CN110386249A - A kind of unmanned plane electric power line inspection device and its method for inspecting - Google Patents
A kind of unmanned plane electric power line inspection device and its method for inspecting Download PDFInfo
- Publication number
- CN110386249A CN110386249A CN201910574499.XA CN201910574499A CN110386249A CN 110386249 A CN110386249 A CN 110386249A CN 201910574499 A CN201910574499 A CN 201910574499A CN 110386249 A CN110386249 A CN 110386249A
- Authority
- CN
- China
- Prior art keywords
- electric power
- unmanned plane
- cable
- power line
- power cable
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- 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
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Abstract
The invention discloses a kind of unmanned plane electric power line inspection device and its method for inspecting.Ultra-high-tension power transmission line needs are periodically patrolled and are safeguarded, to prevent failure and security risk.A kind of unmanned plane electric power line inspection device of the present invention, including unmanned plane main body, power line clamping device and take electro-detection module.Power line clamping device includes fixed underpan and two unilateral clamp assemblies.Unilateral clamp assemblies include clamping steering engine, connection frame and damping clamper.Damping clamper includes clamper driving assembly, holding frame and two single clip pawls.Clamper driving assembly includes cable pushing block, reset spring, connection hinged shaft and connecting rod.Taking electro-detection module includes electric pushrod, lifting pedestal, auxiliary rod, resigning spring, turning rod, support rod and wireless electricity getting device.The present invention, which can rest in, extends cruise duration on power line, drawn by power line and increase stability, while CT takes electricity to enhance cruising ability to unmanned plane from power line.
Description
Technical field
The invention belongs to air vehicle technique fields and electric power line inspection technical field, and in particular to a kind of unmanned plane power line
Inspection device and its method for inspecting.
Background technique
Ultra-high-tension power transmission line needs are periodically patrolled and are safeguarded, to prevent failure and security risk.Traditional manually patrols
It is severe to examine working environment, works low with the efficiency of management, the technologies such as intelligent robot inspection at present, aerial survey inspection are pushed greatly
Extensively.The one kind of existing unmanned plane inspection as aerial survey inspection has polling rate fast, the low wind of the high and low maintenance of environmental suitability
The advantages that dangerous, but load is limited, and cruise duration is short, and camera stability difference seriously limits the feasibility of the technology.
Summary of the invention
The purpose of the present invention is to provide a kind of unmanned plane electric power line inspection device and its method for inspecting.
A kind of unmanned plane electric power line inspection device of the present invention, including unmanned plane main body, power line clamping device and take electric-examination
Survey module.The unmanned plane main body is with propeller towards the unmanned plane of regulatory function.The power line clamping device
Including fixed underpan and two unilateral clamp assemblies.Fixed underpan is fixed on the bottom of unmanned plane main body.Unilateral clamp assemblies packet
Include clamping steering engine, connection frame and damping clamper.The inner end of connection frame and fixed underpan constitute revolute pair.Connection frame is by clamping rudder
Machine driving.
The damping clamper includes clamper driving assembly, holding frame and two single clip pawls.Holding frame is fixed on company
Connect the outer end of frame.Single clip pawl includes crowfoot, clamp springs, wheel shaft and idler wheel.The inner end of clamp springs is fixed with crowfoot, outer end with
Wheel shaft is fixed.Roller wheel bearing is on wheel shaft.Crowfoot in two single clip pawls constitutes sliding pair with holding frame.In two single clip pawls
Idler wheel alignment.
The clamper driving assembly includes cable pushing block, reset spring, connection hinged shaft and connecting rod.The outer end of connection frame
It is fixed with slip base.Cable pushing block and slip base constitute sliding pair.Reset spring is provided between cable pushing block and slip base.Even
The one end and cable pushing block for connecing hinged shaft are fixed.One end of two connecting rods with connect hinged shaft and constitute revolute pair, the other end and two
Crowfoot in single clip pawl is respectively articulated with.Two unilateral clamp assemblies are respectively the two sides for being located at unmanned plane bottom part body.
The electro-detection module that takes includes electric pushrod, lifting pedestal, auxiliary rod, resigning spring, turning rod, support rod
With wireless electricity getting device.The lifting pedestal is fixed on the top of unmanned plane main body.The shell of electric pushrod is fixed on lifting bottom
On seat, and the inner end of push-off pin and auxiliary rod constitutes revolute pair.The inner end of turning rod and lifting pedestal constitute revolute pair, outer end with
The middle part of support rod constitutes revolute pair.Inner end, the outer end of auxiliary rod of support rod are fixed respectively with the both ends of resigning spring.Wirelessly
The outer end of electricity getting device and support rod constitutes revolute pair.
Further, the unmanned plane main body includes fuselage, driving motor, propeller and steering-engine.Four drivings
Four support arms on motor and fuselage pass through motor rack respectively and constitute revolute pair.Four steering-engines are separately fixed at the four of fuselage
On root support arm, and output shaft is fixed respectively with four motor racks.The output shaft of four propellers and four driving motors is solid respectively
It is fixed.
Further, under original state, two connecting rods draw a straight line.The lateral surface of cable pushing block is located at idler wheel two sides
Side of the plane of symmetry in face far from holding frame.The idler wheel interval setting of two single clip pawls in same damping clamper.
Further, two damping clampers are located at the opposite side for being correspondingly connected with frame.
Further, the connection frame is L-shaped.The idler wheel uses U-shaped wheel.The lateral surface of the cable pushing block
Offer arc groove.
Further, the wireless electricity getting device uses CT electricity getting device.
Further, cable placement groove is provided at the top of the wireless electricity getting device.Wireless electricity getting device and support rod
Relatively rotating angular range is 15 °.
Further, the camera being arranged upward is provided on the lifting pedestal.Electric power is installed on lifting pedestal
Cable detector.
The method for inspecting of the unmanned plane electric power line inspection device is specific as follows:
Step 1: drone body is flown to the underface of tested electric power cable one end.
Step 2: the clamping steering engine rotation in two unilateral clamp assemblies, so that two damping clampers are flipped up, from
The two sides of electric power cable are close to tested electric power cable respectively.Two idler wheels of same damping clamper arrive separately at tested electric power
The two sides up and down of cable.During the close tested electric power cable of two damping clampers, two cable pushing blocks are close and resist
Tested electric power cable.Cable pushing block slides under the action of tested electric power cable, and corresponding two idler wheels is driven to slide in opposition,
Clamp electric power cable.
Step 3: the dead stick in unmanned plane main body, unmanned plane main body is hung over tested by two damping clampers
On electric power cable.Electric pushrod is released, and wireless electricity getting device is driven to move upwards, so that wireless electricity getting device resists tested power line
Cable.Wireless electricity getting device continues to extract electric energy from tested electric power cable.
Step 4: two propellers for being located at detection direction of travel opposite side are overturn to the state towards level.
Step 5: two propeller rotationals of overturning horizontality, drive unmanned plane main body along tested electric power cable row
Into electric power cable detector persistently carries out tested electric power cable to continue detection, and camera persistently shoots tested electric power cable
Photo.
Step 6: towards horizontal dead stick, and being overturn extremely when unmanned plane main body, which encounters barrier, to advance
State upward.Electric pushrod, which retracts, to be resetted；Clamping steering engine rotation in two unilateral clamp assemblies, so that two damping clampings
Device downwardly turns over, and separates with electric power cable.
Step 7: reaching the underface of tested electric power cable after the flight of unmanned plane main body clears the jumps, and re-execute
Step 2 is to six.
The invention has the advantages that:
1, the present invention by by unmanned plane carry on electric power cable so that unmanned plane does not need propeller during inspection
Lift is provided, power consumption is greatly reduced.Meanwhile unmanned plane can pass through when encountering barrier on electric power cable during inspection
The mode of flight clears the jumps.
2, the present invention can take electricity by wireless electricity getting device from power line, enhance cruising ability.
3, the present invention in damping clamper and takes in electro-detection module and is all made of damping structure, to reach damping effect, and
The smooth degree that enhancing takes electro-detection module and power line to contact, reduces ratio of contact loss.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structural schematic diagram of unilateral clamp assemblies in the present invention；
Fig. 3 is the structural schematic diagram that clamper is damped in the present invention；
Fig. 4 is the kinematic sketch that clamper is damped in the present invention；
Fig. 5 is the combination diagram that electro-detection module Yu unmanned plane main body are taken in the present invention；
Fig. 6 is the perspective view that electro-detection module is taken in the present invention；
Fig. 7 is the kinematic sketch that electro-detection module is taken in the present invention.
Specific embodiment
Below in conjunction with attached drawing, the invention will be further described.
As shown in Figure 1, a kind of unmanned plane electric power line inspection device, including unmanned plane main body, power line clamping device, take electricity
Detection module 6 and controller.Unmanned plane main body includes fuselage 2, driving motor 1, propeller and steering-engine.Four driving motors
1 constitutes the horizontally disposed revolute pair of common axis by motor rack respectively with four support arms on fuselage 2.Four steering-engines point
It is not fixed on four support arms of the fuselage 2 in crosswise expansion, and output shaft is fixed respectively with four motor racks.Four propellers
It is fixed respectively with the output shaft of four driving motors 1.
As illustrated in fig. 1 and 2, power line clamping device includes fixed underpan 9 and two unilateral clamp assemblies.Fixed underpan 9
It is fixed with 2 bottom of fuselage of unmanned plane main body.Two unilateral clamp assemblies centerings are arranged in the two of unmanned plane main center axis
Side.Unilateral clamp assemblies include clamping steering engine 7, connection frame 3 and damping clamper 4.Connection frame 3 is L-shaped.The inner end of connection frame 3
Revolute pair is constituted with the edge of fixed underpan 9.Clamping steering engine 7 is fixed on fixed underpan 9, and output shaft and connection frame 3 are solid
It is fixed.
As shown in Figures 2 and 3, damping clamper 4 includes clamper driving assembly 8, holding frame 10 and two single clip pawls 11.Folder
Hold the outer end that frame 10 is fixed on connection frame 3.Sliding slot there are two being opened up on holding frame 10.Two sliding slots are along length direction pair
Together.Single clip pawl 11 includes crowfoot 11-1, mounting rod 11-2, clamp springs 11-3, wheel shaft 11-4 and idler wheel 11-5.Two clamping bullets
The inner end of spring 11-3 is fixed with crowfoot 11-1, and outer end and the both ends of wheel shaft 11-4 are fixed respectively.Idler wheel 11-5 is supported on wheel shaft
On 11-4.Idler wheel 11-5 uses U-shaped wheel.The side of crowfoot 11-1 is fixed with mounting rod 11-2.Installation in two single clip pawls 11
Two sliding slots on bar 11-2 and holding frame 10 respectively constitute sliding pair.The glide direction of mounting rod 11-2 axis vertical to itself
Line direction.Idler wheel 11-5 alignment in two single clip pawls 11.
As shown in Fig. 2,3 and 4, clamper driving assembly 8 include cable pushing block 8-1, reset spring, connection hinged shaft 8-2 and
Connecting rod 8-3.The outer end of connection frame 3 is fixed with slip base.Sliding slot composition is offered along idler wheel on cable pushing block 8-1 and slip base
The sliding pair of 11-5 axis direction sliding.The lateral surface of cable pushing block 8-1 offers arc groove.Arc groove is used for auxiliary power line
Cable positioning.The both ends of reset spring are fixed respectively with cable pushing block 8-1, slip base, realize the reset to cable pushing block 8-1.Even
The one end and cable pushing block 8-1 for meeting hinged shaft 8-2 are fixed.One end of two connecting rod 8-3 with connect hinged shaft 8-2 constitute revolute pair,
It is respectively articulated in the middle part of the other end and mounting rod 11-2 in two single clip pawls 11.
Under original state, two connecting rod 8-3 draw a straight line.The lateral surface of cable pushing block 8-1 is located at idler wheel 11-5 two
Side of the plane of symmetry of side far from holding frame 10.The interval idler wheel 11-5 setting in two single clip pawls 11.When electric power cable pushes away
When moving-wire cable pushing block 8-1 slides, cable pushing block 8-1 is by two connecting rod 8-3 with two single clip pawls on dynamic damping clamper 4
11 move toward one another, so that the idler wheel 11-5 spacing in two single clip pawls 11 is decreased to block the state of electric power cable.
Two unilateral clamp assemblies are respectively the two sides for being located at the vertical central axis of unmanned plane main body.Two damping clampers
4 are located at the opposite side for being correspondingly connected with frame 3.When two damping clampers 4 are overturn respectively to the surface of unmanned plane main body,
The plane of symmetry of two 4 two sides internal trolley 11-5 of damping clamper is vertical and is overlapped；So that the idler wheel in two damping clampers 4
11-5 can resist cable simultaneously；Two supporting points are provided for unmanned plane main body.
As shown in Fig. 5,6 and 7, to take electro-detection module 6 include electric pushrod 6-1, lifting pedestal 6-2, sliding shoe 6-3, auxiliary
Help bar 6-4, resigning spring 6-5, turning rod 6-6, support rod 6-7 and wireless electricity getting device 6-8.Wireless electricity getting device 6-8 is taken using CT
Electric installation can extract part electric energy by electromagnetic induction in the alternating current that electric power cable transmits.The top of wireless electricity getting device 6-8
Portion is provided with cable placement groove.Lifting pedestal 6-2 is fixed on the top of fuselage 2；Sliding shoe 6-3 and lifting pedestal 6-2 is constituted
Sliding pair.The shell of electric pushrod 6-1 is fixed on lifting pedestal 6-2, and push-off pin is fixed with sliding shoe 6-3.Auxiliary rod 6-
4 inner end and sliding shoe 6-3 constitute revolute pair.The inner end of turning rod 6-6 and lifting pedestal 6-2 constitute revolute pair, outer end and branch
The middle part of strut 6-7 constitutes revolute pair.The both ends point of the inner end of support rod 6-7, the outer end of auxiliary rod 6-4 and resigning spring 6-5
Gu Ding not.The outer end of wireless electricity getting device 6-8 and support rod 6-7 constitutes revolute pair.The phase of wireless electricity getting device 6-8 and support rod 6-7
It is 15 ° to rotational angle.The camera being arranged upward is provided on lifting pedestal 6-2.Power line is installed on lifting pedestal 6-2
Cable detector.Electric power cable detector uses existing electric power cable detection device, and this will not be repeated here.
Wireless electricity getting device 6-8 not in contact with electric power cable by resistance before, auxiliary rod 6-4, resigning spring 6-5, turning rod
6-6 can be considered as a rigid shape rod piece；The sliding of sliding shoe 6-3 can drive support rod 6-7 to move upwards, to drive nothing
Line electricity getting device 6-8's moves upwards；Since wireless electricity getting device 6-8 and support rod 6-7 is relatively rotatable to each other.Therefore, it is taken when wirelessly
When cable placement groove on electric appliance 6-8 resists electric power cable, wireless electricity getting device 6-8 is under the pressure of electric power cable, and overturning is extremely
It is parallel to the state of electric power cable；When the cable placement groove on wireless electricity getting device 6-8 compresses electric power cable completely, sliding shoe
6-3 continues to slide meeting so that resigning spring 6-5 is deformed, and then avoids wireless electricity getting device 6-8 excessive to the pressure of electric power cable.
The control interface of four steering-engines, four driving motors and two clamping steering engines 7 is connect with controller.Control
Device flies control module using unmanned plane.
The method for inspecting of the unmanned plane electric power line inspection device is specific as follows:
Step 1: four steering-engines respectively drive four propellers to the state being arranged upward；Four driving motors point
Not Dai Dong four propeller rotationals so that drone body is flown to the underface of tested 5 one end of electric power cable.
Step 2: the clamping steering engine 7 in two unilateral clamp assemblies rotates, so that two damping clampers 4 are flipped up,
It is close to tested electric power cable 5 respectively from the two sides of electric power cable.It is same damping clamper 4 two idler wheel 11-5 arrive separately at by
Examine the two sides up and down of electric power cable 5.
During the close tested electric power cable 5 of two damping clampers 4, the arc groove of two cable pushing block 8-1 is close
And resist tested electric power cable 5.Cable pushing block 8-1 slid inward under the action of tested electric power cable 5, and drive corresponding two
A idler wheel 11-5 slides in opposition, and clamps electric power cable.
Step 3: the revolving speed of four driving motors gradually reduces, until stalling, unmanned plane main body passes through two damping clampings
Device 4 is hung on tested electric power cable 5.Electric pushrod 6-1 is released, and drives wireless electricity getting device 6-8 to move upwards, so that wirelessly taking
Cable placement groove on electric appliance 6-8 resists tested electric power cable 5.Wireless electricity getting device 6-8 continues from tested electric power cable 5
Electric energy is extracted, and is charged for unmanned plane main body.
Step 4: two propellers for being located at detection direction of travel opposite side are overturn under the driving of corresponding steering-engine
To the state towards level.
Step 5: two propellers being rotated by corresponding driving motor of overturning horizontality, drives unmanned plane
Main body is advanced along tested electric power cable 5, and electric power cable detector persistently carries out tested electric power cable 5 to continue detection, and takes the photograph
As head persistently shoots the photo of tested electric power cable 5.
Step 6: when unmanned plane main body, which encounters barrier (power tower), to advance, towards horizontally disposed propeller
Stalling, and under the driving of corresponding steering-engine, overturning to the state being arranged upward.Electric pushrod 6-1, which is retracted, to be resetted；Two lists
Clamping steering engine 7 in the clamp assemblies of side rotates, so that two damping clampers 4 downwardly turn over, separates with electric power cable.
Step 7: reaching the underface of tested electric power cable 5 after the flight of unmanned plane main body clears the jumps, and hold again
Row step 2 is to six.
Claims (9)
1. a kind of unmanned plane electric power line inspection device, including unmanned plane main body, power line clamping device and take electro-detection module；Its
Be characterized in that: the unmanned plane main body is the unmanned plane with propeller towards regulatory function；The power line clamping machine
Structure includes fixed underpan and two unilateral clamp assemblies；Fixed underpan is fixed on the bottom of unmanned plane main body；Unilateral clamp assemblies
Including clamping steering engine, connection frame and damping clamper；The inner end of connection frame and fixed underpan constitute revolute pair；Connection frame is by clamping
Servo driving；
The damping clamper includes clamper driving assembly, holding frame and two single clip pawls；Holding frame is fixed on connection frame
Outer end；Single clip pawl includes crowfoot, clamp springs, wheel shaft and idler wheel；The inner end of clamp springs is fixed with crowfoot, outer end and wheel shaft
It is fixed；Roller wheel bearing is on wheel shaft；Crowfoot in two single clip pawls constitutes sliding pair with holding frame；Rolling in two single clip pawls
Wheel alignment；
The clamper driving assembly includes cable pushing block, reset spring, connection hinged shaft and connecting rod；The outer end of connection frame is fixed
There is slip base；Cable pushing block and slip base constitute sliding pair；Reset spring is provided between cable pushing block and slip base；Connecting hinge
One end of axis is fixed with cable pushing block；One end of two connecting rods with connect hinged shaft and constitute revolute pair, the other end and two single clips
Crowfoot in pawl is respectively articulated with；Two unilateral clamp assemblies are respectively the two sides for being located at unmanned plane bottom part body；
The electro-detection module that takes includes electric pushrod, lifting pedestal, auxiliary rod, resigning spring, turning rod, support rod and nothing
Line electricity getting device；The lifting pedestal is fixed on the top of unmanned plane main body；The shell of electric pushrod is fixed on lifting pedestal,
And the inner end of push-off pin and auxiliary rod constitutes revolute pair；The inner end of turning rod and lifting pedestal constitute revolute pair, outer end and support
The middle part of bar constitutes revolute pair；Inner end, the outer end of auxiliary rod of support rod are fixed respectively with the both ends of resigning spring；Wirelessly take electricity
The outer end of device and support rod constitutes revolute pair.
2. a kind of unmanned plane electric power line inspection device according to claim 1, it is characterised in that: the unmanned plane main body
Including fuselage, driving motor, propeller and steering-engine；Four support arms on four driving motors and fuselage pass through motor respectively
Frame constitutes revolute pair；Four steering-engines are separately fixed on four support arms of fuselage, and output shaft and four motor racks are distinguished
It is fixed；The output shaft of four propellers and four driving motors is fixed respectively.
3. a kind of unmanned plane electric power line inspection device according to claim 1, it is characterised in that: under original state, two
Connecting rod draws a straight line；The lateral surface of cable pushing block is located at the plane of symmetry of idler wheel two sides far from the side of holding frame；It is same
Damp the idler wheel interval setting of two single clip pawls in clamper.
4. a kind of unmanned plane electric power line inspection device according to claim 1, it is characterised in that: two damping clampers point
The opposite side of frame Wei Yu be correspondingly connected with.
5. a kind of unmanned plane electric power line inspection device according to claim 1, it is characterised in that: the connection frame is in L
Shape；The idler wheel uses U-shaped wheel；The lateral surface of the cable pushing block offers arc groove.
6. a kind of unmanned plane electric power line inspection device according to claim 1, it is characterised in that: the wireless electricity getting device
Using CT electricity getting device.
7. a kind of unmanned plane electric power line inspection device according to claim 1, it is characterised in that: the wireless electricity getting device
Top is provided with cable placement groove；The relative rotation angular range of wireless electricity getting device and support rod is 15 °.
8. a kind of unmanned plane electric power line inspection device according to claim 1, it is characterised in that: on the lifting pedestal
It is provided with the camera being arranged upward；Electric power cable detector is installed on lifting pedestal.
9. a kind of method for inspecting of unmanned plane electric power line inspection device as described in claim 1, it is characterised in that: Step 1:
Drone body is flown to the underface of tested electric power cable one end；
Step 2: the clamping steering engine rotation in two unilateral clamp assemblies, so that two damping clampers are flipped up, from electric power
The two sides of cable are close to tested electric power cable respectively；Two idler wheels of same damping clamper arrive separately at tested electric power cable
Two sides up and down；During the close tested electric power cable of two damping clampers, two cable pushing blocks are close and resist tested
Electric power cable；Cable pushing block slides under the action of tested electric power cable, and corresponding two idler wheels is driven to slide in opposition, and clamps
Electric power cable；
Step 3: the dead stick in unmanned plane main body, unmanned plane main body hangs over tested electric power by two damping clampers
On cable；Electric pushrod is released, and wireless electricity getting device is driven to move upwards, so that wireless electricity getting device resists tested electric power cable；Nothing
Line electricity getting device continues to extract electric energy from tested electric power cable；
Step 4: two propellers for being located at detection direction of travel opposite side are overturn to the state towards level；
Step 5: two propeller rotationals of overturning horizontality, drive unmanned plane main body to advance along tested electric power cable, electricity
Power cable detector persistently carries out tested electric power cable to continue detection, and camera persistently shoots the photograph of tested electric power cable
Piece；
Step 6: towards horizontal dead stick, and being overturn to upward when unmanned plane main body, which encounters barrier, to advance
State；Electric pushrod, which retracts, to be resetted；Clamping steering engine rotation in two unilateral clamp assemblies so that two damping clampers to
Lower overturning, separates with electric power cable；
Step 7: reaching the underface of tested electric power cable after the flight of unmanned plane main body clears the jumps, and it re-execute the steps
Two to six.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910574499.XA CN110386249B (en) | 2019-06-28 | 2019-06-28 | Unmanned aerial vehicle power line inspection device and inspection method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910574499.XA CN110386249B (en) | 2019-06-28 | 2019-06-28 | Unmanned aerial vehicle power line inspection device and inspection method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110386249A true CN110386249A (en) | 2019-10-29 |
| CN110386249B CN110386249B (en) | 2020-12-22 |
Family
ID=68285939
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910574499.XA Active CN110386249B (en) | 2019-06-28 | 2019-06-28 | Unmanned aerial vehicle power line inspection device and inspection method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110386249B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111123164A (en) * | 2019-11-28 | 2020-05-08 | 国网山东省电力公司滨州市滨城区供电公司 | Electric power wiring rapid detection device |
| CN113086195A (en) * | 2021-04-19 | 2021-07-09 | 哈尔滨职业技术学院 | High-voltage line damage detection unmanned aerial vehicle |
| CN114228991A (en) * | 2021-12-24 | 2022-03-25 | 杭州申昊科技股份有限公司 | Transmission line inspection robot based on unmanned aerial vehicle |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102340113A (en) * | 2011-07-29 | 2012-02-01 | 中国科学院长春光学精密机械与物理研究所 | Multi-rotor-wing automatic positioning detector used for transmission line |
| CN104648665A (en) * | 2015-01-30 | 2015-05-27 | 上海交通大学 | Quad-rotor unmanned helicopter device for line patrol |
| JP2016135046A (en) * | 2015-01-21 | 2016-07-25 | 株式会社日立ハイテクファインシステムズ | Inspection device and inspection method |
| CN106125756A (en) * | 2016-07-04 | 2016-11-16 | 广州供电局有限公司 | Unmanned plane and method for inspecting thereof |
| CN106542092A (en) * | 2016-12-15 | 2017-03-29 | 济南舜风科技有限公司 | One kind can flight formula work high above the ground robot and its method |
| WO2018056501A1 (en) * | 2016-09-23 | 2018-03-29 | 한국전력공사 | Transformable flying robot for power line maintenance, and control method therefor |
-
2019
- 2019-06-28 CN CN201910574499.XA patent/CN110386249B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102340113A (en) * | 2011-07-29 | 2012-02-01 | 中国科学院长春光学精密机械与物理研究所 | Multi-rotor-wing automatic positioning detector used for transmission line |
| JP2016135046A (en) * | 2015-01-21 | 2016-07-25 | 株式会社日立ハイテクファインシステムズ | Inspection device and inspection method |
| CN104648665A (en) * | 2015-01-30 | 2015-05-27 | 上海交通大学 | Quad-rotor unmanned helicopter device for line patrol |
| CN106125756A (en) * | 2016-07-04 | 2016-11-16 | 广州供电局有限公司 | Unmanned plane and method for inspecting thereof |
| WO2018056501A1 (en) * | 2016-09-23 | 2018-03-29 | 한국전력공사 | Transformable flying robot for power line maintenance, and control method therefor |
| CN106542092A (en) * | 2016-12-15 | 2017-03-29 | 济南舜风科技有限公司 | One kind can flight formula work high above the ground robot and its method |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111123164A (en) * | 2019-11-28 | 2020-05-08 | 国网山东省电力公司滨州市滨城区供电公司 | Electric power wiring rapid detection device |
| CN111123164B (en) * | 2019-11-28 | 2023-05-23 | 国网山东省电力公司滨州市滨城区供电公司 | Quick detection device of electric power wiring |
| CN113086195A (en) * | 2021-04-19 | 2021-07-09 | 哈尔滨职业技术学院 | High-voltage line damage detection unmanned aerial vehicle |
| CN114228991A (en) * | 2021-12-24 | 2022-03-25 | 杭州申昊科技股份有限公司 | Transmission line inspection robot based on unmanned aerial vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110386249B (en) | 2020-12-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110386249A (en) | A kind of unmanned plane electric power line inspection device and its method for inspecting | |
| CN105386618B (en) | Underground bicycle garage | |
| CN106887807A (en) | For the inspection robot of overhead transmission line | |
| RU2011140581A (en) | AIRLINE ASSEMBLY FOR ELECTRIC POWER SUPPLY OF A LAND VEHICLE EQUIPPED WITH AN UPPER CAPTURE STRUCTURE | |
| CN106184706A (en) | A kind of H type structure can double-deformation unmanned plane | |
| CN206775621U (en) | A kind of lightweight oblique photograph head | |
| CN205906203U (en) | H type structure can two -way deformation unmanned aerial vehicle | |
| CN113459072B (en) | Switchable series-parallel multi-arm grabbing unmanned aerial vehicle design | |
| CN208377080U (en) | Hanger under a kind of unmanned plane | |
| CN105366068A (en) | Vehicle-mounted unmanned plane adjustable net-catch recovery apparatus | |
| CN206107565U (en) | Hybrid unmanned aerial vehicle | |
| CN209427026U (en) | Aircraft rotor wing drop variable pitch device | |
| CN205770205U (en) | A kind of portable general type unmanned plane automatic detection device | |
| CN205239902U (en) | Eight portable rotor unmanned aerial vehicle | |
| CN209427025U (en) | Posture is adjustable rotor mechanism | |
| CN107352023B (en) | Aircraft with a flight control device | |
| CN106026273A (en) | Detal-parallel-connection-mechanism-based charging device for power-line-inspection unmanned aerial vehicle | |
| CN102856840A (en) | Auxiliary suspension device of power inspection aircraft | |
| CN202797773U (en) | Auxiliary hanging device of electric power inspection air vehicle | |
| CN213846064U (en) | Inspection robot | |
| CN210912926U (en) | Automatic missile hanging vehicle with multi-stage fine adjustment mechanism | |
| CN205293096U (en) | Take unmanned aerial vehicle of structure of acting as go -between | |
| CN115871952A (en) | Multi-functional frock car of fixed wing unmanned aerial vehicle | |
| CN207029537U (en) | Aircraft | |
| CN109888674B (en) | River crossing device for cable erection |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |