CN106828890B - A kind of UAV system of patrolling power transmission lines - Google Patents
A kind of UAV system of patrolling power transmission lines Download PDFInfo
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- CN106828890B CN106828890B CN201710092239.XA CN201710092239A CN106828890B CN 106828890 B CN106828890 B CN 106828890B CN 201710092239 A CN201710092239 A CN 201710092239A CN 106828890 B CN106828890 B CN 106828890B
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 48
- 230000001276 controlling effect Effects 0.000 claims description 14
- 230000007613 environmental effect Effects 0.000 claims description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 10
- 230000001133 acceleration Effects 0.000 claims description 9
- 230000003139 buffering effect Effects 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 8
- 238000007689 inspection Methods 0.000 claims description 8
- 230000001105 regulatory effect Effects 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 6
- 238000011897 real-time detection Methods 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 3
- 238000000465 moulding Methods 0.000 claims 3
- 230000011664 signaling Effects 0.000 claims 2
- 241000208340 Araliaceae Species 0.000 claims 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims 1
- 235000003140 Panax quinquefolius Nutrition 0.000 claims 1
- 235000008434 ginseng Nutrition 0.000 claims 1
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003760 hair shine Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
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
-
- 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
-
- 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; ARRANGEMENT 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
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The present invention provides a kind of UAV system of patrolling power transmission lines, are related to electrical distribution field.A kind of UAV system of patrolling power transmission lines provided by the invention allows route of the unmanned plane voluntarily along positioning to fly by being provided with positioning unit, central processing unit and direction controlling unit；And, camera control unit can receive receive third trigger signal in the predetermined time after the second trigger signal when, just Zhao's camera body can be driven to take pictures, wherein, second trigger signal and third trigger signal are that the first control module on unmanned plane and the second control module on power transmission cable are interacted after formula is verified and generated, in this way, just ensure that unmanned plane can take pictures in reasonable position, the quality taken pictures is improved.
Description
Technical field
The present invention relates to electrical distribution fields, in particular to a kind of UAV system of patrolling power transmission lines.
Background technique
Referred to as " unmanned plane ", english abbreviation is " UAV " to UAV, is using radio robot and to provide for oneself
The not manned aircraft of presetting apparatus manipulation.Unmanned plane is actually the general designation of unmanned vehicle, from skill
The definition of art angle can be divided into: unmanned helicopter, unmanned fixed-wing aircraft, unmanned multi-rotor aerocraft, unmanned airship, the unmanned umbrella wing
This several major class of machine.Without cockpit 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, are tracked, are positioned to it, are remotely controlled, telemetering and Digital Transmission.Utilize nobody
The various power equipment inspections that machine is transmitted electricity guarantee power transmission network in order to which power monitoring department finds the problem and safeguards in time
The normal operation of network.
In actual use, inventors have found that traditional patrol UAV, can fly according to set specified completion, clap
It is acted according to equal, but when flight, the position of unmanned plane is adjusted only by the mode of remote control, it is difficult to guarantee precision of taking pictures.
Summary of the invention
The purpose of the present invention is to provide a kind of UAV system of patrolling power transmission lines, to improve precision of taking pictures.
In a first aspect, the embodiment of the invention provides a kind of UAV system of patrolling power transmission lines, comprising:
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 ontology and unmanned plane；
Unmanned plane includes: main body frame, drive module, buffering stand, the shrinking connecting-rod of strip, circumference blade, center
Blade, air draught blade and multiple jet cylinders；Main body frame includes the first order being cascading from the bottom to top, and interconnected
Frame, second level frame and third level frame, first order frame, second level frame and third level frame are in the identical circle of shape
It is pyramidal, and size is sequentially reduced；First order frame, second level frame and third level frame coaxial line；Drive module setting exists
In third level frame, central vane is located at the top of third level frame, and air draught blade is located at first order lower portion, central vane
It is electrically connected respectively by different transmission shafts with the output end of drive module with air draught blade；The air inlet and third of jet cylinder
The inside of grade frame is connected, and multiple jet cylinders are looped around the upper surface of third level frame, and each jet cylinder is used to receiving
Towards the top jet of central vane when to the first trigger signal；
One end of buffering stand is connect with the edge of the lower surface of first order frame, and the other end is directed away from second level frame
The direction of frame extends, and one end of the separate second level frame of buffering stand is in arc-shaped, and is enclosed with cushion and air bag；
One end of shrinking connecting-rod is connect with the lateral wall of first order frame, and the other end is connect with circumference blade；
First control module includes ventilating control unit and gas puff Z-pinch unit, and gas puff Z-pinch unit and each jet cylinder are electric
Connection, and for working as follows: the atmospheric pressure value inside each jet cylinder of real-time detection, when the jet cylinder that detection obtains
Internal atmospheric pressure value is more than preset air pressure threshold value, and does not issue the first trigger signal in the given time, then generates the first triggering
Signal, and the first trigger signal is issued to the jet cylinder that atmospheric pressure value is more than 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, drives air bag inflation；
First control module further include: photograph control unit, rotation control unit, recognition unit, uploading unit, centre
Manage device, positioning unit, direction controlling unit and the first rf receiver and transmitter；Second control module is received including the second less radio-frequency
Send out device, pyroelectric infrared sensor and near radio transmission unit；
Pyroelectric infrared sensor has mobile object for being scanned at every predetermined time, and in the scanning area
The second trigger signal of Shi Shengcheng, and by near radio transmission unit, the second trigger signal is sent to the first control module；
Positioning unit, for obtaining unmanned plane position in real time；
Central processing unit, the target inspection point provided position for obtaining according to unmanned plane position and in advance, generates movement instruction；
And when unmanned plane position is closely located to target inspection point provided, driving the first rf receiver and transmitter work；
First rf receiver and transmitter, for generating radio frequency signal；
Second rf receiver and transmitter, for generating third trigger signal, and pass through after receiving radio frequency signal
Near radio transmission unit sends third trigger signal to the first control module；
Direction controlling unit, for driving circumference blade adjustment direction according to movement instruction；
Take a picture control unit, for when received in predetermined time after receiving the second trigger signal third triggering believe
Number when, driving camera body take 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 are rotated；
Recognition unit, for judging whether reference figuration of the distinguishing mark in photo be identical as standard shape；If judgement
Be it is no, then by uploading unit by photo upload to remote control terminal；And the real-time ring current by environmental sensor detection
Border data, and judge whether real time environmental data is more than scheduled threshold value, if being judged as YES, by uploading unit by last
The secondary obtained photo upload of shooting is to remote control terminal；Environmental sensor includes air velocity transducer, atmosphere pressure sensor and infrared
Sensor.
With reference to first aspect, the embodiment of the invention provides the first possible embodiments of first aspect, wherein the
One control module further 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 is more than preset threshold, or when real time acceleration value is more than preset threshold,
Alarm signal and unmanned plane position are sent to remote control terminal by uploading unit.
With reference to first aspect, the embodiment of the invention provides second of possible embodiments of first aspect, wherein
Support frame is additionally provided in first order frame, support frame includes the circular center branch at the middle part in first order frame
Frame, the multiple support sections for being looped around center bearing bracket circumference, multiple support ring groups and multiple resilient contacts；Support section is elongated,
And one end of support section is connect with center bearing bracket, the other end is connect by resilient contact with the inner wall of first order frame；Multiple
Support section is uniformly arranged on the circumference of center bearing bracket；Each support ring group is made of multiple support rings, in same support ring group
The size of support ring is sequentially increased, and according to the size of support ring, is successively set in the circumference of center bearing bracket from the inside to the outside,
And support section is connect with each support ring at least one support ring group simultaneously；Outermost support in the same support ring group
Ring is provided with multiple grooves far from the side for being center bearing bracket, and the bottom of each groove is provided with dynamic clamping head and quiet clamping head and push-and-pull
Part, pull-push piece are connected between dynamic clamping head and quiet clamping head and first order frame；
Support ring is integrally elongated, and wavy along the cross section perpendicular to its length direction；
Support section and support frame are can deformation material.
With reference to first aspect, the embodiment of the invention provides the third possible embodiments of first aspect, wherein the
One control module further include: the ultrasonic distance measurement unit being electrically connected to direction controlling unit；Ultrasonic distance measurement unit, for examining
First order frame side wall is surveyed at a distance from the external world, and when the distance detected is too small, generates distance alarm signal；
Direction controlling unit is further used for after receiving distance alarm signal, drives circumference blade adjustment direction.
With reference to first aspect, the embodiment of the invention provides the 4th kind of possible embodiments of first aspect, wherein the
Sound bird-scaring unit is additionally provided in one control module.
With reference to first aspect, the embodiment of the invention provides the 5th kind of possible embodiments of first aspect, wherein
The lower surface of first order frame is additionally provided with telescopic alighting carriage.
With reference to first aspect, the embodiment of the invention provides the 6th kind of possible embodiments of first aspect, wherein
The lower surface of first order frame is additionally provided with compressed air type launcher.
With reference to first aspect, the embodiment of the invention provides the 7th kind of possible embodiments of first aspect, wherein
The lower surface of telescopic alighting carriage is arc-shaped.
With reference to first aspect, the embodiment of the invention provides the 8th kind of possible embodiments of first aspect, wherein phase
Machine ontology is high-definition camera.
With reference to first aspect, the embodiment of the invention provides the 9th kind of possible embodiments of first aspect, wherein the
The height of three-level frame is greater than the height of second level frame.
A kind of UAV system of patrolling power transmission lines provided in an embodiment of the present invention, is merely able to in the prior art
Take pictures in the case where manual operation, cause line walking inconvenient, take pictures it is second-rate compare, by being provided with positioning
Unit, central processing unit and direction controlling unit allow route of the unmanned plane voluntarily along positioning to fly；Also, it shines
Camera control unit can receive receive third trigger signal in the predetermined time after the second trigger signal when, can just drive Zhao
Camera body is taken pictures, wherein the second trigger signal and third trigger signal be the first control module on unmanned plane and
The second control module on power transmission cable generates after interacting formula verifying, in this way, just ensure that unmanned plane can be reasonable
Position take pictures, improve the quality taken pictures.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
It is vertical that Fig. 1 shows a kind of unmanned plane of the UAV system of patrolling power transmission lines provided by the embodiment of the present invention
Stereogram；
Fig. 2 shows a kind of unmanned pusher sides of the UAV system of patrolling power transmission lines provided by the embodiment of the present invention
View；
Fig. 3 shows a kind of unmanned plane of the UAV system of patrolling power transmission lines provided by the embodiment of the present invention and bows
View；
Fig. 4 is shown in a kind of unmanned plane of the UAV system of patrolling power transmission lines provided by the embodiment of the present invention
Portion's cross-sectional view.
In figure, 101, first order frame；102, second level frame；103, third level frame；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 attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, is not intended to limit claimed invention to the detailed description of the embodiment of the present invention provided in the accompanying drawings below
Range, but it is merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
As shown in Figs 1-4, this application provides a kind of UAV system of patrolling power transmission lines, comprising:
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 ontology and unmanned plane；
Unmanned plane includes: main body frame, drive module, buffering stand, the shrinking connecting-rod 106 of strip, circumference blade
105, central vane 104, air draught blade 107 and multiple jet cylinders；Main body frame including being cascading from the bottom to top, and phase
Intercommunicated first order frame 101, second level frame 102 and third level frame 103, first order frame 101, second level frame
102 with third level frame 103 in the identical circular cone shape of shape, and size is sequentially reduced；First order frame 101, the second level
103 coaxial line of frame 102 and third level frame；For drive module setting in third level frame 103, central vane 104 is located at the
The top of three-level frame 103, air draught blade 107 are located inside first order frame 101, and central vane 104 and air draught blade 107 are equal
It is electrically connected respectively by different transmission shafts with the output end of drive module；The air inlet of jet cylinder and third level frame 103
Inside is connected, and multiple jet cylinders are looped around the upper surface of third level frame 103, and each jet cylinder is used to receiving first
Towards the top jet of central vane 104 when trigger signal；
One end of buffering stand is connect with the edge of the lower surface of first order frame 101, and the other end is directed away from second
The direction of grade frame 102 extends, and one end of the separate second level frame 102 of buffering stand is in arc-shaped, and is enclosed with cushion
And air bag；One end of shrinking connecting-rod 106 is connect with the lateral wall of first order frame 101, and the other end and circumference blade 105 connect
It connects；
First control module includes ventilating control unit and gas puff Z-pinch unit, and gas puff Z-pinch unit and each jet cylinder are electric
Connection, and for working as follows: the atmospheric pressure value inside each jet cylinder of real-time detection, when the jet cylinder that detection obtains
Internal atmospheric pressure value is more than preset air pressure threshold value, and does not issue the first trigger signal in the given time, then generates the first triggering
Signal, and the first trigger signal is issued to the jet cylinder that atmospheric pressure value is more than 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, drives air bag inflation；
First control module further include: photograph control unit, rotation control unit, recognition unit, uploading unit, centre
Manage device, positioning unit, direction controlling unit and the first rf receiver and transmitter；Second control module is received including the second less radio-frequency
Send out device, pyroelectric infrared sensor and near radio transmission unit；
Pyroelectric infrared sensor has mobile object for being scanned at every predetermined time, and in the scanning area
The second trigger signal of Shi Shengcheng, and by near radio transmission unit, the second trigger signal is sent to the first control module；
Positioning unit, for obtaining unmanned plane position in real time；
Central processing unit, the target inspection point provided position for obtaining according to unmanned plane position and in advance, generates movement instruction；
And when unmanned plane position is closely located to target inspection point provided, driving the first rf receiver and transmitter work；
First rf receiver and transmitter, for generating radio frequency signal；
Second rf receiver and transmitter, for generating third trigger signal, and pass through after receiving radio frequency signal
Near radio transmission unit sends third trigger signal to the first control module；
Direction controlling unit, for driving 105 adjustment direction of circumference blade according to movement instruction；
Take a picture control unit, for when received in predetermined time after receiving the second trigger signal third triggering believe
Number when, driving camera body take 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 are rotated；
Recognition unit, for judging whether reference figuration of the distinguishing mark in photo be identical as standard shape；If judgement
Be it is no, then by uploading unit by photo upload to remote control terminal；And the real-time ring current by environmental sensor detection
Border data, and judge whether real time environmental data is more than scheduled threshold value, if being judged as YES, by uploading unit by last
The secondary obtained photo upload of shooting is 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 of three-level frame, it is first order frame 101, the second level respectively
Frame 102 and third level frame 103.Air draught blade 107 in first order frame 101 is to arrive the air coefficient of unmanned plane lower part
In main body frame, the effect of central vane 104 is to provide stable climbing power, to guarantee 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 pressure value in each jet cylinder of real-time detection, and then when pressure value is enough,
Just driving jet cylinder carries out jet, so that rainwater is difficult to enter main body frame progress, ensure that the in main body frame
One control module not will receive the intrusion of water and cause to damage.
Take pictures mainly the first control module and the second control module of control, in the reciprocation of the two modules
Under, the triggering of signal is controlled by second control signal and third, is finally controlled camera body and is taken pictures.
It is the position that positioning unit obtains unmanned plane first when mobile, later, central processing unit foundation is got
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 generate the second trigger signal use, at work, be to specified region into
Row scanning, due to the scanning area very little of pyroelectric infrared sensor, only when unmanned plane is very close to infrared thermal releasing fax
It 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 increase
Mutually matched first rf receiver and transmitter and the second rf receiver and transmitter, the first rf receiver and transmitter and second is wirelessly
The transmission range of RF transceiver is also relatively close, but belongs to active nondirectional short distance verifying equipment, if the first nothing is only arranged
Line RF transceiver and the second rf receiver and transmitter not can guarantee whether unmanned plane is in optimum position then.Therefore it is being provided with
On the basis of pyroelectric infrared sensor is verified, increases by the first rf receiver and transmitter and the second rf receiver and transmitter can
To guarantee that unmanned plane has had reached most preferred position.
In order to guarantee the accurate of picture-taking position, rotation control unit is also added, which can clap according to camera body
The picture of formation is taken to be finely adjusted to the position of unmanned plane.I.e. if the reference position (identification on power transmission cable in photo
Indicate the position shown in figure) (whether falling into standard area) identical as standard area, then explanation has arrived at optimal
Position, can carry out taking pictures.If shape is not identical, illustrate the position not being optimal, at this point, then should foundation
The relative position of reference position and standard area, control angle regulating unit is rotated, so that distinguishing mark can be moved to
In standard area, when distinguishing mark is moved in standard area, then it can take pictures.
After reference position has entered in standard area, recognition unit is started working, that is, judges referential
Whether shape is identical as standard shape, if identical, illustrates that power transmission cable is in normal condition, otherwise just should be by upper
Leaflet member is by photo upload to remote control terminal, to be informed.It is identified except through photo, should also be passed by environment
Sensor is identified, if wind speed is excessive, air pressure is excessive, in the case that temperature is excessively high, should all be timely transferred to photo remote
Process control end is uploaded again when otherwise can waiting until specific.
Preferably, the first control module further 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 are surveyed, and when real-time speed value is more than preset threshold, or works as real time acceleration
When value is more than preset threshold, alarm signal and unmanned plane position are sent to remote control terminal by uploading unit.
Three-axis sensor is able to detect real-time velocity amplitude, acceleration value, can also detect in some angle component certainly
Velocity and acceleration.Later if when speed/acceleration is too fast, illustrate that unmanned plane is in state out of control, at this time
It should timely alarm.
Preferably, support frame is additionally provided in first order frame 101, support frame includes being located in first order frame 101
The circular center bearing bracket 112 at middle part, the multiple support sections 109 for being looped around 112 circumference of center bearing bracket, multiple support rings
108 groups and multiple resilient contacts 110；Support section 109 is elongated, and one end of section 109 is supported to connect with center bearing bracket 112,
The other end is connect by resilient contact 110 with the inner wall of first order frame 101；Multiple support sections 109 are uniformly arranged on center branch
The circumference of frame 112；108 groups of each support ring is made of multiple support rings 108, the support ring 108 in 108 groups of same support ring
Size be sequentially increased, and according to the size of support ring 108, be successively set in the circumference of center bearing bracket 112 from the inside to the outside,
And support section 109 is connect with each support ring 108 in 108 groups of at least one support ring simultaneously；In 108 groups of the same support ring
Outermost support ring 108 is provided with multiple grooves far from the side for being center bearing bracket 112, and 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 frame 101；
Support ring 108 is whole elongated, and wavy along the cross section perpendicular to its length direction；
Support section 109 and support frame are can deformation material.
Specifically, support frame plays the role of support, anticollision.Since first order frame 101 is the largest, branch
When support is disposed therein, have been able to form supporting role to second level frame 102 and third level frame 103.Certainly,
It is also possible to be also provided with upper support frame in second level frame 102 and third level frame 103.
The cross section of support ring 108 is wavy, can be compressed, and will not be broken, certainly, wavy
Fluctuating quantity should not be excessive.Dynamic clamping head and quiet clamping head and pull-push piece 111 are also to play support, buffer function.
Preferably, the first control module further include: the ultrasonic distance measurement unit being electrically connected to direction controlling unit；Ultrasound
Wave distance measuring unit is generated for detecting 101 side wall of first order frame at a distance from the external world, and when the distance detected is too small
Distance alarm signal；
Direction controlling unit is further used for after receiving distance alarm signal, drives 105 side of adjustment of circumference blade
To.
By carrying out ultrasonic distance measurement, so that unmanned plane will not be flown in the space for being unfavorable for flight.
Preferably, sound bird-scaring unit is additionally provided in the first control module.
Preferably, telescopic alighting carriage is additionally provided in the lower surface of first order frame 101.
Preferably, compressed air type launcher is additionally provided in the lower surface of first order frame 101.
Preferably, it is arc-shaped in the lower surface of telescopic alighting carriage.
Preferably, camera body is high-definition camera.
Preferably, the height of third level frame 103 is greater than the height of second level frame 102.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of UAV system of patrolling power transmission lines characterized by comprising
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, circumference blade, center
Blade, air draught blade and multiple jet cylinders；The main body frame includes for being cascading, and being interconnected from the bottom to top
Level-one frame, second level frame and third level frame, the first order frame, second level frame and third level frame are in shape
Identical circular cone shape, and size is sequentially reduced；The first order frame, second level frame and third level frame coaxial line；Institute
Drive module setting is stated in the third level frame, the central vane is located at the top of the third level frame, the suction
Air blade is located at the first order lower portion, and the central vane and the air draught blade pass through different transmission shafts respectively
It is electrically connected with the output end of the drive module；The air inlet of the jet cylinder is connected with the inside of the third level frame,
Multiple jet cylinders are looped around the upper surface of the third level frame, and each jet cylinder is used to receiving the first touching
Towards the top jet of the central vane when signalling；
One end of the buffering stand is connect with the edge of the lower surface of the first order frame, and the other end is directed away from described
The direction of second level frame extends, and one end far from the second level frame of the buffering stand is in arc-shaped, and is enclosed with
Cushion and air bag；One end of the shrinking connecting-rod is connect with the lateral wall of the first order frame, the other end with it is described
The connection of circumference blade；
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: the atmospheric pressure value inside each jet cylinder of real-time detection, when the detection obtains
Jet cylinder inside atmospheric pressure value be more than preset air pressure threshold value, and do not issue the first trigger signal in the given time, then generate
First trigger signal, and first trigger signal is issued to the jet cylinder that atmospheric pressure value is more than preset air pressure threshold value；The inflation
Control unit, for detecting inside the main body frame whether have water by water sensor, if having water in the main body frame,
Then drive the air bag inflation；
First control module further include: photograph control unit, rotation control unit, recognition unit, uploading unit, centre
Manage 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 transmission unit；
The pyroelectric infrared sensor has mobile object for being scanned at every predetermined time, and in the scanning area
The second trigger signal of Shi Shengcheng, and by the near radio transmission unit, by second trigger signal to described first
Control module is sent；
The positioning unit, for obtaining unmanned plane position in real time；
The central processing unit, the target inspection point provided position for obtaining according to unmanned plane position and in advance, generates movement instruction；
And when unmanned plane position is closely located to the target inspection point provided, driving the first rf receiver and transmitter work；
First rf receiver and transmitter, for generating radio frequency signal；
Second rf receiver and transmitter, for generating third trigger signal, and pass through after receiving the radio frequency signal
The near radio transmission unit sends the third trigger signal to first control module；
Direction controlling unit, for driving the circumference blade adjustment direction according to movement instruction；
The photograph control unit, for when received in predetermined time after receiving second trigger signal third touching
When signalling, the camera body is driven to take pictures, to generate photo；
The rotation control unit, for the reference position where searching the distinguishing mark in photo, and according to the ginseng
The relative position for examining position and standard area controls the angle regulating unit and is rotated；
The recognition unit, for judging whether reference figuration of the distinguishing mark in photo be identical as standard shape；If
It is judged as NO, then by the uploading unit by the photo upload to remote control terminal；And it is detected by environmental sensor
Current real time environmental data, and judge whether the real time environmental data is more than scheduled threshold value, if being judged as YES, pass through
The uploading unit will shoot obtained photo upload to remote control terminal for the last time；The environmental sensor includes that wind speed passes
Sensor, atmosphere pressure sensor and infrared sensor.
2. a kind of UAV system of patrolling power transmission lines according to claim 1, which is characterized in that first control
Molding block further includes three-axis sensor, and the three-axis sensor is electrically connected with the uploading unit, current real-time for detecting
Velocity amplitude and real time acceleration value, and when the real-time speed value is more than preset threshold, or when the real time acceleration value is super
When crossing preset threshold, alarm signal and the unmanned plane position are sent to remote control terminal by the uploading unit.
3. a kind of UAV system of patrolling power transmission lines according to claim 1, which is characterized in that described first
Support frame is additionally provided in grade frame, support frame as described above includes the circular center at the middle part in the first order frame
Bracket, be looped around the center bearing bracket circumference multiple elasticity support section, multiple support ring groups and multiple resilient contacts；It is described
Support section is elongated, and one end of section is supported to connect with center bearing bracket, and the other end passes through the resilient contact and described first
The inner wall connection of grade frame；Multiple support sections are uniformly arranged on the circumference of the center bearing bracket；Each support ring group
It is made of multiple support rings, the size of the support ring in the same support ring group is sequentially increased, and according to the support ring
Size, be successively set in the circumference of the center bearing bracket from the inside to the outside, and support section simultaneously at least one institute
State each support ring connection in support ring group；The one of the separate center bearing bracket of outermost support ring in the 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 institute
It states between dynamic clamping head and quiet clamping head and the first order frame；
The support ring is integrally elongated, and wavy along the cross section perpendicular to its length direction；
The support section and support frame as described above are can deformation material.
4. a kind of UAV system of patrolling power transmission lines according to claim 1, which is characterized in that first control
Molding block further include: the ultrasonic distance measurement unit being electrically connected to the direction controlling unit；The ultrasonic distance measurement unit is used
In the detection first order frame side wall at a distance from the external world, and when the distance detected is too small, distance alarm signal is generated；
The direction controlling unit, is further used for after receiving distance alarm signal, drives circumference blade adjustment side
To.
5. a kind of UAV system of patrolling power transmission lines according to claim 1, which is characterized in that first control
Sound bird-scaring unit is additionally provided on molding block.
6. a kind of UAV system of patrolling power transmission lines according to claim 1, which is characterized in that described first
The lower surface of grade frame is additionally provided with telescopic alighting carriage.
7. a kind of UAV system of patrolling power transmission lines according to claim 1, which is characterized in that described first
The lower surface of grade frame is additionally provided with compressed air type launcher.
8. a kind of UAV system of patrolling power transmission lines according to claim 6, which is characterized in that described flexible
The lower surface of formula alighting carriage is arc-shaped.
9. a kind of UAV system of patrolling power transmission lines according to claim 1, which is characterized in that the camera sheet
Body is high-definition camera.
10. a kind of UAV system of patrolling power transmission lines according to claim 1, which is characterized in that the third
The height of grade frame is greater than the height of the second level frame.
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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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| US11487189B2 (en) * | 2017-07-12 | 2022-11-01 | Aeronext Inc. | High-place observation device including a gas balloon and a detachable rotorcraft |
| CN107561547B (en) * | 2017-08-14 | 2020-05-12 | 广州供电局有限公司 | Method, device and system for measuring distance from power transmission line to target object |
| 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 |
| US20200150270A1 (en) * | 2018-11-14 | 2020-05-14 | Lite-On Singapore Pte. Ltd. | 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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| CN202043104U (en) * | 2011-05-17 | 2011-11-16 | 山东电力研究院 | Wireless communication relay station for power line inspection of unmanned planes |
| CN202127210U (en) * | 2011-07-19 | 2012-01-25 | 华北电力大学（保定） | Flying sliding line patrol robot |
| US9304772B2 (en) * | 2012-03-29 | 2016-04-05 | Advanced Micro Devices, Inc. | Ordering thread wavefronts instruction operations based on wavefront priority, operation counter, and ordering scheme |
| FR3020763B1 (en) * | 2014-05-06 | 2016-06-03 | Parrot | QUADRICOPTERE TYPE ROTARY SAILING WHEEL HAVING REMOVABLE PROPERTY PROTECTION BUMPERS |
| CN105035315B (en) * | 2015-08-03 | 2016-11-02 | 深圳供电局有限公司 | Multi-rotor unmanned aerial vehicle based on laser light accurate line drop inspection and operation method |
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