CN106786139A - A kind of tele-control system of transmission line of electricity fall coaster - Google Patents
A kind of tele-control system of transmission line of electricity fall coaster Download PDFInfo
- Publication number
- CN106786139A CN106786139A CN201611124587.2A CN201611124587A CN106786139A CN 106786139 A CN106786139 A CN 106786139A CN 201611124587 A CN201611124587 A CN 201611124587A CN 106786139 A CN106786139 A CN 106786139A
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- Prior art keywords
- coaster
- transmission line
- electricity
- fall
- many rotor
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/028—Micro-sized aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Electric Cable Installation (AREA)
Abstract
The invention provides a kind of tele-control system of transmission line of electricity fall coaster, it is related to electric line foreign matter clearance technique field.Many rotor flight devices are communicated to connect with coaster control device and ground monitoring device in the system；Coaster control device and ground monitoring device are communicated to connect；Coaster control device sends mounting instruction to many rotor flight devices, so that much rotor flight device downside mounting fall coasters；Coaster control device sends flight control instruction to many rotor flight devices, so that much rotor flight device carrying fall coaster flies to the ground wire top of transmission line of electricity；Coaster control device sends to many rotor flight devices and departs from instruction, so that much rotor flight device downside departs from fall coaster so that fall coaster falls to being placed on the ground wire of transmission line of electricity.The present invention solves current electric line foreign matter and removes the substantial amounts of artificial inspection of need of work and climbing tower work, relatively complicated complexity, and transmission line of electricity voltage is higher, is susceptible to the problem of peril.
Description
Technical field
The present invention relates to electric line foreign matter clearance technique field, more particularly to a kind of transmission line of electricity fall coaster is long-range
Control system.
Background technology
At present, greatly developing with State Grid's project, area coverage of the power network in the whole nation increases year by year.Transmission line of electricity
It is the important component of power network, the regular visit to transmission line of electricity is effectively ensured transmission line of electricity and its equipment safety operation
One basic work.Power line and shaft tower annex are chronically exposed to field, by lasting mechanical tension, lightning stroke flashover, material
Expect aging, artificial influence and produce down tower, stranded, abrasion, burn into stress equivalent damage, insulator is also present by lightning damage,
Arboreal growth causes power transmission line to discharge, and shaft tower is present the accident such as is stolen, and has had a strong impact on the safety of power network.So, must
Periodical inspection inspection must be carried out to transmission line of electricity, grasp and understand the ruuning situation and circuit surrounding environment of transmission line of electricity at any time
With the situation of change in route protection area, to find and removing a hidden danger in time, the generation prevented accident, it is ensured that power supply safety.
With the continuous propulsion of urban construction, flare thing (such as kite, plastic cloth, plastic ties etc., such as shown in Fig. 1,
The flare such as plastic sheeting thing 101 is hung on transmission line of electricity 10) turn into a key factor for threatening power network safety operation.
When finding to be hung with flare thing on transmission line of electricity, prior art typically uses following several ways：It is such as powered using insulating bar
Remove flare thing nearer from the ground；Or, remove flare thing using band electric car is powered；Or, torn open by artificial powered climbing tower
Except flare thing or power failure climbing tower remove flare thing etc..Certainly, flare thing is also carried out using fall coaster carrying cleaning tool
Removing, but needing also exist for artificial climbing tower installs fall coaster to transmission line of electricity.It can be seen that, current transmission line of electricity is different
Thing removes the substantial amounts of artificial inspection of need of work and climbing tower work, relatively complicated complexity, and transmission line of electricity voltage is higher, easily hair
Raw peril.
The content of the invention
Embodiments of the invention provide a kind of tele-control system of transmission line of electricity fall coaster, to solve current transmission of electricity
Circuit foreign matter removes the substantial amounts of artificial inspection of need of work and climbing tower work, relatively complicated complexity, and transmission line of electricity voltage is higher,
It is susceptible to the problem of peril.
To reach above-mentioned purpose, the present invention is adopted the following technical scheme that：
A kind of tele-control system of transmission line of electricity fall coaster, including many rotor flight devices, fall coaster, coaster control
Device processed, ground monitoring device；Many rotor flight devices are logical with the coaster control device and ground monitoring device respectively
Letter connection；The coaster control device and ground monitoring device are communicated to connect；
The coaster control device sends mounting instruction to many rotor flight devices, to cause many rotor flyings
The device downside mounting fall coaster；
The coaster control device sends flight control instruction to many rotor flight devices, to cause many rotors
Flight instruments carries the fall coaster and flies to the ground wire top of transmission line of electricity；
The coaster control device sends to many rotor flight devices and departs from instruction, to cause many rotor flyings
Device downside departs from the fall coaster so that fall coaster falls and is placed on the ground wire of the transmission line of electricity.
Specifically, many rotor flight devices include multiple co-axial rotor structures, airframe structure, landing gear structure；Institute
The quantity for stating co-axial rotor structure is 4,6 or 8；The co-axial rotor structure connects the airframe structure, the fuselage
Structure connects the landing gear structure.
Further, the airframe structure includes an aircraft platforms structure；Connect below the aircraft platforms structure
It is connected to an electromagnet structure；The electromagnet structure is connected with the power supply of many rotor flight devices.
Additionally, being also associated with camera head in the aircraft platforms structure.
Specifically, the coaster control device includes central processing element circuit, power circuit, key control circuit, logical
Letter antenna circuit, display circuit and speaker circuit；The central processing element circuit respectively with the power circuit, button
Control circuit, communication antenna circuit, display circuit and speaker circuit connection；The coaster control device is by the communication
Antenna circuit is communicated to connect with many rotor flight devices and ground monitoring device.
Additionally, the coaster control device specifically for：
Mounting instruction is sent to many rotor flight devices, to cause the power supply of many rotor flight devices to described
Electromagnet structure is powered so that electromagnet structure adsorbs the fall coaster；
The flight control instruction that operating personnel are input into by key control circuit is received, and to many rotor flight devices
The flight control instruction is sent, is flown to transmission line of electricity with causing that many rotor flight devices carry the fall coaster
Ground wire top.
Additionally, many rotor flight devices, for gathering surrounding environment image by camera head, and will the surrounding
Ambient image is sent to the ground monitoring device；
The ground monitoring device, for showing the surrounding environment image, and determines according to the surrounding environment image
The distance of the flare thing on many rotor flight devices and transmission line of electricity.
In addition, the coaster control device specifically for：
The distance of the flare thing on many rotor flight devices and transmission line of electricity is less than the distance threshold for pre-setting, and with
When head coaster is located at the ground wire top of transmission line of electricity, is sent to many rotor flight devices and depart from instruction, it is described many to cause
The power supply of rotor flight device stops being powered to the electromagnet structure so that electromagnet structure departs from the fall coaster, makes
Fall coaster is obtained to fall to being placed on the ground wire of the transmission line of electricity.
A kind of tele-control system of transmission line of electricity fall coaster provided in an embodiment of the present invention, it includes many rotor flyings
Device, fall coaster, coaster control device, ground monitoring device；The coaster control device can send to many rotor flight devices
Mounting instruction, so that much rotor flight device downside mounting fall coasters；Coaster control device so to many rotor flyings fill
Transmission flight control instruction is put, so that much rotor flight device carrying fall coaster flies to the ground wire top of transmission line of electricity；
Then coaster control device sends to many rotor flight devices and departs from instruction, so that much rotor flight device downside disengaging falls
Coaster so that fall coaster falls to being placed on the ground wire of transmission line of electricity.So, many rotor flyings are controlled by coaster control device
Device, so as to complete installation of the fall coaster on transmission line of electricity, and without artificial climbing tower operation, it is to avoid current power transmission line
Road foreign matter removes the substantial amounts of artificial inspection of need of work and climbing tower work, relatively complicated complexity, and transmission line of electricity voltage is higher, holds
The problem easily having an accident.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
Other accompanying drawings are obtained with according to these accompanying drawings.
Fig. 1 is the flare thing mounting situation schematic diagram on the transmission line of electricity of prior art；
Fig. 2 is a kind of structural representation of the tele-control system of transmission line of electricity fall coaster provided in an embodiment of the present invention
Figure；
Fig. 3 is the structural representation of many rotor flight devices in the embodiment of the present invention；
Fig. 4 is the connection diagram of the electromagnet structure in the embodiment of the present invention；
Fig. 5 is the schematic diagram in kind of the fall coaster in the embodiment of the present invention；
Fig. 6 is the schematic diagram of a scenario of the operating personnel's operation fall coaster removing flare thing in the embodiment of the present invention；
Fig. 7 is the structural representation of the coaster control device in the embodiment of the present invention.
Specific embodiment
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 carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
As shown in Fig. 2 the embodiment of the present invention provides a kind of tele-control system 20 of transmission line of electricity fall coaster, including it is many
Rotor flight device 21, fall coaster 22, coaster control device 23, ground monitoring device 24；21 points of many rotor flight devices
Do not communicated to connect with coaster control device 23 and ground monitoring device 24；The coaster control device 23 and ground monitoring device 24
Communication connection.
The coaster control device 23 can send mounting instruction to many rotor flight devices 21, described many to cause
The downside of the rotor flight device 21 mounting fall coaster 22.
The coaster control device 23 can send flight control instruction to many rotor flight devices 21, to cause institute
State many rotor flight devices 21 carry the fall coaster 22 fly to transmission line of electricity 10 ground wire top.
The coaster control device 23 can send to many rotor flight devices 21 and depart from instruction, described many to cause
The downside of rotor flight device 21 departs from the fall coaster 22 so that fall coaster 22 falls and is placed in the ground wire of the transmission line of electricity 10
On.
Specifically, as shown in figure 3, many rotor flight devices 21 can include multiple co-axial rotor structures 210, fuselage knot
Structure 211, landing gear structure 212；The quantity of the co-axial rotor structure 210 can (be in figure 3 with 6 for 4,6 or 8
Example), so, many rotor flight devices 21 can realize VTOL, hovering and the contour difficult part of steering in situ.It is described coaxial
Rotor structure 210 connects the airframe structure 211, and the airframe structure 211 connects the landing gear structure 212.Further,
The airframe structure 211 includes an aircraft platforms structure (not shown in Fig. 3)；It is also associated with the aircraft platforms structure
Camera head 213.
Additionally, as shown in figure 4, being connected with an electromagnet structure 215 below the aircraft platforms structure 214；It is described
Electromagnet structure 215 is connected with the power supply 216 of many rotor flight devices.In embodiments of the present invention, the ginseng of the electromagnet of use
Number can be：Diameter：40mm, height 20mm, power 8W, suction 300N, but it is not only limited to this.
In addition, transporting for convenience, repairing and multitask purposes, many rotor flight devices can be designed using ready-package.
At least one or more than one module bay is provided with engine room inside, modules cabin is closing nacelle, and machinerybulkhead is by module
Cabin top casing or bottom enclosure are constituted；Clamping is provided with the engine department main body frame of the main body frame of many rotor flight devices
Part, module bay is fixed on engine department main body frame by shackle member, and independent function is provided with each module bay
Mini-plant (for example, camera head, range unit etc.).Based on modular design concept, by each work(of many rotor flight devices
Energy and functional structure are decomposed, it is achieved thereby that one-machine-multi-function, with powerful multiple task ability, easy rapid-maintenance
The advantages of operation.It is daily carry out maintenance conditions when, only carry out independent detection with to each task module, eliminate whole machine investigation
Trouble.Meanwhile, if many rotor flight devices of this modular multi-function are damaged during flying and giving an encore, need to only replace impaired
Module can be repaired quickly, continue executing with task.
In addition, what deserves to be explained is, the fall coaster 22 can be distance type fall coaster, can be by band steel, pulley, guarantor
The compositions such as dangerous device, control circuit, monolithic case is connected by high-voltage capacitance using the ground isolation design that suspends with power cathode,
Effectively reduce electromagnetic interference of the transmission line of electricity to fall coaster.The material object of fall coaster is as shown in figure 5, and operating personnel 50 grasp
The scene for making the removing flare of fall coaster 22 thing 51 can be as shown in Figure 6.Due to the wide variety of current fall coaster, and compared with
For universal, do not repeating herein.
Specifically, as shown in fig. 7, the coaster control device 23 can include central processing element circuit 231, power supply electricity
Road 232, key control circuit 233, communication antenna circuit 234, display circuit 235 and speaker circuit 236；The centre
Reason chip circuit 231 respectively with the power circuit 232, key control circuit 233, communication antenna circuit 234, display circuit
235 and speaker circuit 236 connect.The coaster control device 23 is by the communication antenna circuit 234 and many rotations
Wing flight instruments 21 and ground monitoring device 24 are communicated to connect.
What deserves to be explained is, the fall coaster 22, coaster control device 23, many rotor flight devices 21 etc. can be by nothings
Line transmit-receive technology is communicated.
And wireless transceiver circuit principle is specially：
Radio frequency represents the electromagnetic frequency that can be radiated space, and frequency range is therein between 300KHz~300GHz
300M~300GHz frequency ranges are also referred to as microwave frequency band, using the different propagation characteristic of each wave band, can be used for different communications
System.
NRF9E5 is the system-level RF chips that Nordic VLSI companies released on 2 5th, 2004, its built-in nRF905
433/868/915MHz transceivers, 8051 compatible microcontrollers and 4 10 80ksps A/D converters of input, are real systems
Level chip, built-in nRF905 transceivers may operate in ShockBurst and (automatically process as the transceiver of nRF905 chips
Prefix, address and CRC) mode, built-in voltage adjusting module suppresses noise to greatest extent, for system provides 1.9~3.6V's
Operating voltage, QFN5x5mm encapsulation, carrier wave detection, nRF9E5 meets the phase of Federal Communications Commission and ETSI European Telecommunications Standards Institute
Therefore pass standard, the design of wireless system for transmitting data is readily applicable to due to nRF905 reliable operations low in energy consumption.
Additionally, the coaster control device 23 specifically can be with：
Mounting instruction is sent to many rotor flight devices, to cause the power supply of many rotor flight devices to described
Electromagnet structure is powered so that electromagnet structure adsorbs the fall coaster.
The flight control instruction that operating personnel are input into by key control circuit is received, and to many rotor flight devices
The flight control instruction is sent, is flown to transmission line of electricity with causing that many rotor flight devices carry the fall coaster
Ground wire top.
Additionally, many rotor flight devices 21, for gathering surrounding environment image by camera head, and by the week
Ambient image is enclosed to send to the ground monitoring device.
The ground monitoring device 24 is for showing the surrounding environment image and true according to the surrounding environment image
The distance of the flare thing on fixed many rotor flight devices and transmission line of electricity.
In addition, the coaster control device 23 specifically can be with：
The distance of the flare thing on many rotor flight devices and transmission line of electricity is less than the distance threshold for pre-setting, and with
When head coaster is located at the ground wire top of transmission line of electricity, is sent to many rotor flight devices and depart from instruction, it is described many to cause
The power supply of rotor flight device stops being powered to the electromagnet structure so that electromagnet structure departs from the fall coaster, makes
Fall coaster is obtained to fall to being placed on the ground wire of the transmission line of electricity.
By a kind of tele-control system 20 of transmission line of electricity fall coaster provided in an embodiment of the present invention, it is possible to achieve with
The remote control of head coaster, its instantiation can be with as described below：
For example：Fall coaster is drawn onto many rotor flight device bottoms using the electromagnet of many rotor flight device bottoms；
(such as wireless remotecontrol sets by coaster control device for many rotor flight devices carrying miniature cameras or camera (i.e. camera head)
It is standby) manipulate and take off, many rotor flight device undercarriages are packed up in 2 meters or so to ground of flight, with 6m/s speed close to transmission line of electricity
About 10 meters or so near flare thing, then slowly winged close-target, when target top ground wire height is reached, using many rotor flyings
The characteristic that device can hover, steadily hovering is easy to earth station operator to observe many rotor flight devices and ground wire by camera
Position, starting to perform the operation of the fall coaster line of fall apart from the position of 5 meters of foreign matter, remote control electromagnet is decontroled, completes
Line.Afterwards, many rotor flight devices away from ground wire, using insulating cord bind cleanout tool and be pulled to height where flare thing by fall coaster
Degree, fall coaster start ground wire it is up walk carry out flare thing remove operation, can be by manipulating many rotor flyings after fulfiling assignment
Device holds fall coaster and returns to ground.
A kind of tele-control system of transmission line of electricity fall coaster provided in an embodiment of the present invention, it includes many rotor flyings
Device, fall coaster, coaster control device, ground monitoring device；The coaster control device can send to many rotor flight devices
Mounting instruction, so that much rotor flight device downside mounting fall coasters；Coaster control device so to many rotor flyings fill
Transmission flight control instruction is put, so that much rotor flight device carrying fall coaster flies to the ground wire top of transmission line of electricity；
Then coaster control device sends to many rotor flight devices and departs from instruction, so that much rotor flight device downside disengaging falls
Coaster so that fall coaster falls to being placed on the ground wire of transmission line of electricity.So, many rotor flyings are controlled by coaster control device
Device, many rotor flight devices ground rise fly to height where transmission line of electricity flare thing after, using camera head to power transmission line
Flare thing on road is accurately positioned and is assessed, and fall coaster is stably sent on ground wire, and earthward monitoring is filled in real time
Put and pass monitoring data back.After band electrical clean-up flare thing task is completed, many rotor flight device recurrence fly fall coaster from ground
Removed on line, and landing returns to ground.So as to the present invention can complete installation and dismounting of the fall coaster on transmission line of electricity, and
Without artificial climbing tower operation, it is to avoid current electric line foreign matter removes the substantial amounts of artificial inspection of need of work and climbing tower work
Make, relatively complicated complexity, and transmission line of electricity voltage is higher, is susceptible to the problem of peril.
It should be understood by those skilled in the art that, embodiments of the invention can be provided as method, system or computer program
Product.Therefore, the present invention can be using the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware
Apply the form of example.And, the present invention can be used and wherein include the computer of computer usable program code at one or more
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) is produced
The form of product.
The present invention is the flow with reference to method according to embodiments of the present invention, equipment (system) and computer program product
Figure and/or block diagram are described.It should be understood that every first-class during flow chart and/or block diagram can be realized by computer program instructions
The combination of flow and/or square frame in journey and/or square frame and flow chart and/or block diagram.These computer programs can be provided
The processor of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced for reality by the instruction of computer or the computing device of other programmable data processing devices
The device of the function of being specified in present one flow of flow chart or multiple one square frame of flow and/or block diagram or multiple square frames.
These computer program instructions may be alternatively stored in can guide computer or other programmable data processing devices with spy
In determining the computer-readable memory that mode works so that instruction of the storage in the computer-readable memory is produced and include finger
Make the manufacture of device, the command device realize in one flow of flow chart or multiple one square frame of flow and/or block diagram or
The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that in meter
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented treatment, so as in computer or
The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in individual square frame or multiple square frames.
Apply specific embodiment in the present invention to be set forth principle of the invention and implementation method, above example
Explanation be only intended to help and understand the method for the present invention and its core concept；Simultaneously for those of ordinary skill in the art,
According to thought of the invention, will change in specific embodiments and applications, in sum, in this specification
Appearance should not be construed as limiting the invention.
Claims (8)
1. a kind of tele-control system of transmission line of electricity fall coaster, it is characterised in that slided including many rotor flight devices, fall
Car, coaster control device, ground monitoring device；Many rotor flight devices are supervised with the coaster control device and ground respectively
Control device communication connection；The coaster control device and ground monitoring device are communicated to connect；
The coaster control device sends mounting instruction to many rotor flight devices, to cause many rotor flight devices
Downside mounts the fall coaster；
The coaster control device sends flight control instruction to many rotor flight devices, to cause many rotor flyings
Device carries the fall coaster and flies to the ground wire top of transmission line of electricity；
The coaster control device sends to many rotor flight devices and departs from instruction, to cause many rotor flight devices
Downside departs from the fall coaster so that fall coaster falls and is placed on the ground wire of the transmission line of electricity.
2. the tele-control system of transmission line of electricity fall coaster according to claim 1, it is characterised in that many rotors
Flight instruments includes multiple co-axial rotor structures, airframe structure, landing gear structure；The quantity of the co-axial rotor structure be 4,
6 or 8；The co-axial rotor structure connects the airframe structure, and the airframe structure connects the landing gear structure.
3. the tele-control system of transmission line of electricity fall coaster according to claim 2, it is characterised in that the fuselage knot
Structure includes an aircraft platforms structure；An electromagnet structure is connected with below the aircraft platforms structure；The electromagnet
Structure is connected with the power supply of many rotor flight devices.
4. the tele-control system of transmission line of electricity fall coaster according to claim 3, it is characterised in that the aircraft
Camera head is also associated with platform structure.
5. the tele-control system of transmission line of electricity fall coaster according to claim 4, it is characterised in that the coaster control
Device processed includes central processing element circuit, power circuit, key control circuit, communication antenna circuit, display circuit and raises
Sound device circuit；The central processing element circuit respectively with the power circuit, key control circuit, communication antenna circuit, aobvious
Show circuit and speaker circuit connection；The coaster control device passes through the communication antenna circuit and many rotor flyings
Device and ground monitoring device are communicated to connect.
6. the tele-control system of transmission line of electricity fall coaster according to claim 5, it is characterised in that the coaster control
Device processed specifically for：
Mounting instruction is sent to many rotor flight devices, to cause the power supply of many rotor flight devices to the electromagnetism
Iron construction is powered so that electromagnet structure adsorbs the fall coaster；
The flight control instruction that operating personnel are input into by key control circuit is received, and is sent to many rotor flight devices
The flight control instruction, is flown to the ground wire of transmission line of electricity with causing that many rotor flight devices carry the fall coaster
Top.
7. the tele-control system of transmission line of electricity fall coaster according to claim 6, it is characterised in that many rotors
Flight instruments, for gathering surrounding environment image by camera head, and the surrounding environment image is sent to the ground
Supervising device；
The ground monitoring device, for showing the surrounding environment image, and determines many rotations according to the surrounding environment image
The distance of the flare thing on wing flight instruments and transmission line of electricity.
8. the tele-control system of transmission line of electricity fall coaster according to claim 7, it is characterised in that the coaster control
Device processed specifically for：
The distance of the flare thing on many rotor flight devices and transmission line of electricity is less than the distance threshold for pre-setting, and fall is slided
Parking stall sends to many rotor flight devices and departs from instruction, to cause many rotors when the ground wire top of transmission line of electricity
The power supply of flight instruments stops being powered to the electromagnet structure so that electromagnet structure departs from the fall coaster so that with
Head coaster falls to being placed on the ground wire of the transmission line of electricity.
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| CN201611124587.2A CN106786139A (en) | 2016-12-08 | 2016-12-08 | A kind of tele-control system of transmission line of electricity fall coaster |
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| CN201611124587.2A CN106786139A (en) | 2016-12-08 | 2016-12-08 | A kind of tele-control system of transmission line of electricity fall coaster |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108599007A (en) * | 2018-03-29 | 2018-09-28 | 武汉大学 | A kind of apparatus and method of high-tension line unmanned plane installation pulley insulating cord |
| CN109994959A (en) * | 2017-12-29 | 2019-07-09 | 上海市南电力（集团）有限公司 | A kind of automatic blocking intelligence coaster for unmanned plane unfolding lead |
| WO2021107784A1 (en) * | 2019-11-27 | 2021-06-03 | Comrod As | Rope robot and method for mounting an object to a power line |
| CN113541037A (en) * | 2021-06-25 | 2021-10-22 | 国网山西省电力公司晋城供电公司 | Tower passing device of high-voltage transmission line climbing pulley and using method |
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| CN113541037A (en) * | 2021-06-25 | 2021-10-22 | 国网山西省电力公司晋城供电公司 | Tower passing device of high-voltage transmission line climbing pulley and using method |
| CN113541037B (en) * | 2021-06-25 | 2022-07-22 | 国网山西省电力公司晋城供电公司 | Tower passing device of high-voltage transmission line climbing pulley and using method |
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