CN105739517A - Guide device and method for enabling unmanned gyroplane to automatically get on and off production line for insulating operation - Google Patents
Guide device and method for enabling unmanned gyroplane to automatically get on and off production line for insulating operation Download PDFInfo
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- CN105739517A CN105739517A CN201610324568.8A CN201610324568A CN105739517A CN 105739517 A CN105739517 A CN 105739517A CN 201610324568 A CN201610324568 A CN 201610324568A CN 105739517 A CN105739517 A CN 105739517A
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 22
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000009413 insulation Methods 0.000 claims description 13
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 11
- 230000009184 walking Effects 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000012790 confirmation Methods 0.000 claims description 3
- 230000007423 decrease Effects 0.000 claims description 3
- 230000011664 signaling Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 5
- 238000005457 optimization Methods 0.000 abstract description 2
- 238000007689 inspection Methods 0.000 abstract 1
- 230000002195 synergetic effect Effects 0.000 abstract 1
- 108010066057 cabin-1 Proteins 0.000 description 8
- 238000005096 rolling process Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 208000033999 Device damage Diseases 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a guide device for enabling an unmanned gyroplane to automatically get on and off a production line for insulating operation. The guide device comprises a flying equipment cabin, wherein six rotor wing arms are mounted on the outer side face of the flying equipment cabin at equal distances; a flying motor is fixedly mounted at one end, away from the flying equipment cabin, of each rotor wing arm; rotor wings are connected to rotating shafts of the flying motors in a sleeving manner; a 24GHZ radar sensor and two insulating supporting rods are fixedly mounted on the upper surface of the flying equipment cabin; the two insulating supporting rods are horizontally arranged on the rear side of the 24GHZ radar sensor. According to the guide device and a method for enabling the unmanned gyroplane to automatically get on and off the production line for insulating operation, under the synergistic effect of multiple modules such as radar detection and GPS, a distance between the unmanned geroplane and an overhead line can be detected and calculated, so that the unmanned geroplane can fall off the line precisely and safely in an insulated manner, a foundation is laid for automatically getting on and off the production line during routing inspection, technical optimization is carried out to avoid obstacles, and the labor cost and the accident risk are greatly reduced.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, particularly relate to a kind of rotor wing unmanned aerial vehicle autonomous on roll off the production line the guide of insulation operation and method.
Background technology
For the problem that Recent study rotor wing unmanned aerial vehicle carries out high-tension line line walking, situation is obtained sometimes for the rotor wing unmanned aerial vehicle livewire work that carries out reaching the standard grade, the modes adopting manual control rotor wing unmanned aerial vehicle are reached the standard grade more at present, but there is too big randomness in this mode, distance ground is too high on the one hand, human eye cannot accurately judge the distance of rotor wing unmanned aerial vehicle and wire, on the other hand owing to the manipulation of people has certain error, thus this method easily causes waste of time, more serious meeting causes that rotor wing unmanned aerial vehicle and conductor spacing are excessively near, thus causing generation induction discharge between wire and fuselage or equipment, device damage and Electromagnetic Interference can be caused to affect communication system.Therefore be accomplished by a kind of method that can be more intelligent, convenient, stable carry out rotor wing unmanned aerial vehicle autonomous on roll off the production line.
Summary of the invention
Based on the technical problem that background technology exists, the present invention propose a kind of rotor wing unmanned aerial vehicle autonomous on roll off the production line the guide of insulation operation and method, synergism by means of the multimode such as radar detection, GPS, detection calculates the distance between unmanned plane and aerial line, achieve the accurate line of fall of rotor wing unmanned aerial vehicle, and safe insulation operation, thus carrying out that line is patrolled and examined transmission line of electricity to patrol and examine work with barrier on removing wire etc., solve overhead transmission line rotor wing unmanned aerial vehicle how smoothly autonomous entrance this difficult problem of aerial condutor charging zone for a long time.
The present invention provides following technical scheme: the guide of insulation operation of rolling off the production line on a kind of rotor wing unmanned aerial vehicle is autonomous, including flight equipment cabin, the lateral surface in described flight equipment cabin is equidistant is provided with six rotor arms, rotor arm is installed with flight motor away from the one end in flight equipment cabin, the rotating shaft of flight motor is socketed with rotor, the upper surface in described flight equipment cabin is installed with 24GHZ radar sensor and two insulating support rods, and two insulating support rods are horizontally disposed with and are positioned at the rear side of 24GHZ radar sensor, the top of two insulating support rods is fixedly connected with the bottom supporting wheel in walking, be installed with respectively in front, flight equipment cabin a left side patrol survey camera and the right side patrol survey camera.
It is provided with flight control system in described flight equipment cabin, and flight control system includes unmanned plane processor, the input of described unmanned plane processor electrically connects with accumulator, 24GHZ radar sensor and many sensing modules respectively, described unmanned plane processor is two-way is electrically connected with signal transmitting and receiving module, flight motor, survey camera is patrolled on a left side and survey camera is patrolled on the right side, and signal transmitting and receiving module accepts processing platform two-way signaling with line upper mounting plate and earth station respectively and is connected.
Preferably, described walking supports wheel and includes installing plate, is installed with two pulleys in installing plate front, and the surface of two pulleys is equipped with electro-insulating rubber layer.
Preferably, described many sensing modules by GPS sensing module, Distance-sensing module, velocity pick-up module, stablize sensing module and humidity sensor module composition.
Preferably, described line upper mounting plate includes information and sends and reception system, and described information sends and is connected with data memory module and authentication module signal respectively with the system of reception.
Preferably, described earth station accepts processing platform and includes image receiving system, image and quickly process system and control instruction and send system, and image receiving system quickly processes system by image and electrically connects with display screen.
The bootstrap technique of the guide carrying out livewire work that rolls off the production line on a kind of rotor wing unmanned aerial vehicle, comprises the following steps:
S1, Artificial Control are near the stage: start unmanned plane, flight control system, GPS sensing module, Distance-sensing module, velocity pick-up module, stablize sensing module, humidity sensor module and 24GHZ radar sensor and work simultaneously, the real-time survey distance received quickly is processed and feeds back three-dimensional coordinate offset data by unmanned plane processor, and Autonomous Control rotor wing unmanned aerial vehicle is near the lower section of target aerial condutor charging zone.
S2, touch the stage from main modulation: by 24GHZ radar sensor, record the linear distance gone up between unmanned plane and overhead transmission line, from its attitude of main modulation with confirm coordinate, make pulley contact on the insulating support rod on rotor wing unmanned aerial vehicle to aerial line.
S3, slipping into the coincidence stage: rotor wing unmanned aerial vehicle moves and makes the pulley on insulating support rod keep in touch aerial line, and at this moment rotor wing unmanned aerial vehicle slowly reduces speed, makes aerial line slowly start load-bearing, when the rotor of rotor wing unmanned aerial vehicle stops, line of fall process terminates.
S4, confirmation are reached the standard grade the stage: rotor wing unmanned aerial vehicle is after stopping decline, carrying out reaches the standard grade determines, utilize left and right patrol survey camera take photo reaches earth station and accepts processing platform and line upper mounting plate, if upper line position has deviation, processing platform can be accepted by line upper mounting plate or earth station and assign and again go up line.
nullThe invention provides a kind of rotor wing unmanned aerial vehicle autonomous on roll off the production line the guide of insulation operation and method，By arranging flight control system，Unmanned plane is made to use convenient，Coordinate unmanned plane processor、24GHZ radar sensor and many sensing modules，Unmanned plane is carried out Based Intelligent Control and sensing，Line of engagement upper mounting plate and earth station accept processing platform and it are artificially monitored，Solve overhead transmission line rotor wing unmanned aerial vehicle how smoothly autonomous entrance this difficult problem of aerial condutor charging zone for a long time，By means of radar detection、The synergism of the multimodes such as GPS，Detection calculates the distance between unmanned plane and aerial line，Achieve the accurate line of fall of rotor wing unmanned aerial vehicle，And safe insulation，For carry out patrolling and examining in work autonomous on roll off the production line and lay the first stone，For avoiding barrier to be made that technical optimization，Greatly reduce cost of labor and accident risk.
Accompanying drawing explanation
Fig. 1 rolls off the production line on a kind of rotor wing unmanned aerial vehicle that the present invention proposes to carry out the guide structural scheme of mechanism of operation；
Fig. 2 is the guide system structure schematic diagram rolling off the production line on a kind of rotor wing unmanned aerial vehicle that the present invention proposes and carrying out operation.
In figure: 1 flight equipment cabin, 2 rotor arms, 3 flight motors, 4 rotors, 524GHZ radar sensor, 6 insulating support rods, 7 walkings support wheel, 8 left sides patrol that survey camera is patrolled on survey camera, 9 right sides, 10 flight control systems, 11 unmanned plane processors, 12 accumulator, sensing module more than 13,14 signal transmitting and receiving modules, 15 line upper mounting plates, 16 earth stations accept processing platform.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of protection of the invention.
nullRefer to Fig. 1-2，The present invention provides a kind of technical scheme: the guide of insulation operation of rolling off the production line on a kind of rotor wing unmanned aerial vehicle is autonomous，Including flight equipment cabin 1，Flight equipment cabin 1 stores the machine original paper of unmanned plane，And make unmanned plane be more prone to the control being balanced，The lateral surface in flight equipment cabin 1 is equidistant is provided with six rotor arms 2，The central point in the intersection point of the extended line of six rotor arms 2 and flight equipment cabin 1 coincides，Six rotor arms 2 are made to use convenient，Make unmanned plane move and balance to keep convenient，Rotor arm 2 is installed with flight motor 3 away from the one end in flight equipment cabin 1，The rotating shaft of flight motor 3 is socketed with rotor 4，Flight motor 3 rotates and drives rotor 4 to rotate，Thus providing power，Unmanned plane is made to fly，The upper surface in flight equipment cabin 1 is installed with 24GHZ radar sensor 5 and two insulating support rods 6，24GHZ radar sensor 5 carries out conduction and extraneous detecting，And two insulating support rods 6 are horizontally disposed with and are positioned at the rear side of 24GHZ radar sensor 5，The top of two insulating support rods 6 is fixedly connected with the bottom supporting wheel 7 in walking，Insulating support rod 6 cooperation walking support is taken turns 7 and aerial line is carried out upper and lower lineman's work，Be installed with respectively in front, flight equipment cabin 1 left side patrol survey camera 8 and the right side patrol survey camera 9.
nullFlight control system 10 it is provided with in flight equipment cabin 1，Data and the information of reception are processed by flight control system 10，Relevant control program is had in it，And other equipment are controlled，Thus reaching the purpose of unmanned plane work，And flight control system 10 includes unmanned plane processor 11，Unmanned plane processor 11 is powered by accumulator 12，And by a left side patrol survey camera 8 and the right side patrol survey camera 9，Target is shot，And by signal transmitting and receiving module 14 data and picture are sent to line upper mounting plate 15 and earth station accepts processing platform 16，Control unmanned plane processor 11 input respectively with accumulator 12、24GHZ radar sensor 5 and many sensing modules 13 electrically connect，Unmanned plane processor 11 is two-way is electrically connected with signal transmitting and receiving module 14、Flight motor 3、Survey camera 8 is patrolled on a left side and survey camera 9 is patrolled on the right side，And signal transmitting and receiving module 14 accepts processing platform 16 two-way signaling respectively and is connected with line upper mounting plate 15 and earth station.
In the present invention, walking supports wheel 7 and includes installing plate, is installed with two pulleys in installing plate front, and the surface of two pulleys is equipped with electro-insulating rubber layer.
In the present invention, many sensing modules 13 by GPS sensing module, Distance-sensing module, velocity pick-up module, stablize sensing module and humidity sensor module composition.
In the present invention, line upper mounting plate 15 includes information and sends and reception system, and information sends and is connected with data memory module and authentication module signal respectively with the system of reception.
In the present invention, earth station accepts processing platform 16 and includes image receiving system, image and quickly process system and control instruction and send system, and image receiving system quickly processes system by image and electrically connects with display screen.
The bootstrap technique of the guide carrying out livewire work that rolls off the production line on a kind of rotor wing unmanned aerial vehicle, comprises the following steps:
S1, Artificial Control are near the stage: start unmanned plane, flight control system, GPS sensing module, Distance-sensing module, velocity pick-up module, stablize sensing module, humidity sensor module and 24GHZ radar sensor and work simultaneously, the real-time survey distance received quickly is processed and feeds back three-dimensional coordinate offset data by unmanned plane processor, and Autonomous Control rotor wing unmanned aerial vehicle is near the lower section of target aerial condutor charging zone.
S2, touch the stage from main modulation: by 24GHZ radar sensor, record the linear distance gone up between unmanned plane and overhead transmission line, from its attitude of main modulation with confirm coordinate, make pulley contact on the insulating support rod on rotor wing unmanned aerial vehicle to aerial line.
S3, slipping into the coincidence stage: rotor wing unmanned aerial vehicle moves and makes the pulley on insulating support rod keep in touch aerial line, and at this moment rotor wing unmanned aerial vehicle slowly reduces speed, makes aerial line slowly start load-bearing, when the rotor of rotor wing unmanned aerial vehicle stops, line of fall process terminates.
S4, confirmation are reached the standard grade the stage: rotor wing unmanned aerial vehicle is after stopping decline, carrying out reaches the standard grade determines, utilize left and right patrol survey camera take photo reaches earth station and accepts processing platform and line upper mounting plate, if upper line position has deviation, processing platform can be accepted by line upper mounting plate or earth station and assign and again go up line.
The above; it is only the present invention preferably detailed description of the invention; but protection scope of the present invention is not limited thereto; any those familiar with the art is in the technical scope that the invention discloses; it is equal to replacement according to technical scheme and inventive concept thereof or is changed, all should be encompassed within protection scope of the present invention.
Claims (6)
- null1. a rotor wing unmanned aerial vehicle autonomous on roll off the production line the guide of insulation operation，Including flight equipment cabin (1)，It is characterized in that: the lateral surface of described flight equipment cabin (1) is equidistant is provided with six rotor arms (2)，Rotor arm (2) is installed with flight motor (3) away from the one end of flight equipment cabin (1)，The rotating shaft of flight motor (3) is socketed with rotor (4)，The upper surface of described flight equipment cabin (1) is installed with 24GHZ radar sensor (5) and two insulating support rods (6)，And two insulating support rods (6) are horizontally disposed with and are positioned at the rear side of 24GHZ radar sensor (5)，The top of two insulating support rods (6) is fixedly connected with the bottom supporting wheel (7) in walking，Be installed with respectively in flight equipment cabin (1) front a left side patrol survey camera (8) and the right side patrol survey camera (9)；It is provided with flight control system (10) in described flight equipment cabin (1), and flight control system (10) includes unmanned plane processor (11), the input of described unmanned plane processor (11) respectively with accumulator (12), 24GHZ radar sensor (5) and many sensing modules (13) electrical connection, described unmanned plane processor (11) is two-way is electrically connected with signal transmitting and receiving module (14), flight motor (3), survey camera (8) is patrolled on a left side and survey camera (9) is patrolled on the right side, and signal transmitting and receiving module (14) accepts processing platform (16) two-way signaling with line upper mounting plate (15) and earth station respectively and is connected.
- 2. a kind of rotor wing unmanned aerial vehicle according to claim 1 autonomous on roll off the production line the guide of insulation operation, it is characterized in that: described walking supports wheel (7) and includes installing plate, it is installed with two pulleys in installing plate front, and the surface of two pulleys is equipped with electro-insulating rubber layer.
- 3. a kind of rotor wing unmanned aerial vehicle according to claim 1 autonomous on roll off the production line the guide of insulation operation, it is characterised in that: described many sensing modules (13) by GPS sensing module, Distance-sensing module, velocity pick-up module, stablize sensing module and humidity sensor module composition.
- 4. a kind of rotor wing unmanned aerial vehicle according to claim 1 autonomous on roll off the production line the guide of insulation operation, it is characterized in that: described line upper mounting plate (15) includes information and sends and reception system, described information sends and is connected with data memory module and authentication module signal respectively with the system of reception.
- 5. a kind of rotor wing unmanned aerial vehicle according to claim 1 autonomous on roll off the production line the guide of insulation operation, it is characterized in that: described earth station accepts processing platform (16) and includes image receiving system, image and quickly process system and control instruction and send system, and image receiving system quickly processes system by image and electrically connects with display screen.
- 6. the bootstrap technique of the guide carrying out livewire work that rolls off the production line on a rotor wing unmanned aerial vehicle, it is characterised in that comprise the following steps:S1, Artificial Control are near the stage: start unmanned plane, flight control system, GPS sensing module, Distance-sensing module, velocity pick-up module, stablize sensing module, humidity sensor module and 24GHZ radar sensor and work simultaneously, the real-time survey distance received quickly is processed and feeds back three-dimensional coordinate offset data by unmanned plane processor, and Autonomous Control rotor wing unmanned aerial vehicle is near the lower section of target aerial condutor charging zone；S2, touch the stage from main modulation: by 24GHZ radar sensor, record the linear distance gone up between unmanned plane and overhead transmission line, from its attitude of main modulation with confirm coordinate, make pulley contact on the insulating support rod on rotor wing unmanned aerial vehicle to aerial line;S3, slipping into the coincidence stage: rotor wing unmanned aerial vehicle moves and makes the pulley on insulating support rod keep in touch aerial line, and at this moment rotor wing unmanned aerial vehicle slowly reduces speed, makes aerial line slowly start load-bearing, when the rotor of rotor wing unmanned aerial vehicle stops, line of fall process terminates;S4, confirmation are reached the standard grade the stage: rotor wing unmanned aerial vehicle is after stopping decline, carrying out reaches the standard grade determines, utilize left and right patrol survey camera take photo reaches earth station and accepts processing platform and line upper mounting plate, if upper line position has deviation, processing platform can be accepted by line upper mounting plate or earth station and assign and again go up line.
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| CN201610324568.8A CN105739517A (en) | 2016-05-17 | 2016-05-17 | Guide device and method for enabling unmanned gyroplane to automatically get on and off production line for insulating operation |
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| CN201610324568.8A CN105739517A (en) | 2016-05-17 | 2016-05-17 | Guide device and method for enabling unmanned gyroplane to automatically get on and off production line for insulating operation |
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Cited By (8)
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| CN108415456A (en) * | 2018-02-23 | 2018-08-17 | 华南理工大学 | A kind of winged gliding style robot crossing obstacle automatically device and obstacle-detouring method |
| CN108445907A (en) * | 2018-04-28 | 2018-08-24 | 广州供电局有限公司 | Crusing robot, crusing robot are reached the standard grade control method and device |
| CN108628347A (en) * | 2018-06-29 | 2018-10-09 | 广州供电局有限公司 | The autonomous loading method of crusing robot, crusing robot and device |
| CN108789492A (en) * | 2018-06-21 | 2018-11-13 | 广州供电局有限公司 | Amphibious hot line robot insulation distance test device and method |
| CN109507550A (en) * | 2018-11-21 | 2019-03-22 | 广州供电局有限公司 | Robot rotor grading ring validation checking device and detection method |
| CN110626500A (en) * | 2019-08-15 | 2019-12-31 | 广东翼景信息科技有限公司 | Unmanned aerial vehicle |
| CN114397904A (en) * | 2022-01-14 | 2022-04-26 | 广东电网能源发展有限公司 | Unmanned aerial vehicle line-dropping system and method for overhead transmission line and storage medium |
| CN117262271A (en) * | 2023-10-08 | 2023-12-22 | 国网湖北省电力有限公司神农架供电公司 | Power line unmanned aerial vehicle locking line flight system |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108415456A (en) * | 2018-02-23 | 2018-08-17 | 华南理工大学 | A kind of winged gliding style robot crossing obstacle automatically device and obstacle-detouring method |
| CN108445907A (en) * | 2018-04-28 | 2018-08-24 | 广州供电局有限公司 | Crusing robot, crusing robot are reached the standard grade control method and device |
| CN108789492A (en) * | 2018-06-21 | 2018-11-13 | 广州供电局有限公司 | Amphibious hot line robot insulation distance test device and method |
| CN108789492B (en) * | 2018-06-21 | 2020-09-18 | 广州供电局有限公司 | Device and method for testing insulation distance of amphibious live working robot |
| CN108628347A (en) * | 2018-06-29 | 2018-10-09 | 广州供电局有限公司 | The autonomous loading method of crusing robot, crusing robot and device |
| CN108628347B (en) * | 2018-06-29 | 2021-08-31 | 广东电网有限责任公司广州供电局 | Inspection robot, and autonomous online method and device of inspection robot |
| CN109507550A (en) * | 2018-11-21 | 2019-03-22 | 广州供电局有限公司 | Robot rotor grading ring validation checking device and detection method |
| CN110626500A (en) * | 2019-08-15 | 2019-12-31 | 广东翼景信息科技有限公司 | Unmanned aerial vehicle |
| CN114397904A (en) * | 2022-01-14 | 2022-04-26 | 广东电网能源发展有限公司 | Unmanned aerial vehicle line-dropping system and method for overhead transmission line and storage medium |
| CN114397904B (en) * | 2022-01-14 | 2023-11-21 | 广东电网能源发展有限公司 | Overhead transmission line unmanned aerial vehicle line dropping system, method and storage medium |
| CN117262271A (en) * | 2023-10-08 | 2023-12-22 | 国网湖北省电力有限公司神农架供电公司 | Power line unmanned aerial vehicle locking line flight system |
| CN117262271B (en) * | 2023-10-08 | 2024-07-05 | 国网湖北省电力有限公司神农架供电公司 | Power line unmanned aerial vehicle locking line flight system |
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Application publication date: 20160706 |