
the area above the interface is the upper area;
the area below the interface is the lower area;
the projection area of the moving mechanism in the boundary surface is the falling line area;
and the area outside the drop line area in the boundary is the approaching area.
2. The method of claim 1, further comprising:
when the moving mechanism of the multi-rotor-wing inspection aircraft is judged to be mounted on the ground wire to be mounted, the moving mechanism is controlled to move along the ground wire to be mounted;
and when the moving mechanism is judged to encounter an obstacle in the moving process, the rotor wing is controlled to take off and land after crossing the obstacle until the moving mechanism is mounted on the ground wire to be hung again.
3. A method for mounting a power transmission line on a multi-rotor inspection aircraft is applied to the multi-rotor inspection aircraft, and the multi-rotor inspection aircraft comprises a multi-rotor flying device, a line falling walking device, an inspection device and a control device; wherein, many rotor flying device includes: a nacelle, a plurality of rotors, and a landing gear; the plurality of rotors are fixedly connected with the cabin, are symmetrically arranged by taking the cabin as a center, and generate lift force through rotation to drive the cabin to fly; the undercarriage is fixedly connected with the bottom of the cabin; the wire falling walking device comprises: the device comprises a support frame, a guide camera and a moving mechanism; the bottom end of the supporting frame is fixedly connected with the top of the cabin; the guiding camera is fixedly arranged on the supporting frame and used for shooting the ground wire to be hung so as to guide the moving mechanism to be hung on the ground wire to be hung; the moving mechanism is fixed at the top end of the support frame and used for being mounted on the ground wire to be mounted and moving along the ground wire to be mounted; the inspection device includes: a camera for inspection; the inspection camera is fixedly arranged at the bottom of the cabin and is used for shooting an object to be inspected so as to inspect whether the object to be inspected is damaged or not; the control device controls the rotor wing to fly and controls the moving mechanism to move along the ground wire to be hung; the moving mechanism includes: a moving wheel and a driving motor; the moving wheel and the driving motor are fixed at the top end of the support frame; the moving wheel is provided with a wheel groove; the wire falling walking device further comprises: a guide rail; the guide fence is arranged on one side, back to the support frame, of the moving wheel and is abutted against the side wall of the moving wheel, the guide fence is in an outward expansion mode and forms a blocking space with the moving wheel, and the ground wire to be hung is guided into a wheel groove of the moving wheel; after the moving wheel is mounted on the ground wire to be hung, the moving wheel moves along the ground wire to be hung under the driving of the driving motor; characterized in that the method comprises:
when the ground wire to be hung is judged to be in an upper area of an image picture shot by a guide camera of the multi-rotor inspection aircraft, controlling the rotor of the multi-rotor inspection aircraft to fly upwards;
when the ground wire to be hung is judged to be in a lower area of the image picture, the rotor wing is controlled to fly downwards;
when the ground wire to be hung is judged to be in the approaching area of the image picture, the rotor wing is controlled to fly horizontally and approach the ground wire to be hung;
when the ground wire to be hung is judged to be in the falling area of the image picture, the rotor wing is controlled to stop flying and land;
wherein, the upper region, the lower region, the approach region and the falling line region of the image picture are preset according to the following modes:
taking a horizontal plane where the center point of the image picture is as an interface;
the area above the interface is the upper area;
the area below the interface is the lower area;
the projection area of the enclosed space formed by the guide fence and the moving wheels in the boundary surface is the falling line area;
and the area outside the drop line area in the boundary is the approaching area.
4. The method of claim 3, further comprising:
when judging that a moving wheel of the multi-rotor-wing inspection aircraft is mounted on the ground wire to be hung, controlling the moving wheel to move along the ground wire to be hung;
and when the movable wheel is judged to encounter an obstacle in the moving process, the rotor wing is controlled to take off and land after crossing the obstacle until the movable wheel is mounted on the ground wire to be hung again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410667218.2A CN104362545B (en) | 2014-11-20 | 2014-11-20 | Routing inspection air vehicle with multiple rotor wings and electric transmission line hanging method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410667218.2A CN104362545B (en) | 2014-11-20 | 2014-11-20 | Routing inspection air vehicle with multiple rotor wings and electric transmission line hanging method thereof |
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| CN104362545A CN104362545A (en) | 2015-02-18 |
| CN104362545B true CN104362545B (en) | 2017-05-03 |
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| CN201410667218.2A Active CN104362545B (en) | 2014-11-20 | 2014-11-20 | Routing inspection air vehicle with multiple rotor wings and electric transmission line hanging method thereof |
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| CN103786145B (en) * | 2012-11-01 | 2017-07-21 | 北京国网富达科技发展有限责任公司 | Transmission line high-altitude quality examination machine people |
| CN103855644B (en) * | 2014-03-14 | 2016-10-05 | 何守印 | Many rotary wind types Intelligent overhead-line circuit scanning test robot |
| CN103979106B (en) * | 2014-04-29 | 2016-07-06 | 浙江大学 | The rotary wind type unmanned plane of a kind of automatic adjustment center of gravity and method of adjustment |
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2014
- 2014-11-20 CN CN201410667218.2A patent/CN104362545B/en active Active
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