CN110386249B - Unmanned aerial vehicle power line inspection device and inspection method thereof - Google Patents
Unmanned aerial vehicle power line inspection device and inspection method thereof Download PDFInfo
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- CN110386249B CN110386249B CN201910574499.XA CN201910574499A CN110386249B CN 110386249 B CN110386249 B CN 110386249B CN 201910574499 A CN201910574499 A CN 201910574499A CN 110386249 B CN110386249 B CN 110386249B
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- 238000007689 inspection Methods 0.000 title claims abstract description 35
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000013016 damping Methods 0.000 claims abstract description 35
- 238000001514 detection method Methods 0.000 claims abstract description 16
- 230000005611 electricity Effects 0.000 claims abstract description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 8
- 210000000078 claw Anatomy 0.000 claims description 10
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- 238000000429 assembly Methods 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 4
- 239000000284 extract Substances 0.000 claims description 3
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- 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
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- 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
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- 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
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- 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
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- 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
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Abstract
The invention discloses an unmanned aerial vehicle power line inspection device and an inspection method thereof. High-voltage transmission lines need to be regularly patrolled and maintained to prevent faults and potential safety hazards. The invention discloses an unmanned aerial vehicle power line inspection device which comprises an unmanned aerial vehicle main body, a power line clamping mechanism and a power taking detection module. The power line clamping mechanism comprises a fixed chassis and two unilateral clamping components. The unilateral clamping component comprises a clamping steering engine, a connecting frame and a damping clamp holder. The damping gripper comprises a gripper driving assembly, a gripping frame and two single gripping jaws. The clamper driving component comprises a cable push block, a return spring, a connecting hinge shaft and a connecting rod. Get electric detection module and include electric putter, lift base, auxiliary rod, let a position spring, upset pole, bracing piece and wireless electricity taking device. The unmanned aerial vehicle can be stopped on a power line to prolong the endurance time, the stability is increased by the traction of the power line, and meanwhile, the endurance capability is enhanced from the CT electricity taking of the power line to the unmanned aerial vehicle.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles and power line inspection, and particularly relates to an unmanned aerial vehicle power line inspection device and an inspection method thereof.
Background
High-voltage transmission lines need to be regularly patrolled and maintained to prevent faults and potential safety hazards. The traditional manual inspection work environment is severe, the labor and management efficiency is low, and the current technologies of intelligent robot inspection, aerial survey inspection and the like are widely popularized. The existing unmanned aerial vehicle inspection is taken as one of aerial survey inspection, has the advantages of high inspection speed, high environmental adaptability, low maintenance risk and the like, but has limited load, short endurance time and poor camera stability, and seriously limits the feasibility of the technology.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle power line inspection device and an inspection method thereof.
The invention discloses an unmanned aerial vehicle power line inspection device which comprises an unmanned aerial vehicle main body, a power line clamping mechanism and a power taking detection module. The unmanned aerial vehicle main part be the unmanned aerial vehicle who has screw orientation regulatory function. The power line clamping mechanism comprises a fixed chassis and two unilateral clamping components. Fixed chassis is fixed in the bottom of unmanned aerial vehicle main part. The unilateral clamping component comprises a clamping steering engine, a connecting frame and a damping clamp holder. The inner end of the connecting frame and the fixed chassis form a revolute pair. The connecting frame is driven by the clamping steering engine.
The damping clamp comprises a clamp driving assembly, a clamping frame and two single clamping jaws. The clamping frame is fixed at the outer end of the connecting frame. The single clamping jaw comprises a jaw frame, a clamping spring, a wheel shaft and a roller. The inner end of the clamping spring is fixed with the claw frame, and the outer end of the clamping spring is fixed with the wheel shaft. The roller is supported on the axle. The claw frames in the two single clamping claws and the clamping frame form a sliding pair. The rollers in the two single jaws are aligned.
The gripper driving assembly comprises a cable push block, a return spring, a connecting hinge shaft and a connecting rod. The outer end of the connecting frame is fixed with a sliding seat. The cable push block and the sliding seat form a sliding pair. And a return spring is arranged between the cable push block and the sliding seat. One end of the connecting hinge shaft is fixed with the cable push block. One end of each connecting rod and the connecting hinge shaft form a revolute pair, and the other end of each connecting rod is hinged with the claw frame in each single clamping jaw. Two unilateral centre gripping subassemblies are the both sides that are located unmanned aerial vehicle main part bottom respectively.
Get electric detection module include electric putter, lift base, auxiliary rod, let a spring, upset pole, bracing piece and wireless electricity taking device. The lifting base is fixed at the top of the unmanned aerial vehicle main body. The shell of the electric push rod is fixed on the lifting base, and the push rod and the inner end of the auxiliary rod form a revolute pair. The inner end of the turnover rod and the lifting base form a revolute pair, and the outer end and the middle part of the supporting rod form a revolute pair. The inner end of the supporting rod, the outer end of the auxiliary rod and the two ends of the abdicating spring are respectively fixed. The wireless power collector and the outer end of the supporting rod form a revolute pair.
Further, the unmanned aerial vehicle main part include fuselage, driving motor, screw and turn to the steering wheel. The four driving motors and the four support arms on the machine body form a revolute pair through the motor frame respectively. Four steering engines are respectively fixed on four support arms of the machine body, and the output shaft and the four motor frames are respectively fixed. The four propellers are respectively fixed with the output shafts of the four driving motors.
Further, in the initial state, the two connecting rods are connected into a straight line. The outer side surface of the cable push block is positioned on one side, away from the clamping frame, of the symmetrical surfaces of the two side surfaces of the roller. The rollers of two single clamping jaws in the same damping clamp holder are arranged at intervals.
Further, two damper clamps are respectively located on opposite sides of the corresponding link frame.
Furthermore, the connecting frame is L-shaped. The roller adopts a U-shaped wheel. The outer side surface of the cable push block is provided with an arc-shaped groove.
Furthermore, the wireless power supply adopts a CT power supply device.
Further, a cable arranging groove is formed in the top of the wireless power taker. The relative rotation angle range of the wireless power taker and the support rod is 15 degrees.
Further, the lifting base is provided with a camera which is arranged upwards. The lifting base is provided with a power cable detector.
The inspection method of the unmanned aerial vehicle power line inspection device is as follows:
step one, the unmanned aerial vehicle body flies to the position right below one end of the detected power cable.
And step two, the clamping steering engines in the two unilateral clamping assemblies rotate, so that the two damping clamping devices are turned upwards and respectively approach the detected power cable from two sides of the power cable. Two rollers of the same damping clamp holder respectively reach the upper side and the lower side of the detected power cable. And in the process that the two damping clampers approach the power cable to be detected, the two cable push blocks approach and abut against the power cable to be detected. The cable push block slides under the effect of the detected power cable and drives the two corresponding idler wheels to slide oppositely to clamp the power cable.
And step three, the propeller on the unmanned aerial vehicle main body stops rotating, and the unmanned aerial vehicle main body is hung on the detected power cable through the two damping clampers. The electric push rod is pushed out to drive the wireless power taker to move upwards, so that the wireless power taker abuts against the detected power cable. The wireless power taker continuously draws power from the power cable being tested.
And step four, turning over the two propellers on the opposite sides of the detection traveling direction to a state of facing to the horizontal direction.
Step five, two propellers in the turning horizontal state rotate to drive the unmanned aerial vehicle main body to advance along the detected power cable, the power cable detector continuously detects the detected power cable, and the camera continuously shoots the photo of the detected power cable.
And step six, when the unmanned aerial vehicle main body meets the obstacle and cannot advance, the propeller facing the horizontal direction stops rotating, and the unmanned aerial vehicle main body is turned to an upward state. The electric push rod retracts and resets; the clamping steering engines in the two unilateral clamping assemblies rotate, so that the two damping clamping devices turn downwards to be separated from the power cable.
And step seven, after the unmanned aerial vehicle main body flies over the obstacle, the unmanned aerial vehicle main body reaches the position right below the detected power cable, and the steps two to six are executed again.
The invention has the beneficial effects that:
1. according to the invention, the unmanned aerial vehicle is mounted on the power cable, so that the unmanned aerial vehicle does not need a propeller to provide lift force in the inspection process, and the power consumption is greatly reduced. Simultaneously, unmanned aerial vehicle can cross the barrier through the mode of flight when meetting the barrier on patrolling and examining the in-process electric power cable.
2. The invention can take electricity from the power line through the wireless electricity taking device, thereby enhancing the endurance capacity.
3. According to the invention, the damping clamp and the power taking detection module are both of damping structures, so that a damping effect is achieved, the smoothness degree of contact between the power taking detection module and a power line is enhanced, and the off-line rate is reduced. .
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a single-sided clamp assembly of the present invention;
FIG. 3 is a schematic view of the construction of the damping mount of the present invention;
FIG. 4 is a simplified diagram of the motion of the damping mount of the present invention;
FIG. 5 is a schematic view of the combination of the power-taking detection module and the main body of the unmanned aerial vehicle according to the present invention;
FIG. 6 is a perspective view of the current-drawing detection module of the present invention;
FIG. 7 is a schematic diagram of the movement of the power-taking detection module according to the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in FIG. 1, an unmanned aerial vehicle power line inspection device comprises an unmanned aerial vehicle main body, a power line clamping mechanism, a power taking detection module 6 and a controller. The unmanned aerial vehicle main part includes fuselage 2, driving motor 1, screw and turns to the steering wheel. The four driving motors 1 and the four support arms on the machine body 2 form a rotating pair with a common axis arranged horizontally through the motor frame. Four steering engines are respectively fixed on four support arms of the machine body 2 which are unfolded in a cross shape, and an output shaft and four motor frames are respectively fixed. The four propellers are respectively fixed with the output shafts of the four driving motors 1.
As shown in fig. 1 and 2, the power line clamp mechanism includes a stationary chassis 9 and two single-sided clamp assemblies. Fixed chassis 9 is fixed with fuselage 2 bottom of unmanned aerial vehicle main part. Two unilateral centre gripping subassemblies centering setting are in the both sides of unmanned aerial vehicle main part central axis. The unilateral clamping component comprises a clamping steering engine 7, a connecting frame 3 and a damping clamp holder 4. The connecting frame 3 is L-shaped. The inner end of the connecting frame 3 and the edge of the fixed chassis 9 form a revolute pair. The clamping steering engine 7 is fixed on the fixed chassis 9, and the output shaft is fixed with the connecting frame 3.
As shown in fig. 2 and 3, the damped clamp 4 includes a clamp drive assembly 8, a clamp frame 10, and two single clamp jaws 11. The clamping frame 10 is fixed at the outer end of the connecting frame 3. The holding frame 10 is provided with two sliding grooves. The two sliding chutes are aligned along the length direction of the sliding chutes. The single clamping jaw 11 comprises a jaw frame 11-1, a mounting rod 11-2, a clamping spring 11-3, a wheel shaft 11-4 and a roller 11-5. The inner ends of the two clamping springs 11-3 are fixed with the claw frame 11-1, and the outer ends of the two clamping springs are fixed with the two ends of the wheel shaft 11-4 respectively. The rollers 11-5 are supported on the axles 11-4. The rollers 11-5 adopt U-shaped wheels. The side part of the claw frame 11-1 is fixed with a mounting rod 11-2. The mounting rods 11-2 in the two single clamping jaws 11 and the two sliding grooves on the clamping frame 10 form sliding pairs respectively. The sliding direction of the mounting rod 11-2 is perpendicular to the axial direction thereof. The rollers 11-5 in the two single jaws 11 are aligned.
As shown in fig. 2, 3 and 4, the gripper driving assembly 8 includes a cable push block 8-1, a return spring, a connecting hinge shaft 8-2 and a link 8-3. The outer end of the connecting frame 3 is fixed with a sliding seat. The cable push block 8-1 and the sliding seat are provided with sliding grooves to form a sliding pair which slides along the axis direction of the roller 11-5. The outer side surface of the cable push block 8-1 is provided with an arc-shaped groove. The arc-shaped groove is used for assisting in positioning the power cable. Two ends of the reset spring are respectively fixed with the cable push block 8-1 and the sliding seat, so that the reset of the cable push block 8-1 is realized. One end of the connecting hinge shaft 8-2 is fixed with the cable push block 8-1. One end of each of the two connecting rods 8-3 forms a revolute pair with the connecting hinge shaft 8-2, and the other end is hinged with the middle parts of the mounting rods 11-2 in the two single clamping jaws 11 respectively.
In the initial state, the two connecting rods 8-3 are connected into a straight line. The outer side surface of the cable push block 8-1 is positioned on one side, away from the clamping frame 10, of the symmetrical surface of the two side surfaces of the roller 11-5. The rollers 11-5 in the two single clamping jaws 11 are arranged at intervals. When the electric power cable pushes the cable push block 8-1 to slide, the cable push block 8-1 drives the two single clamping jaws 11 on the damping clamp holder 4 to move oppositely through the two connecting rods 8-3, so that the distance between the rollers 11-5 in the two single clamping jaws 11 is reduced to a state of clamping the electric power cable.
Two unilateral centre gripping subassemblies are the both sides that are located the vertical central axis of unmanned aerial vehicle main part respectively. The two damping clamps 4 are located on opposite sides of the corresponding connecting frame 3. When the two damping holders 4 are respectively turned over right above the main body of the unmanned aerial vehicle, the symmetrical surfaces of the two side surfaces of the rollers 11-5 in the two damping holders 4 are vertical and overlapped; so that the rollers 11-5 in the two damping grippers 4 can simultaneously grip the cable; provide two strong points for the unmanned aerial vehicle main part.
As shown in figures 5, 6 and 7, the electricity taking detection module 6 comprises an electric push rod 6-1, a lifting base 6-2, a sliding block 6-3, an auxiliary rod 6-4, a yielding spring 6-5, a turning rod 6-6, a support rod 6-7 and a wireless electricity taking device 6-8. The wireless power collectors 6-8 adopt CT power collecting devices, and can extract partial electric energy from alternating current transmitted by the power cables through electromagnetic induction. The top of the wireless power taker 6-8 is provided with a cable mounting groove. The lifting base 6-2 is fixed on the top of the machine body 2; the sliding block 6-3 and the lifting base 6-2 form a sliding pair. The shell of the electric push rod 6-1 is fixed on the lifting base 6-2, and the push rod is fixed with the sliding block 6-3. The inner end of the auxiliary rod 6-4 and the sliding block 6-3 form a rotating pair. The inner end of the turning rod 6-6 and the lifting base 6-2 form a revolute pair, and the outer end and the middle part of the supporting rod 6-7 form a revolute pair. The inner end of the support rod 6-7 and the outer end of the auxiliary rod 6-4 are respectively fixed with the two ends of the abdicating spring 6-5. The wireless power taker 6-8 and the outer end of the support rod 6-7 form a revolute pair. The relative rotation angle of the wireless power taker 6-8 and the support rod 6-7 is 15 degrees. The lifting base 6-2 is provided with a camera which is arranged upwards. The lifting base 6-2 is provided with a power cable detector. The power cable detector adopts an existing power cable detection device, which is not described herein.
Before the wireless power taker 6-8 is not contacted with the power cable and is subjected to resistance, the auxiliary rod 6-4, the abdicating spring 6-5 and the overturning rod 6-6 can be regarded as a rigid rod piece; the sliding of the sliding block 6-3 can drive the supporting rod 6-7 to move upwards, so that the wireless power taker 6-8 is driven to move upwards; the wireless power taker 6-8 and the support rod 6-7 can rotate relatively. Therefore, when the cable arrangement groove on the wireless power taker 6-8 is pressed against the power cable, the wireless power taker 6-8 is turned to be parallel to the power cable under the pressure of the power cable; when the cable arrangement groove on the wireless power taking device 6-8 completely compresses the power cable, the sliding block 6-3 continuously slides to enable the yielding spring 6-5 to deform, and therefore the phenomenon that the wireless power taking device 6-8 presses the power cable too much is avoided.
The control interfaces of the four steering actuators, the four driving motors and the two clamping actuators 7 are all connected with the controller. The controller adopts unmanned aerial vehicle flight control module.
The inspection method of the unmanned aerial vehicle power line inspection device is as follows:
step one, four steering engines respectively drive four propellers to be in an upward setting state; four driving motor drive four screws respectively and rotate for the unmanned aerial vehicle body flies to being examined under 5 one ends of power cable.
And step two, the clamping steering engines 7 in the two unilateral clamping assemblies rotate, so that the two damping clamping devices 4 are turned upwards and lean against the detected power cable 5 from two sides of the power cable respectively. Two rollers 11-5 of the same damping clamper 4 respectively reach the upper side and the lower side of the detected power cable 5.
In the process that the two damping clampers 4 approach the power cable 5 to be detected, the arc-shaped grooves of the two cable push blocks 8-1 approach and abut against the power cable 5 to be detected. The cable push block 8-1 slides inwards under the action of the detected power cable 5 and drives the two corresponding rollers 11-5 to slide oppositely to clamp the power cable.
And step three, gradually reducing the rotating speed of the four driving motors until the unmanned aerial vehicle stops rotating, and hanging the unmanned aerial vehicle main body on the detected electric power cable 5 through the two damping holders 4. The electric push rod 6-1 is pushed out to drive the wireless power taker 6-8 to move upwards, so that the cable arrangement groove on the wireless power taker 6-8 is abutted to the detected power cable 5. The wireless power takers 6-8 continuously extract electric energy from the detected power cable 5 and charge the unmanned aerial vehicle main body.
And fourthly, the two propellers on the opposite sides of the detected advancing direction are turned over to be in a horizontal orientation state under the driving of the corresponding steering engine.
Step five, two propellers in the turning horizontal state rotate under the drive of corresponding driving motor, drive the unmanned aerial vehicle main body to advance along the electric power cable 5 to be detected, the electric power cable detector continuously detects the electric power cable 5 to be detected, and the camera continuously shoots the photo of the electric power cable 5 to be detected.
Step six, when the main body of the unmanned aerial vehicle encounters an obstacle (an electric power tower), the propeller horizontally arranged stops rotating, and is driven by the corresponding steering engine to overturn to a state upwards arranged. The electric push rod 6-1 retracts and resets; the clamping steering engines 7 in the two unilateral clamping assemblies rotate, so that the two damping clamping devices 4 turn downwards to be separated from the power cable.
And step seven, after the unmanned aerial vehicle main body flies over the obstacle, the unmanned aerial vehicle main body reaches the position right below the detected power cable 5, and the steps two to six are executed again.
Claims (9)
1. An unmanned aerial vehicle power line inspection device comprises an unmanned aerial vehicle main body, a power line clamping mechanism and a power taking detection module; the method is characterized in that: the main body of the unmanned aerial vehicle is an unmanned aerial vehicle with a propeller orientation adjusting function; the power line clamping mechanism comprises a fixed chassis and two unilateral clamping components; the fixed chassis is fixed at the bottom of the unmanned aerial vehicle main body; the unilateral clamping component comprises a clamping steering engine, a connecting frame and a damping clamp holder; the inner end of the connecting frame and the fixed chassis form a revolute pair; the connecting frame is driven by a clamping steering engine;
the damping clamp comprises a clamp driving assembly, a clamping frame and two single clamping jaws; the clamping frame is fixed at the outer end of the connecting frame; the single clamping jaw comprises a jaw frame, a clamping spring, a wheel shaft and a roller; the inner end of the clamping spring is fixed with the claw frame, and the outer end of the clamping spring is fixed with the wheel shaft; the roller is supported on the wheel shaft; the claw frames in the two single clamping claws and the clamping frame form a sliding pair; the rollers in the two single clamping jaws are aligned;
the gripper driving assembly comprises a cable push block, a return spring, a connecting hinge shaft and a connecting rod; a sliding seat is fixed at the outer end of the connecting frame; the cable push block and the sliding seat form a sliding pair; a return spring is arranged between the cable push block and the sliding seat; one end of the connecting hinge shaft is fixed with the cable push block; one end of each connecting rod and the connecting hinge shaft form a revolute pair, and the other end of each connecting rod is hinged with the claw frame in each single clamping jaw; the two unilateral clamping assemblies are respectively positioned on two sides of the bottom of the unmanned aerial vehicle main body;
the electricity taking detection module comprises an electric push rod, a lifting base, an auxiliary rod, a yielding spring, a turnover rod, a support rod and a wireless electricity taking device; the lifting base is fixed at the top of the unmanned aerial vehicle main body; the shell of the electric push rod is fixed on the lifting base, and the push rod and the inner end of the auxiliary rod form a revolute pair; the inner end of the turnover rod and the lifting base form a revolute pair, and the outer end and the middle part of the supporting rod form a revolute pair; the inner end of the supporting rod, the outer end of the auxiliary rod and the two ends of the abdicating spring are respectively fixed; the wireless power collector and the outer end of the supporting rod form a revolute pair.
2. The unmanned aerial vehicle power line inspection device of claim 1, wherein: the unmanned aerial vehicle main body comprises a body, a driving motor, a propeller and a steering engine; the four driving motors and the four support arms on the machine body form a revolute pair through the motor frame respectively; four steering engines are respectively fixed on four support arms of the machine body, and output shafts and four motor frames are respectively fixed; the four propellers are respectively fixed with the output shafts of the four driving motors.
3. The unmanned aerial vehicle power line inspection device of claim 1, wherein: in an initial state, the two connecting rods are connected into a straight line; the outer side surface of the cable push block is positioned on one side, away from the clamping frame, of the symmetrical surfaces of the two side surfaces of the roller; the rollers of two single clamping jaws in the same damping clamp holder are arranged at intervals.
4. The unmanned aerial vehicle power line inspection device of claim 1, wherein: the two damping clampers are respectively positioned at the opposite sides of the corresponding connecting frame.
5. The unmanned aerial vehicle power line inspection device of claim 1, wherein: the connecting frame is L-shaped; the roller adopts a U-shaped wheel; the outer side surface of the cable push block is provided with an arc-shaped groove.
6. The unmanned aerial vehicle power line inspection device of claim 1, wherein: the wireless power taking device adopts a CT power taking device.
7. The unmanned aerial vehicle power line inspection device of claim 1, wherein: the top of the wireless power supply is provided with a cable arranging groove; the relative rotation angle range of the wireless power taker and the support rod is 15 degrees.
8. The unmanned aerial vehicle power line inspection device of claim 1, wherein: the lifting base is provided with a camera which is arranged upwards; the lifting base is provided with a power cable detector.
9. The inspection method according to claim 8, wherein the inspection method comprises the following steps: firstly, flying an unmanned aerial vehicle body to a position right below one end of a detected power cable;
rotating the clamping steering engines in the two unilateral clamping assemblies to enable the two damping clamping devices to turn upwards and respectively approach the detected power cable from two sides of the power cable; two rollers of the same damping holder respectively reach the upper side and the lower side of the detected power cable; in the process that the two damping clampers approach the power cable to be detected, the two cable push blocks approach and abut against the power cable to be detected; the cable push block slides under the action of the detected power cable and drives the two corresponding rollers to slide oppositely to clamp the power cable;
thirdly, stopping the propeller on the main body of the unmanned aerial vehicle, and hanging the main body of the unmanned aerial vehicle on the detected power cable through two damping clampers; the electric push rod is pushed out to drive the wireless power taker to move upwards, so that the wireless power taker abuts against the power cable to be detected; the wireless power taker continuously extracts electric energy from the detected power cable;
step four, the two propellers positioned on the opposite sides of the detection advancing direction are turned over to be in a state of facing to the horizontal direction;
fifthly, rotating the two propellers in the turning horizontal state to drive the unmanned aerial vehicle main body to move along the detected power cable, continuously detecting the detected power cable by the power cable detector, and continuously shooting the picture of the detected power cable by the camera;
step six, when the main body of the unmanned aerial vehicle meets an obstacle and cannot advance, stopping the propeller facing to the horizontal direction and turning over the propeller to the upward state; the electric push rod retracts and resets; the clamping steering engines in the two unilateral clamping assemblies rotate to enable the two damping clampers to overturn downwards and separate from the power cable;
and step seven, after the unmanned aerial vehicle main body flies over the obstacle, the unmanned aerial vehicle main body reaches the position right below the detected power cable, and the steps two to six are executed again.
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| 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 |
| CN112607022B (en) * | 2020-12-29 | 2021-11-16 | 国网山东省电力公司蒙阴县供电公司 | Power transmission and distribution line inspection 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 |
| CN114228991B (en) * | 2021-12-24 | 2023-07-04 | 杭州申昊科技股份有限公司 | Unmanned aerial vehicle-based transmission line detection robot |
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| CN102340113B (en) * | 2011-07-29 | 2013-07-03 | 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 |
| JP6393630B2 (en) * | 2015-01-21 | 2018-09-19 | 株式会社日立ハイテクファインシステムズ | Inspection apparatus and inspection method |
| CN104648665B (en) * | 2015-01-30 | 2016-12-07 | 上海交通大学 | A kind of four rotor wing unmanned aerial vehicle devices for line walking |
| CN106125756B (en) * | 2016-07-04 | 2020-01-07 | 广州供电局有限公司 | Unmanned aerial vehicle and inspection method thereof |
| KR101806040B1 (en) * | 2016-09-23 | 2017-12-07 | 한국전력공사 | System for fransformable flying robot for maintenance of power lines and operation method thereof |
| CN106542092B (en) * | 2016-12-15 | 2018-02-27 | 济南舜风科技有限公司 | One kind can flight formula work high above the ground robot and its method |
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