CN105127133A - Electrified cleaning insulator device based on unmanned aerial vehicle - Google Patents
Electrified cleaning insulator device based on unmanned aerial vehicle Download PDFInfo
- Publication number
- CN105127133A CN105127133A CN201510608316.3A CN201510608316A CN105127133A CN 105127133 A CN105127133 A CN 105127133A CN 201510608316 A CN201510608316 A CN 201510608316A CN 105127133 A CN105127133 A CN 105127133A
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- Prior art keywords
- unmanned plane
- shower nozzle
- frame
- cleaning
- nozzle
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/04—Cleaning involving contact with liquid
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- Cleaning By Liquid Or Steam (AREA)
Abstract
An electrified cleaning insulator device based on an unmanned aerial vehicle comprises a machine frame (4) and a propeller wing. The electrified cleaning insulator device is characterized in that a camera (5) is installed on the abdomen of the unmanned aerial vehicle; and a detergent spray head (1), a high-pressure spray head (2) and a low-pressure spray head (3) are installed on the machine frame (4). The detergent spray head (1), the high-pressure spray head (2) and the low-pressure spray head (3) are controlled through different valves, the opening of the valves is controlled through a steering engine connected to a flight control system on the unmanned aerial vehicle; the valve opening is controlled by means of transmission information of a ground station, and the opening of the different valves is regulated by arranging different buttons on the ground station to perform transmission to the flight control system of the unmanned aerial vehicle. The electrified cleaning insulator device has the advantages that an insulator can be cleaned flexibly and conveniently; compared with manual cleaning through manual water spraying, water resources can be saved, and the manual operation risk is reduced. In the aspect of cleaning effects, the three spray heads are adopted, the targeted cleaning is performed, and the insulator cleaning efficiency is improved.
Description
Technical field
The invention belongs to unmanned plane applied technical field, adopt three shower nozzles to switch and contamination is in various degree removed, can effectively remove most dirt in insulator, the insulator in the various power equipment of cleaning can be widely used in simultaneously.
Background technology
On insulator surface, pollution layer is formed by the deposition of the solid suspended in air, liquid or gas particles, and contamination process is relevant with the character, meteorological condition etc. in the shape of the insulators such as insulator, dirty source.The filthy material deposited in pollution layer has resolvability material and insolubility material, in general, containing NaCl, CaSO4 and other compositions in dunghill.The close difference of insulator surface ash, pollution flashover voltage is also different, grey close increase, and pollution flashover voltage will reduce, otherwise increases; The heterogeneity of dunghill is also different on the impact of the Flashover Characteristics of insulator, and in general, NaCl is larger than the impact of the materials such as CaSO4, CaCl2, MgSO4.
In current power industry, the cleaning of insulator is mainly used to mechanical arm to clean, and the cleaning of mechanical arm lacks flexibility, heavy and involve great expense, be not easy to transport.The unmanned plane of many rotors, as the crystallization of emerging technology, not only has powerful mobility, convenient carrying, and can also solve the insoluble problem of many workpeoples very directly, fast.
Summary of the invention
The object of the invention is to utilize on unmanned plane and carry different shower nozzles to clean the contamination on insulator, reach cleaning object by the structural design device optimized, can be widely used on all kinds of unmanned plane.
The object of the invention is to realize by following technical solution.
A kind of unmanned plane cleaning tape electric(al) insulator device, comprise frame, windmill wings, feature of the present invention is: be mounted with video camera at unmanned plane belly, frame is separately installed with cleaning agent shower nozzle, high-pressure nozzle, low pressure shower nozzle, wherein cleaning agent shower nozzle, high-pressure nozzle and low pressure shower nozzle adopt different Valve controlling respectively, and the aperture employing of valve is connected to the steering wheel of flight control system on unmanned plane and controls; By-pass valve control aperture is by the transmission information of earth station, and the aperture of different valve arranges different buttons by earth station and is transferred to UAV Flight Control System and regulates.
The spatial configuration of the frame of unmanned plane is set to ellipsoid concave shape by the present invention, puts into cleaning agent shower nozzle, high-pressure nozzle, low pressure shower nozzle wherein simultaneously; Three jet pipes all adopt toroidal nozzle, and spout aims at same direction; Video camera is arranged on frame belly by the mechanical rotation device of connection frame.Keep the safe distance of camera and shower nozzle simultaneously, avoid camera waterlogged damage.
The present invention adopts wireless data sending to control flight controller, frame adopts the carbon fibre material that the light hardness of quality is high, adopt rational Design of Mechanical Structure to install, cleaning agent shower nozzle, high-pressure nozzle, low pressure shower nozzle three jet pipes adopt welding to be fixed in unmanned plane frame, three jet pipes are from left to right put successively, and two, left and right symmetry is placed; Each jet pipe valve is connected to respective shower nozzle leading portion, and carrys out connection control valve switch size with controlled steering wheel, also ultrasonic range finder is installed at frame belly, in order to keep the safe distance of unmanned plane work simultaneously.
The present invention by installing the shower nozzle of three difference in functionalitys in the frame of unmanned plane, and stationary nozzle flow calculates the real-time momentum vector that high-pressure nozzle produces, and by the data feedback that records to UAV Flight Control System; The flight control system of unmanned plane can produce momentum forward by built-in algorithms and keep equal and opposite in direction direction contrary with the momentum backward that the high-pressure nozzle of current time produces, ensure the stability of unmanned plane during flying, and pass cleaning monitored picture real-time for the Distance geometry of now unmanned plane and insulator back earth station by data radio station, be supplied to operator.
The present invention is by optimizing the structural design of unmanned plane, by three shower nozzles parallel arranged in frame respectively, and aimed at same cleaning point, control three shower nozzles when operating and carry out respective work respectively, be combined into the part on unmanned aerial vehicle body, controlled the switching sequence of three valves by flight control system together.Simultaneously by loss of weight optimal design, select quality light, the valve that intensity is high and annular nozzle, can increase flexibility and the flying power of unmanned plane.
The invention has the beneficial effects as follows: cleaning insulator that can be flexible, compare artificial spraying-rinsing, can saving water resource, reduce the risk of manual work.In cleaning performance, adopt three shower nozzles and clean targetedly, improve the efficiency of insulator cleaning.
The technical problem that the present invention solves is:
Ultrasonic distance measuring module is according to its data stabilization, and support multiple interfaces and the good characteristic of response, generally we are applied on a mobile platform.The design of this sensor is based on sonar principle.Ultrasonic wave after launching a succession of modulation by monitoring and the time difference of echo thereof learn the distance value between sensor and target object.
Unmanned plane installs three shower nozzles, and controls at earth station's three different buttons.By nozzle switch signal feedback to UAV Flight Control System, like this, unmanned aerial vehicle control system just can obtain the flow of each shower nozzle of current time.Unmanned plane regulates self speed by its built-in flight controller, the momentum produced backward when balancing each shower nozzle spray cleaning agent or water, can keep the stable of unmanned plane.
Wherein unmanned plane total quality is m
1, speed is forward v
1, high-pressure nozzle is fixed in unmanned plane frame, and spray flow is Q, and ejection water quality is m
2, spouting velocity is v
2, then:
Have according to the conservation of momentum: m
1v
1=m
2v
2(1)
Flow formula is: Q=S × v (2)
Known by flow Q and cross-section area of nozzle S, can show that high-pressure nozzle at the momentum that the unit interval produces is by (1) (2):
Obtaining unmanned plane flying speed is forward:
Namely when maintenance unmanned plane is at v
1speed under flight can keep stable, when the changes in flow rate of shower nozzle, constantly adjustment unmanned plane speed v forward
1unmanned plane can be kept to balance and to clean insulator, also can ensure the clear of monitored picture simultaneously.
Unmanned plane, when design and installation three valve pipes and video camera, needs the design feature taking into full account these devices to carry out distribution design.First, the weight of three valve pipes can not be too large, can select the material that quality is light, intensity is high; Secondly, video camera operationally can not block by other devices, camera can be suspended on below unmanned plane, and be convenient to adjust viewing angle at any time; Finally, the project organization of unmanned plane can be optimized, by modular design, three jet pipes be carried out structural design in units of functional block, it is carried out design and installation according to same size material, realizes the optimization of its load, profile and weight.
Accompanying drawing explanation
Fig. 1 is the structural representation of unmanned plane; 1. cleaning agent shower nozzle 2. high-pressure nozzle 3. low pressure shower nozzle 4. frame 5 video camera 6 ultrasonic distance measuring modules in figure.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
See Fig. 1, a kind of unmanned plane cleaning tape electric(al) insulator device, comprise frame 4, windmill wings, feature of the present invention is: be mounted with video camera 5 at unmanned plane belly, frame 4 is separately installed with cleaning agent shower nozzle 1, high-pressure nozzle 2, low pressure shower nozzle 3, wherein cleaning agent shower nozzle 1, high-pressure nozzle 2 and low pressure shower nozzle 3 adopt different Valve controlling respectively, and the aperture employing of valve is connected to the steering wheel of flight control system on unmanned plane and controls; By-pass valve control aperture is by the transmission information of earth station, and the aperture of different valve arranges different buttons by earth station and is transferred to UAV Flight Control System and regulates.
The spatial configuration of the frame of unmanned plane is set to ellipsoid concave shape by the present invention, puts into cleaning agent shower nozzle 1, high-pressure nozzle 2, low pressure shower nozzle 3 wherein simultaneously; Three jet pipes all adopt toroidal nozzle, and spout aims at same direction; Video camera 5 is arranged on frame belly by the mechanical rotation device of connection frame.Keep the safe distance of camera and shower nozzle simultaneously, avoid camera waterlogged damage.
The present invention adopts wireless data sending to control flight controller, frame 4 adopts the carbon fibre material that the light hardness of quality is high, adopt rational Design of Mechanical Structure to install, cleaning agent shower nozzle 1, high-pressure nozzle 2, low pressure shower nozzle 3 three jet pipes adopt welding to be fixed in unmanned plane frame, three jet pipes are from left to right put successively, and two, left and right symmetry is placed; Each jet pipe valve is connected to respective shower nozzle leading portion, and carrys out connection control valve switch size with controlled steering wheel, at frame 4 belly, ultrasonic range finder 6 is also installed, in order to keep the safe distance of unmanned plane work simultaneously.
The present invention by installing the shower nozzle of three difference in functionalitys in the frame of unmanned plane: cleaning agent shower nozzle, high-pressure nozzle, low pressure shower nozzle, and stationary nozzle flow calculates the real-time momentum vector that high-pressure nozzle produces, and by the data feedback that records to UAV Flight Control System; The flight control system of unmanned plane can produce momentum forward by built-in algorithms and keep equal and opposite in direction direction contrary with the momentum backward that the high-pressure nozzle of current time produces, ensure the stability of unmanned plane during flying, and pass cleaning monitored picture real-time for the Distance geometry of now unmanned plane and insulator back earth station by data radio station, be supplied to operator.
The present invention is by optimizing the structural design of unmanned plane, by three shower nozzles parallel arranged in frame respectively, and aimed at same cleaning point, control three shower nozzles when operating and carry out respective work respectively, be combined into the part on unmanned aerial vehicle body, controlled the switching sequence of three valves by flight control system together.Simultaneously by loss of weight optimal design, select quality light, the valve that intensity is high and annular nozzle, can increase flexibility and the flying power of unmanned plane.
User, by optimizing the structural design of unmanned plane, by three shower nozzles parallel arranged in frame respectively, and by its modularization, is combined into the part on unmanned aerial vehicle body, is controlled the switching sequence of three valves by flight control system together.Simultaneously by loss of weight optimal design, select quality light, the valve that intensity is high and shower nozzle, can increase flexibility and the flying power of unmanned plane.
The present embodiment such as Fig. 1 is the structural representation of unmanned plane, and wherein, 1 be cleaning agent jet pipe 2 is low pressure jet pipes, and 3 is high-pressure nozzles, and 4 is monitoring cameras, and 5 is ultrasonic distance measuring modules, and 6 is frames.Ultrasonic distance measuring module is arranged on above unmanned plane frame, and video camera is arranged on below frame, needs to ensure that it is not blocked.
In the structural design of this device, unmanned plane needs lift-launch three shower nozzles and video camera, and also will keep the balance of flying the moment, this just needs to simplify load device as much as possible, and adopts the material of light weight, high strength to alleviate the load of unmanned plane simultaneously.
For the structural design of shower nozzle, flight control system is then directly utilized to output signal the switch controlling its valve, and it can be used as a part for UAS to carry out modularized design, three shower nozzles are arranged on the front end of unmanned plane frame, carry out machinery to fix, and aim at same direction, ensure that shower nozzle can normally work.Ultrasonic distance measuring module is safe distance when keeping unmanned plane work, needs to be placed on the frame middle of unmanned plane and is not blocked, also avoiding current during work to rebound simultaneously, enter plant equipment and affect work.Most important part according to actual task load requirements and Weight control demand, will carry out the feedback of structure loss of weight design, designs suitable device structure.Mainly comprise in complete machine structure add shower nozzle Machine Design, modularized design and loss of weight optimization.Realize the cleaning of multi-rotor aerocraft, facilitate operated by personnel and the maintenance to equipment.
Claims (3)
1. the charged cleaning insulator arrangement based on unmanned plane, comprise frame (4), windmill wings, it is characterized in that: be mounted with video camera (5) at unmanned plane belly, frame (4) is separately installed with cleaning agent shower nozzle (1), high-pressure nozzle (2), low pressure shower nozzle (3), wherein cleaning agent shower nozzle (1), high-pressure nozzle (2) and low pressure shower nozzle (3) adopt different Valve controlling respectively, and the aperture employing of valve is connected to the steering wheel of flight control system on unmanned plane and controls; By-pass valve control aperture is by the transmission information of earth station, and the aperture of different valve arranges different buttons by earth station and is transferred to UAV Flight Control System and regulates.
2. a kind of charged cleaning insulator arrangement based on unmanned plane according to claim 1, it is characterized in that: the spatial configuration of the frame of unmanned plane is set to ellipsoid concave shape, put into cleaning agent shower nozzle (1), high-pressure nozzle (2), low pressure shower nozzle (3) wherein simultaneously; Three jet pipes all adopt toroidal nozzle, and spout aims at same direction; Video camera (5) is arranged on frame belly by the mechanical rotation device of connection frame.
3. a kind of charged cleaning insulator arrangement based on unmanned plane in a kind of charged situation according to claim 1 and 2, is characterized in that: adopt wireless data sending to control flight controller, frame (4) adopts carbon fibre material; Cleaning agent shower nozzle (1), high-pressure nozzle (2), low pressure shower nozzle (3) three jet pipes adopt welding to be fixed in unmanned plane frame, and three jet pipes are from left to right put successively, and two, left and right symmetry is placed; Each jet pipe valve is connected to respective shower nozzle leading portion, and carrys out connection control valve switch size with controlled steering wheel, at frame (4) belly, ultrasonic range finder (6) is also installed, in order to keep the safe distance of unmanned plane work simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510608316.3A CN105127133A (en) | 2015-09-23 | 2015-09-23 | Electrified cleaning insulator device based on unmanned aerial vehicle |
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|---|---|---|---|
| CN201510608316.3A CN105127133A (en) | 2015-09-23 | 2015-09-23 | Electrified cleaning insulator device based on unmanned aerial vehicle |
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| CN105127133A true CN105127133A (en) | 2015-12-09 |
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| CN201510608316.3A Pending CN105127133A (en) | 2015-09-23 | 2015-09-23 | Electrified cleaning insulator device based on unmanned aerial vehicle |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105583181A (en) * | 2015-12-18 | 2016-05-18 | 合保电气（芜湖）有限公司 | Washing box for insulators |
| CN105720519A (en) * | 2016-04-21 | 2016-06-29 | 国家电网公司 | Unmanned aerial vehicle (UAV) live-line operation device and method |
| CN105799910A (en) * | 2016-03-17 | 2016-07-27 | 辽宁宏成电力股份有限公司 | Photovoltaic panel monitoring and cleaning aerial robot system and photovoltaic panel cleaning method |
| CN106092213A (en) * | 2016-08-17 | 2016-11-09 | 国网河南省电力公司濮阳供电公司 | Insulator hydrophobicity on-line measuring device based on unmanned air vehicle technique |
| CN106184810A (en) * | 2016-07-20 | 2016-12-07 | 广东容祺智能科技有限公司 | A kind of many rotor wing unmanned aerial vehicles purging system |
| CN106898967A (en) * | 2017-01-12 | 2017-06-27 | 国网福建省电力有限公司 | Power transmission line unmanned machine electrified water flusher |
| CN107178515A (en) * | 2017-07-21 | 2017-09-19 | 杨勇 | A kind of electric fan control system triggered based on environment induction and intelligent electric fan |
| CN108058819A (en) * | 2017-12-13 | 2018-05-22 | 萍乡市旭华电瓷电器制造有限公司 | A kind of isolator detecting unmanned plane |
| CN111632891A (en) * | 2020-05-31 | 2020-09-08 | 袁利华 | High-voltage wire insulator cleaning system and cleaning method |
| CN112495894A (en) * | 2020-10-27 | 2021-03-16 | 国网福建省电力有限公司检修分公司 | Method for realizing anti-pollution flashover electrification control by using unmanned aerial vehicle platform |
| CN113102352A (en) * | 2021-04-15 | 2021-07-13 | 广东电网有限责任公司阳江供电局 | Electrified insulating subsystem and unmanned aerial vehicle that washs of power line unmanned aerial vehicle |
| CN113104710A (en) * | 2021-04-09 | 2021-07-13 | 山西工程职业学院 | Intelligent maintenance equipment for head sheave of mine hoist |
| CN113477625A (en) * | 2021-07-13 | 2021-10-08 | 中国科学技术大学先进技术研究院 | Distance measuring device, unmanned aerial vehicle cleaning equipment, liquid removing method and control device |
| CN113477617A (en) * | 2021-07-13 | 2021-10-08 | 中国科学技术大学先进技术研究院 | Distance measuring device, unmanned aerial vehicle cleaning equipment, cleaning control method and control device |
| CN113967641A (en) * | 2021-11-30 | 2022-01-25 | 国网湖南省电力有限公司检修公司 | Unmanned aerial vehicle dry ice cleaning system for power grid insulator |
| CN114292705A (en) * | 2021-01-06 | 2022-04-08 | 洁运科技(郑州)有限公司 | High-low voltage insulator electrified cleaning agent and cleaning method |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105583181A (en) * | 2015-12-18 | 2016-05-18 | 合保电气（芜湖）有限公司 | Washing box for insulators |
| CN105799910A (en) * | 2016-03-17 | 2016-07-27 | 辽宁宏成电力股份有限公司 | Photovoltaic panel monitoring and cleaning aerial robot system and photovoltaic panel cleaning method |
| CN105799910B (en) * | 2016-03-17 | 2018-02-09 | 辽宁宏成电力股份有限公司 | Photovoltaic panel monitoring cleaning air-robot system and photovoltaic panel method for cleaning |
| CN105720519A (en) * | 2016-04-21 | 2016-06-29 | 国家电网公司 | Unmanned aerial vehicle (UAV) live-line operation device and method |
| CN106184810A (en) * | 2016-07-20 | 2016-12-07 | 广东容祺智能科技有限公司 | A kind of many rotor wing unmanned aerial vehicles purging system |
| CN106092213A (en) * | 2016-08-17 | 2016-11-09 | 国网河南省电力公司濮阳供电公司 | Insulator hydrophobicity on-line measuring device based on unmanned air vehicle technique |
| CN106898967A (en) * | 2017-01-12 | 2017-06-27 | 国网福建省电力有限公司 | Power transmission line unmanned machine electrified water flusher |
| CN107178515A (en) * | 2017-07-21 | 2017-09-19 | 杨勇 | A kind of electric fan control system triggered based on environment induction and intelligent electric fan |
| CN107178515B (en) * | 2017-07-21 | 2019-03-19 | 深圳市暴雷网络科技有限公司 | A kind of electric fan control system and intelligent electric fan based on environment induction triggering |
| CN108058819A (en) * | 2017-12-13 | 2018-05-22 | 萍乡市旭华电瓷电器制造有限公司 | A kind of isolator detecting unmanned plane |
| CN111632891A (en) * | 2020-05-31 | 2020-09-08 | 袁利华 | High-voltage wire insulator cleaning system and cleaning method |
| CN111632891B (en) * | 2020-05-31 | 2021-11-05 | 国网上海市电力公司 | High-voltage wire insulator cleaning system and cleaning method |
| CN112495894A (en) * | 2020-10-27 | 2021-03-16 | 国网福建省电力有限公司检修分公司 | Method for realizing anti-pollution flashover electrification control by using unmanned aerial vehicle platform |
| CN114292705A (en) * | 2021-01-06 | 2022-04-08 | 洁运科技(郑州)有限公司 | High-low voltage insulator electrified cleaning agent and cleaning method |
| CN113104710A (en) * | 2021-04-09 | 2021-07-13 | 山西工程职业学院 | Intelligent maintenance equipment for head sheave of mine hoist |
| CN113104710B (en) * | 2021-04-09 | 2022-06-21 | 山西工程职业学院 | Intelligent maintenance equipment for head sheave of mine hoist |
| CN113102352A (en) * | 2021-04-15 | 2021-07-13 | 广东电网有限责任公司阳江供电局 | Electrified insulating subsystem and unmanned aerial vehicle that washs of power line unmanned aerial vehicle |
| CN113477625A (en) * | 2021-07-13 | 2021-10-08 | 中国科学技术大学先进技术研究院 | Distance measuring device, unmanned aerial vehicle cleaning equipment, liquid removing method and control device |
| CN113477617A (en) * | 2021-07-13 | 2021-10-08 | 中国科学技术大学先进技术研究院 | Distance measuring device, unmanned aerial vehicle cleaning equipment, cleaning control method and control device |
| CN113967641A (en) * | 2021-11-30 | 2022-01-25 | 国网湖南省电力有限公司检修公司 | Unmanned aerial vehicle dry ice cleaning system for power grid insulator |
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Application publication date: 20151209 |
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