CN106828890A - A kind of UAS of patrolling power transmission lines - Google Patents
A kind of UAS of patrolling power transmission lines Download PDFInfo
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- CN106828890A CN106828890A CN201710092239.XA CN201710092239A CN106828890A CN 106828890 A CN106828890 A CN 106828890A CN 201710092239 A CN201710092239 A CN 201710092239A CN 106828890 A CN106828890 A CN 106828890A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/54—Floats
- B64C25/56—Floats inflatable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- 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
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
Abstract
The invention provides a kind of UAS of patrolling power transmission lines, it is related to electrical distribution field.A kind of UAS of patrolling power transmission lines that the present invention is provided, it is by being provided with positioning unit, central processing unit and direction controlling unit so that unmanned plane voluntarily can be flown along the route of positioning；And, when camera control unit can receive three trigger signals within the scheduled time after receiving the second trigger signal, Zhao's camera body can be just driven to be taken pictures, wherein, second trigger signal and the 3rd trigger signal are that the second control module on the first control module and power transmission cable on unmanned plane interacts generation after formula checking, so, just ensure that unmanned plane can be taken pictures in rational position, improve the quality taken pictures.
Description
Technical field
The present invention relates to electrical distribution field, in particular to a kind of UAS of patrolling power transmission lines.
Background technology
Referred to as " unmanned plane ", english abbreviation is " UAV " to UAV, using radio robot and providing for oneself
The not manned aircraft that presetting apparatus is manipulated.Unmanned plane is actually the general designation of unmanned vehicle, from skill
The definition of art angle can be divided into：Depopulated helicopter, unmanned fixed-wing aircraft, unmanned multi-rotor aerocraft, unmanned airship, the unmanned umbrella wing
Machine this several major class.Without driving cabin on unmanned plane, but the equipment such as automatic pilot, presetting apparatus are installed.On ground, naval vessels
Or machine tool remote control station personnel are by the equipment such as radar, it is tracked, is positioned, remote control, remote measurement and Digital Transmission.Using nobody
The various power equipment inspections that machine is transmitted electricity, pinpoint the problems in order to power monitoring department and safeguard in time, it is ensured that power transmission network
The normal operation of network.
In actually used, inventor has found, traditional patrol UAV, can be flown according to set specified completion, clapped
Acted according to waiting, but when flight, the position of unmanned plane is adjusted only by the mode of remote control, it is difficult to ensure precision of taking pictures.
The content of the invention
It is an object of the invention to provide a kind of UAS of patrolling power transmission lines, to improve precision of taking pictures.
In a first aspect, a kind of UAS of patrolling power transmission lines is the embodiment of the invention provides, including：
Unmanned plane, the first control module being arranged on unmanned plane and camera module, and be arranged on power transmission cable
The second control module and the distinguishing mark that is arranged on power transmission cable；Camera module includes：Camera body and connection camera
The angle regulating unit of body and unmanned plane；
Unmanned plane includes：Main body frame, drive module, buffering stand, the shrinking connecting-rod of strip, week portion's blade, center
Blade, air draught blade and multiple jet cylinders；Main body frame includes being cascading from the bottom to top, and the interconnected first order
Framework, second level framework and third level framework, first order framework, second level framework and third level framework are justified in shape identical
Frustum, and size is sequentially reduced；First order framework, second level framework and third level framework coaxial line；Drive module setting exists
In third level framework, central vane is located at the top of third level framework, and air draught blade is located at first order lower portion, central vane
Respectively electrically connected with the output end of drive module by different power transmission shafts with air draught blade；The air inlet and the 3rd of jet cylinder
The inside of level framework is connected, and multiple jet cylinders are looped around the upper surface of third level framework, and each jet cylinder is used to receiving
To during the first trigger signal towards central vane top jet；
One end of buffering stand is connected with the edge of the lower surface of first order framework, and the other end is directed away from second level frame
The direction of frame extends, and one end away from second level framework of buffering stand is in arc-shaped, and is enclosed with cushion pad and air bag；
One end of shrinking connecting-rod is connected with the lateral wall of first order framework, and the other end is connected with week portion's blade；
First control module includes ventilating control unit and gas puff Z-pinch unit, gas puff Z-pinch unit and each jet cylinder electricity
Connection, and for working as follows：Atmospheric pressure value inside real-time detection each jet cylinder, when the jet cylinder that detection is obtained
Internal atmospheric pressure value exceedes preset air pressure threshold value, and does not send the first trigger signal in the given time, then generate first and trigger
Signal, and send the first trigger signal to the jet cylinder that atmospheric pressure value exceedes preset air pressure threshold value；Ventilating control unit, for passing through
Whether there is water inside water sensor detection main body frame, if there is water in main body frame, drive air bag inflation；
First control module also includes：Photograph control unit, rotation control unit, recognition unit, uploading unit, centre
Reason device, positioning unit, direction controlling unit and the first rf receiver and transmitter；Second control module is received including the second less radio-frequency
Hair device, pyroelectric infrared sensor and near radio transmitting element；
Pyroelectric infrared sensor, for being scanned at every predetermined time, and when there is mobile object in scanning area
The trigger signals of Shi Shengcheng second, and by near radio transmitting element, the second trigger signal is sent to the first control module；
Positioning unit, for obtaining unmanned plane position in real time；
Central processing unit, for according to unmanned plane position and the advance target inspection point provided position for obtaining, generating movement instruction；
And, when unmanned plane position and target inspection point provided are closely located to, drive the work of the first rf receiver and transmitter；
First rf receiver and transmitter, for generating radio frequency signal；
Second rf receiver and transmitter, for after radio frequency signal is received, generating the 3rd trigger signal, and pass through
Near radio transmitting element, the 3rd trigger signal is sent to the first control module；
Direction controlling unit, for driving week portion's blade adjustment direction according to movement instruction；
Photograph control unit, for when received in scheduled time after the second trigger signal is received the 3rd triggering believe
Number when, drive camera body taken pictures, to generate photo；
Rotate control unit, for from photo search distinguishing mark where reference position, and according to reference position with
The relative position of standard area, control angle regulating unit is rotated；
Whether recognition unit is identical with standard shape for judging reference figuration of the distinguishing mark in photo；If judging
It is no, then by uploading unit by photo upload to remote control terminal；And, current real-time ring is detected by environmental sensor
Border data, and judge real time environmental data whether exceed predetermined threshold value, if being judged as YES, by uploading unit by last
It is secondary to shoot the photo upload that obtains to remote control terminal；Environmental sensor includes air velocity transducer, atmosphere pressure sensor and infrared
Sensor.
With reference in a first aspect, the embodiment of the invention provides the first possible implementation method of first aspect, wherein,
One control module also includes three-axis sensor, and three-axis sensor is electrically connected with uploading unit, for detecting current real-time speed
Value and real time acceleration value, and when real-time speed value exceedes predetermined threshold value, or when real time acceleration value exceedes predetermined threshold value,
Alarm signal and unmanned plane position are sent to remote control terminal by uploading unit.
With reference in a first aspect, the embodiment of the invention provides second possible implementation method of first aspect, wherein,
Support frame is additionally provided with first order framework, support frame includes the circular center branch at the middle part in first order framework
Frame, the multiple support sections, multiple support ring groups and the multiple resilient contacts that are looped around center bearing bracket week portion；Support section is elongated,
And one end of support section is connected with center bearing bracket, the other end is connected by resilient contact with the inwall of first order framework；Multiple branch
Support section is uniformly arranged on all portions of center bearing bracket；Each support ring group is made up of multiple support rings, in same support ring group
The size of support ring increases successively, and according to the size of support ring, is set in all portions of center bearing bracket from the inside to the outside successively,
And support section is connected with each support ring at least one support ring group simultaneously；Outermost support in same support ring group
Ring away from being that the side of center bearing bracket is provided with multiple grooves, the bottom of each groove is provided with dynamic clamping head and quiet clamping head and push-and-pull
Part, pull-push piece is connected between dynamic clamping head and quiet clamping head and first order framework；
Support ring is integrally elongated, and along the cross section undulate perpendicular to its length direction；
Support section and support frame are can deformation material.
With reference in a first aspect, the embodiment of the invention provides the third possible implementation method of first aspect, wherein,
One control module also includes：The ultrasonic ranging unit being electrically connected to direction controlling unit；Ultrasonic ranging unit, for examining
The distance of first order frame side wall and the external world is surveyed, and when the distance for detecting is too small, generates distance alarm signal；
Direction controlling unit, is further used for after distance alarm signal is received, and drives week portion's blade adjustment direction.
With reference in a first aspect, the embodiment of the invention provides the 4th kind of possible implementation method of first aspect, wherein,
Sound bird-scaring unit is additionally provided with one control module.
With reference in a first aspect, the embodiment of the invention provides the 5th kind of possible implementation method of first aspect, wherein,
The lower surface of first order framework is additionally provided with telescopic alighting carriage.
With reference in a first aspect, the embodiment of the invention provides the 6th kind of possible implementation method of first aspect, wherein,
The lower surface of first order framework is additionally provided with compressed air type launcher.
With reference in a first aspect, the embodiment of the invention provides the 7th kind of possible implementation method of first aspect, wherein,
The lower surface of telescopic alighting carriage is in circular arc.
With reference in a first aspect, the embodiment of the invention provides the 8th kind of possible implementation method of first aspect, wherein, phase
Machine body is high-definition camera.
With reference in a first aspect, the embodiment of the invention provides the 9th kind of possible implementation method of first aspect, wherein,
Height of the height of three-level framework more than second level framework.
A kind of UAS of patrolling power transmission lines provided in an embodiment of the present invention, is merely able to of the prior art
Taken pictures in the case of manual operation, cause line walking inconvenient, take pictures it is second-rate compare, it passes through to be provided with positioning
Unit, central processing unit and direction controlling unit so that unmanned plane voluntarily can be flown along the route of positioning；Also, shine
When camera control unit can receive three trigger signals within the scheduled time after receiving the second trigger signal, Zhao can be just driven
Camera body is taken pictures, wherein, the second trigger signal and the 3rd trigger signal be the first control module on unmanned plane and
The second control module on power transmission cable interacts what is generated after formula is verified, so, just ensure that unmanned plane can be reasonable
Position taken pictures, improve the quality taken pictures.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, below will be attached to what is used needed for embodiment
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, thus be not construed as it is right
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 shows that a kind of unmanned plane of the UAS of patrolling power transmission lines that the embodiment of the present invention is provided stands
Stereogram；
Fig. 2 shows a kind of unmanned pusher side of the UAS of patrolling power transmission lines that the embodiment of the present invention is provided
View；
Fig. 3 shows that a kind of unmanned plane of the UAS of patrolling power transmission lines that the embodiment of the present invention is provided is bowed
View；
Fig. 4 is shown in a kind of unmanned plane of UAS of patrolling power transmission lines that the embodiment of the present invention is provided
Portion's sectional view.
In figure, 101, first order framework；102, second level framework；103, third level framework；104, central vane；105, week
Portion's blade；106, shrinking connecting-rod；107, air draught blade；108, support ring；109, support section；110, resilient contact；111, push-and-pull
Part；112, center bearing bracket.
Specific embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground description, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Generally exist
The component of the embodiment of the present invention described and illustrated in accompanying drawing can be arranged and designed with a variety of configurations herein.Cause
This, the detailed description of the embodiments of the invention to providing in the accompanying drawings is not intended to limit claimed invention below
Scope, but it is merely representative of selected embodiment of the invention.Based on embodiments of the invention, those skilled in the art are not doing
The every other embodiment obtained on the premise of going out creative work, belongs to the scope of protection of the invention.
As Figure 1-4, this application provides a kind of UAS of patrolling power transmission lines, including：
Unmanned plane, the first control module being arranged on unmanned plane and camera module, and be arranged on power transmission cable
The second control module and the distinguishing mark that is arranged on power transmission cable；Camera module includes：Camera body and connection camera
The angle regulating unit of body and unmanned plane；
Unmanned plane includes：Main body frame, drive module, buffering stand, the shrinking connecting-rod 106 of strip, week portion's blade
105th, central vane 104, air draught blade 107 and multiple jet cylinders；Main body frame includes being cascading from the bottom to top, and phase
Intercommunicated first order framework 101, second level framework 102 and third level framework 103, first order framework 101, second level framework
102 and third level framework 103 be in shape identical circular cone shape, and size is sequentially reduced；The first order framework 101, second level
Framework 102 and the coaxial line of third level framework 103；In third level framework 103, central vane 104 is located at the to drive module setting
The top of three-level framework 103, air draught blade 107 is located inside first order framework 101, and central vane 104 and air draught blade 107 are equal
Electrically connected with the output end of drive module by different power transmission shafts respectively；The air inlet of jet cylinder and third level framework 103
Inside is connected, and multiple jet cylinders are looped around the upper surface of third level framework 103, and each jet cylinder is used to receiving first
Towards the top jet of central vane 104 during trigger signal；
One end of buffering stand is connected with the edge of the lower surface of first order framework 101, and the other end is directed away from second
The direction of level framework 102 extends, and one end away from second level framework 102 of buffering stand is in arc-shaped, and is enclosed with cushion pad
And air bag；One end of shrinking connecting-rod 106 is connected with the lateral wall of first order framework 101, and the other end connects with week portion's blade 105
Connect；
First control module includes ventilating control unit and gas puff Z-pinch unit, gas puff Z-pinch unit and each jet cylinder electricity
Connection, and for working as follows：Atmospheric pressure value inside real-time detection each jet cylinder, when the jet cylinder that detection is obtained
Internal atmospheric pressure value exceedes preset air pressure threshold value, and does not send the first trigger signal in the given time, then generate first and trigger
Signal, and send the first trigger signal to the jet cylinder that atmospheric pressure value exceedes preset air pressure threshold value；Ventilating control unit, for passing through
Whether there is water inside water sensor detection main body frame, if there is water in main body frame, drive air bag inflation；
First control module also includes：Photograph control unit, rotation control unit, recognition unit, uploading unit, centre
Reason device, positioning unit, direction controlling unit and the first rf receiver and transmitter；Second control module is received including the second less radio-frequency
Hair device, pyroelectric infrared sensor and near radio transmitting element；
Pyroelectric infrared sensor, for being scanned at every predetermined time, and when there is mobile object in scanning area
The trigger signals of Shi Shengcheng second, and by near radio transmitting element, the second trigger signal is sent to the first control module；
Positioning unit, for obtaining unmanned plane position in real time；
Central processing unit, for according to unmanned plane position and the advance target inspection point provided position for obtaining, generating movement instruction；
And, when unmanned plane position and target inspection point provided are closely located to, drive the work of the first rf receiver and transmitter；
First rf receiver and transmitter, for generating radio frequency signal；
Second rf receiver and transmitter, for after radio frequency signal is received, generating the 3rd trigger signal, and pass through
Near radio transmitting element, the 3rd trigger signal is sent to the first control module；
Direction controlling unit, for driving the adjustment direction of week portion's blade 105 according to movement instruction；
Photograph control unit, for when received in scheduled time after the second trigger signal is received the 3rd triggering believe
Number when, drive camera body taken pictures, to generate photo；
Rotate control unit, for from photo search distinguishing mark where reference position, and according to reference position with
The relative position of standard area, control angle regulating unit is rotated；
Whether recognition unit is identical with standard shape for judging reference figuration of the distinguishing mark in photo；If judging
It is no, then by uploading unit by photo upload to remote control terminal；And, current real-time ring is detected by environmental sensor
Border data, and judge real time environmental data whether exceed predetermined threshold value, if being judged as YES, by uploading unit by last
It is secondary to shoot the photo upload that obtains to remote control terminal；Environmental sensor includes air velocity transducer, atmosphere pressure sensor and infrared
Sensor.
Specifically, the main body frame of unmanned plane is made up of three-level framework, it is respectively the first order framework 101, second level
Framework 102 and third level framework 103.Air draught blade 107 in first order framework 101 is to arrive the air coefficient of unmanned plane bottom
In main body frame, the effect of central vane 104 is to provide the climbing power of stabilization, to ensure the steady of unmanned plane entirety.Jet cylinder
Effect be intended to the top jet of central vane 104 so that rainwater excessive will not be applied in main body frame.
Gas puff Z-pinch unit can be in real-time detection each jet cylinder pressure value, and then when pressure value is enough,
Just driving jet cylinder carries out jet, so that rainwater is difficult to enter into main body frame progress, it is ensured that in main body frame the
One control module will not be subject to the intrusion of water and cause to damage.
Take pictures mainly the first control module and second control module of control, in the reciprocation of the two modules
Under, by the triggering of the second control signal and the 3rd control signal, finally control camera body and taken pictures.
First it is position that positioning unit obtains unmanned plane when mobile, afterwards, central processing unit is according to getting
Position and the target inspection point provided position that is previously obtained, generate movement instruction, and then by direction controlling unit, drive all last years
Piece adjustment direction, so that unmanned plane is integrally moved towards target.
Pyroelectric infrared sensor generates the second trigger signal and uses, and it is that designated area is entered when work
Row scanning, due to the scanning area very little of pyroelectric infrared sensor, therefore only when unmanned plane is very close to infrared thermal releasing fax
When sensor, can just scan, and then generate the second trigger signal.
When process in view of birds low latitude, it is also possible to trigger pyroelectric infrared sensor work, therefore increased
The first rf receiver and transmitter and the second rf receiver and transmitter for cooperating, the first rf receiver and transmitter and second wireless
The transmission range of RF transceiver is also relatively near, but belong to it is active it is nondirectional closely verify equipment, if only setting the first nothing
Whether line RF transceiver and the second rf receiver and transmitter cannot then ensure unmanned plane in optimum position.Therefore it is being provided with
On the basis of pyroelectric infrared sensor is verified, increase by the first rf receiver and transmitter and the second rf receiver and transmitter can
To ensure that unmanned plane has reached most preferred position.
In order to ensure the accurate of picture-taking position, rotation control unit is also add, the unit can be clapped according to camera body
The picture for being formed is taken to be finely adjusted come the position to unmanned plane.If reference position (the identification on power transmission cable i.e. in photo
Indicate the position shown in figure) (in whether fall into standard area) identical with standard area, then explanation has arrived at optimal
Position, can carry out taking pictures.If shape is differed, illustrate to be not reaching to optimal position, now, then should foundation
Reference position and the relative position of standard area, control angle regulating unit to be rotated, so that distinguishing mark can be moved to
In standard area, in distinguishing mark is moved to standard area, then can be taken pictures.
After reference position has been entered into standard area, recognition unit is functioned to, that is, judges referential
Whether shape is identical with standard shape, if identical, then illustrates that power transmission cable is in normal condition, otherwise just should be by upper
Leaflet is first by photo upload to remote control terminal, to be informed.Except being identified by photo, should also be passed by environment
Sensor is identified, and as wind speed is excessive, air pressure is excessive, in the case that temperature is too high, should timely be transferred to photo remote
Process control end, otherwise can again be uploaded when specific.
Preferably, the first control module also includes three-axis sensor, and three-axis sensor is electrically connected with uploading unit, for examining
Current real-time speed value and real time acceleration value is surveyed, and when real-time speed value exceedes predetermined threshold value, or work as real time acceleration
When value exceedes predetermined threshold value, alarm signal and unmanned plane position are sent to remote control terminal by uploading unit.
Three-axis sensor can detect real-time velocity amplitude, acceleration magnitude, can also detect in certain angle component certainly
Speed and acceleration.If speed/acceleration is too fast afterwards, illustrate that unmanned plane is in state out of control, now
Should timely be alarmed.
Preferably, support frame is additionally provided with first order framework 101, support frame includes being located in first order framework 101
Middle part circular center bearing bracket 112, be looped around multiple support sections 109, multiple support rings in 112 weeks portions of center bearing bracket
108 groups and multiple resilient contacts 110；Support section 109 is elongated, and one end of support section 109 is connected with center bearing bracket 112,
The other end is connected by resilient contact 110 with the inwall of first order framework 101；Multiple support section 109 is uniformly arranged on center branch
All portions of frame 112；108 groups of each support ring is made up of multiple support rings 108, the support ring 108 in 108 groups of same support ring
Size increase successively, and according to the size of support ring 108, be set in all portions of center bearing bracket 112 from the inside to the outside successively,
And support section 109 is connected with each support ring 108 in 108 groups of at least one support ring simultaneously；In 108 groups of same support ring
Outermost support ring 108 away from being that the side of center bearing bracket 112 is provided with multiple grooves, the bottom of each groove is respectively provided with
Flexible return unit and pull-push piece 111, pull-push piece 111 are connected between dynamic clamping head and quiet clamping head and first order framework 101；
Support ring 108 is overall elongated, and along the cross section undulate perpendicular to its length direction；
Support section 109 and support frame are can deformation material.
Specifically, support frame plays support, anticollision effect.Because first order framework 101 is maximum, therefore branch
When support is disposed therein, have been able to form supporting role to second level framework 102 and third level framework 103.Certainly,
Can also be also provided with upper support frame in second level framework 102 and third level framework 103.
The cross section undulate of support ring 108, can be compressed, and will not also be broken, and certainly, its is corrugated
Fluctuating quantity should not be excessive.Dynamic clamping head and quiet clamping head and pull-push piece 111 are also to play support, cushioning effect.
Preferably, the first control module also includes：The ultrasonic ranging unit being electrically connected to direction controlling unit；Ultrasound
Ripple range cells, the distance for detecting the side wall of first order framework 101 and the external world, and when the distance for detecting is too small, generation
Distance alarm signal；
Direction controlling unit, is further used for after distance alarm signal is received, and drives the side of adjustment of week portion's blade 105
To.
By carrying out ultrasonic ranging so that unmanned plane will not fly to and be unfavorable in the space of flight.
Preferably, it is additionally provided with sound bird-scaring unit in the first control module.
Preferably, the lower surface in first order framework 101 is additionally provided with telescopic alighting carriage.
Preferably, the lower surface in first order framework 101 is additionally provided with compressed air type launcher.
Preferably, the lower surface in telescopic alighting carriage is in circular arc.
Preferably, camera body is high-definition camera.
Preferably, height of the height of third level framework 103 more than second level framework 102.
The above, specific embodiment only of the invention, but protection scope of the present invention is not limited thereto, and it is any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all contain
Cover within protection scope of the present invention.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (10)
1. a kind of UAS of patrolling power transmission lines, it is characterised in that including：
Unmanned plane, the first control module being arranged on the unmanned plane and camera module, and be arranged on power transmission cable
The second control module and the distinguishing mark that is arranged on power transmission cable；The camera module includes：Camera body and connection
The angle regulating unit of the camera body and the unmanned plane；
The unmanned plane includes：Main body frame, drive module, buffering stand, the shrinking connecting-rod of strip, week portion's blade, center
Blade, air draught blade and multiple jet cylinders；The main body frame includes being cascading from the bottom to top, and for being interconnected
One-level framework, second level framework and third level framework, the first order framework, second level framework and third level framework are in shape
Identical circular cone shape, and size is sequentially reduced；The first order framework, second level framework and third level framework coaxial line；Institute
Drive module setting is stated in the third level framework, the central vane is located at the top of the third level framework, the suction
Air blade is located at the first order lower portion, and the central vane and the air draught blade respectively pass through different power transmission shafts
Output end with the drive module is electrically connected；The air inlet of the jet cylinder is connected with the inside of the third level framework,
Multiple jets cylinders are looped around the upper surface of the third level framework, and each described jet cylinder is used to touch receiving first
Towards the top jet of the central vane during signalling；
One end of the buffering stand is connected with the edge of the lower surface of the first order framework, and the other end is directed away from described
The direction of second level framework extends, and one end away from the second level framework of the buffering stand is in arc-shaped, and is enclosed with
Cushion pad and air bag；One end of the shrinking connecting-rod is connected with the lateral wall of the first order framework, the other end with it is described
All portion's blade connections；
First control module includes ventilating control unit and gas puff Z-pinch unit, the gas puff Z-pinch unit and each jet
Cylinder electrical connection, and for working as follows：Atmospheric pressure value inside real-time detection each jet cylinder, when the detection is obtained
The internal atmospheric pressure value of jet cylinder more than preset air pressure threshold value, and do not send the first trigger signal in the given time, then generate
First trigger signal, and send first trigger signal to the jet cylinder that atmospheric pressure value exceedes preset air pressure threshold value；The inflation
Control unit, for detecting inside the main body frame whether there is water by water sensor, if having water in the main body frame,
Then drive the air bag inflation；
First control module also includes：Photograph control unit, rotation control unit, recognition unit, uploading unit, centre
Reason device, positioning unit, direction controlling unit and the first rf receiver and transmitter；Second control module is wirelessly penetrated including second
Frequency transceiver, pyroelectric infrared sensor and near radio transmitting element；
The pyroelectric infrared sensor, for being scanned at every predetermined time, and when there is mobile object in scanning area
The trigger signals of Shi Shengcheng second, and by the near radio transmitting element, by second trigger signal to described first
Control module sends；
The positioning unit, for obtaining unmanned plane position in real time；
The central processing unit, for according to unmanned plane position and the advance target inspection point provided position for obtaining, generating movement instruction；
And, when unmanned plane position is closely located to the target inspection point provided, drive the work of the first rf receiver and transmitter；
First rf receiver and transmitter, for generating radio frequency signal；
Second rf receiver and transmitter, for after the radio frequency signal is received, generating the 3rd trigger signal, and pass through
The near radio transmitting element, the 3rd trigger signal is sent to first control module；
Direction controlling unit, for driving all portion's blade adjustment directions according to movement instruction；
The photograph control unit, for tactile when receiving the 3rd in scheduled time after second trigger signal is received
During signalling, the camera body is driven to be taken pictures, to generate photo；
The rotation control unit, the reference position where for searching the distinguishing mark from photo, and according to the ginseng
The relative position of position and standard area is examined, controls the angle regulating unit to be rotated；
Whether the recognition unit is identical with standard shape for judging reference figuration of the distinguishing mark in photo；If
It is judged as NO, then by the uploading unit by the photo upload to remote control terminal；And, detected by environmental sensor
Current real time environmental data, and judge whether the real time environmental data exceedes predetermined threshold value, if being judged as YES, pass through
The uploading unit will for the last time shoot the photo upload that obtains to remote control terminal；The environmental sensor is passed including wind speed
Sensor, atmosphere pressure sensor and infrared sensor.
2. a kind of UAS of patrolling power transmission lines according to claim 1, it is characterised in that first control
Molding block also includes three-axis sensor, and the three-axis sensor electrically connects with the uploading unit, current real-time for detecting
Velocity amplitude and real time acceleration value, and when the real-time speed value exceedes predetermined threshold value, or when the real time acceleration value is super
When crossing predetermined threshold value, alarm signal and the unmanned plane position are sent to remote control terminal by the uploading unit.
3. the UAS of a kind of patrolling power transmission lines according to claim 1, it is characterised in that described first
Support frame is additionally provided with level framework, support frame as described above includes the circular center at the middle part in the first order framework
Support, the multiple elastic support sections for being looped around center bearing bracket week portion, multiple support ring groups and multiple resilient contacts；It is described
Support section is elongated, and one end of support section is connected with center bearing bracket, and the other end passes through the resilient contact and described first
The inwall connection of level framework；Multiple support sections are uniformly arranged on all portions of the center bearing bracket；Each described support ring group
It is made up of multiple support rings, the size of the support ring in the same support ring group increases successively, and according to the support ring
Size, be set in all portions of the center bearing bracket from the inside to the outside successively, and the support section simultaneously with least one institute
State each support ring connection in support ring group；Outermost support ring away from being center bearing bracket in same support ring group
Side is provided with multiple grooves, and the bottom of each groove is provided with dynamic clamping head and quiet clamping head and pull-push piece, and the pull-push piece is connected to
Between the dynamic clamping head and quiet clamping head and the first order framework；
The support ring is integrally elongated, and along the cross section undulate perpendicular to its length direction；
The support section and support frame as described above are can deformation material.
4. a kind of UAS of patrolling power transmission lines according to claim 1, it is characterised in that first control
Molding block also includes：The ultrasonic ranging unit being electrically connected to the direction controlling unit；The ultrasonic ranging unit, uses
In the distance for detecting the first order frame side wall and the external world, and when the distance for detecting is too small, distance alarm signal is generated；
The direction controlling unit, is further used for after distance alarm signal is received, and drives all portion's blade adjustment sides
To.
5. a kind of UAS of patrolling power transmission lines according to claim 1, it is characterised in that first control
Sound bird-scaring unit is additionally provided with molding block.
6. the UAS of a kind of patrolling power transmission lines according to claim 1, it is characterised in that described first
The lower surface of level framework is additionally provided with telescopic alighting carriage.
7. the UAS of a kind of patrolling power transmission lines according to claim 1, it is characterised in that described first
The lower surface of level framework is additionally provided with compressed air type launcher.
8. the UAS of a kind of patrolling power transmission lines according to claim 6, it is characterised in that described flexible
The lower surface of formula alighting carriage is in circular arc.
9. a kind of UAS of patrolling power transmission lines according to claim 1, it is characterised in that the camera sheet
Body is high-definition camera.
10. the UAS of a kind of patrolling power transmission lines according to claim 1, it is characterised in that the described 3rd
The height of the height more than the second level framework of level framework.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710092239.XA CN106828890B (en) | 2017-02-21 | 2017-02-21 | A kind of UAV system of patrolling power transmission lines |
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| CN201710092239.XA CN106828890B (en) | 2017-02-21 | 2017-02-21 | A kind of UAV system of patrolling power transmission lines |
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| CN106828890B CN106828890B (en) | 2019-06-07 |
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| CN201710092239.XA Expired - Fee Related CN106828890B (en) | 2017-02-21 | 2017-02-21 | A kind of UAV system of patrolling power transmission lines |
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| CN109239499A (en) * | 2018-11-02 | 2019-01-18 | 江苏嘉顿威尔电气有限公司 | A kind of detection platform of unmanned plane lightning protection detection system |
| CN110869846A (en) * | 2017-07-12 | 2020-03-06 | 株式会社爱隆未来 | High-altitude observation device |
| CN111190237A (en) * | 2018-11-14 | 2020-05-22 | 光宝科技新加坡私人有限公司 | Infrared proximity sensor |
| CN111415432A (en) * | 2020-03-20 | 2020-07-14 | 四川华能宝兴河水电有限责任公司 | Intelligent inspection method for hydropower station |
| CN113034717A (en) * | 2020-06-19 | 2021-06-25 | 航电建筑科技(深圳)有限公司 | Property inspection equipment photo wall management method |
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| CN106828890B (en) | 2019-06-07 |
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